A device for replacing a cutting pick of a heading machine

Abstract

The utility model discloses a kind of heading machine pick replacing device, it is related to pick processing technical field.The heading machine pick replacing device, including mechanical arm, further include mounting seat, the mounting seat is installed on mechanical arm, adjusting assembly is provided on mounting seat, fixed frame, the fixed frame is installed in one side of adjusting assembly, and mounting plate is rotatably installed in one side of fixed frame;By adjusting assembly being provided on mounting seat, two groups of engagement semicircle wheel can be driven by driving motor to rotate, realize the longitudinal angle adjustment of clamping component, simultaneously, the engagement transmission of gear can drive L-shaped fixed plate and semicircle wheel whole transverse rotation, finally realize the flexible adjustment of multiple angles between clamping component and mechanical arm, not only can adapt to the pick installation angle of different models heading machine cutting head, but also can cope with the angle deviation caused by pick due to wear or installation deviation, satisfy the pick replacing demand of thin coal seam, narrow rock roadway and other special space, substantially improve the versatility of device.

Description

Technical Field

[0001] This utility model relates to the field of cutting tooth processing technology, specifically a cutting tooth replacement device for a tunneling machine. Background Technology

[0002] As the core component of a tunneling machine for cutting coal and rock, the cutting teeth are prone to damage due to wear and impact during high-intensity operations, requiring frequent replacement to ensure tunneling efficiency. With the improvement of mechanization, although some cutting tooth replacement machines have emerged, the design of the cutting heads of different models of tunneling machines varies significantly, and the installation angles of the cutting teeth are different. Moreover, existing replacement structures mostly adopt fixed-position clamping structures, lacking flexible angle adjustment mechanisms, and cannot match the diverse spatial angles of cutting teeth. They are often only suitable for a single model of tunneling machine or cutting teeth in a specific location. In addition, the underground tunneling environment is complex. Special spaces such as thin coal seam working faces and narrow rock tunnels can cause replacement components to fail to meet the usage requirements of complex environments, thus affecting the efficiency of the device in replacing cutting teeth to a certain extent. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides a cutting tooth replacement device for tunneling machines, which solves the problems described in the background section above.

[0004] To achieve the above objectives, this utility model is implemented through the following technical solution: a tunneling machine cutting tooth replacement device, including a robotic arm and a mounting base, wherein the mounting base is mounted on the robotic arm and an adjustment component is provided on the mounting base; A fixed frame is installed on one side of the adjustment assembly. A mounting plate is rotatably mounted on one side of the fixed frame. Four sets of clamping components are provided on the mounting plate for clamping the cutting teeth of the tunneling machine for disassembly and replacement.

[0005] As a preferred embodiment of this utility model, the adjustment component includes two sets of gears meshing on the surface of the mounting base, an L-shaped fixing plate fixedly mounted on the gears, and a semi-circular wheel rotatably mounted on the L-shaped fixing plate.

[0006] As a preferred technical solution of this utility model, the two sets of semicircular wheels are meshed and installed. One end of one set of semicircular wheels passes through the L-fixed plate and is fixedly connected to the output end of the drive motor. One end of the other set of semicircular wheels is equipped with a fixing frame.

[0007] As a preferred technical solution of this utility model, the clamping assembly includes four sets of sliding grooves formed on the surface of the mounting plate, an electric slide rail is fixedly installed inside the sliding groove, a slider is slidably installed on the electric slide rail, and a clamping plate is fixedly installed on the slider.

[0008] As a preferred technical solution of this utility model, the slide groove is inclinedly opened on the surface of the mounting plate and aligned with the center, and elastic components are installed at equal intervals on the inner side of the clamping plate.

[0009] As a preferred embodiment of the present invention, the elastic component includes a placement cavity formed inside the clamping plate, a damping spring fixedly installed inside the placement cavity, and a slide rod slidably installed at one end of the damping spring.

[0010] As a preferred embodiment of this utility model, the cross-section of the slide rod is T-shaped, and a silicone pad is fixedly installed at one end of the slide rod, the size of which matches that of the clamping plate.

[0011] This utility model has the following beneficial effects: 1. An adjustment mechanism is installed on the mounting base. The drive motor rotates two sets of meshing semi-circular wheels, allowing for longitudinal angle adjustment of the clamping assembly. Simultaneously, the meshing gears drive the L-shaped fixing plate and the semi-circular wheels to rotate laterally, ultimately enabling flexible multi-angle adjustment between the clamping assembly and the robotic arm. This design not only adapts to the cutting tooth installation angles of different types of tunneling machine cutting heads but also addresses angular deviations caused by tooth wear or installation errors. It meets the tooth replacement needs in special spaces such as thin coal seams and narrow rock tunnels, significantly improving the device's versatility.

[0012] 2. Elastic components are installed at equal intervals on the inner side of the clamping plate. When the clamping plate approaches and contacts the cutting teeth, the silicone pad first adheres to the surface of the cutting teeth. As the clamping force gradually increases, the cutting teeth exert reverse pressure on the silicone pad, pushing the slide rod to slide into the placement cavity, thereby compressing the damping spring. The damping spring absorbs part of the clamping impact force through its own elastic deformation, realizing "soft contact" clamping. This can adapt to cutting teeth of different sizes and shapes, and avoid the scratches on the surface of the cutting teeth caused by rigid clamping. At the same time, the silicone pad can increase the friction with the cutting teeth, preventing the cutting teeth from slipping during disassembly and transportation, further improving the applicability and reliability of the device. Attached Figure Description

[0013] Figure 1 This is a frontal three-dimensional structural diagram of the present invention; Figure 2 This is a top-view three-dimensional structural diagram of the present invention; Figure 3 This is a side-view perspective view of the present invention. Figure 4 This is a schematic diagram of the connection structure between the mounting plate and the buffer assembly of this utility model; Figure 5 For the present utility model Figure 4 Enlarged structural diagram at point A in the middle.

[0014] In the diagram, 1. Robotic arm; 2. Mounting base; 3. Adjustment component; 301. Gear; 302. L-shaped fixing plate; 303. Semi-circular wheel; 4. Drive motor; 5. Fixing frame; 6. Mounting plate; 7. Clamping component; 701. Slide groove; 702. Electric slide rail; 703. Slider; 704. Clamping plate; 8. Elastic component; 801. Placement cavity; 802. Damping spring; 803. Slide rod; 9. Silicone pad. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] In the description of this utility model, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inner", "around" and other terms indicating orientation or positional relationship are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model.

[0017] The following is based on Figure 1 - Figure 5 This invention describes a tunneling machine cutting tooth replacement device provided in an embodiment of the present invention.

[0018] Please see Figure 1 - Figure 5 The present invention provides a technical solution: a tunneling machine cutting tooth replacement device, including a mechanical arm 1 and a mounting base 2, the mounting base 2 being mounted on the mechanical arm 1, and an adjustment component 3 being provided on the mounting base 2; The fixing frame 5 is installed on one side of the adjusting component 3. The mounting plate 6 is rotatably installed on one side of the fixing frame 5. The mounting plate 6 is provided with four sets of clamping components 7 for clamping the cutting teeth of the tunneling machine for disassembly and replacement. The adjusting component 3 includes two sets of gears 301 meshing on the surface of the mounting base 2. An L-fixed plate 302 is fixedly installed on the gears 301. A semi-circular wheel 303 is rotatably installed on the L-fixed plate 302. The two sets of semi-circular wheels 303 mesh. One end of one set of semi-circular wheels 303 passes through the L-fixed plate 302 and is fixedly connected to the output end of the drive motor 4. The fixing frame 5 is installed on one end of the other set of semi-circular wheels 303. In this embodiment, when replacing the cutting teeth, the robotic arm 1 is first placed on one side of the tunneling machine. At this time, the angle of the clamping assembly 7 is adjusted by the adjusting component 3 to match the space of the cutting teeth of the tunneling machine to be replaced. When the drive motor 4 is started by the controller, the drive motor 4 directly drives the set of semi-circular wheels 303 to rotate. Through meshing, it drives another set of semi-circular wheels 303 to rotate synchronously in the opposite direction. One end of the other set of semi-circular wheels 303 is rigidly connected to the fixing frame 5. Therefore, the rotation of the semi-circular wheels 303 directly drives the fixing frame 5 and the subsequent mounting plate 6 and clamping assembly 7 to adjust their longitudinal angles. Simultaneously, due to the two sets of L-shaped fixing plates 302... Two sets of gears 301 are fixed to the surface of the mounting base 2 and mesh with each other. When the semi-circular wheel 303 rotates, the slight lateral force generated will drive the two sets of gears 301 to mesh and rotate along the surface of the mounting base 2. This will cause the L-fixed plate 302 and the semi-circular wheel 303 and the fixing frame 5 above it to adjust their lateral angles synchronously. Through this linkage design, the adjustment component 3 can flexibly change the angle between the clamping component 7 and the robotic arm 1, so that the device can adapt to the installation angle of the cutting teeth of different models of tunneling machine cutting heads. It can also cope with the angle deviation of the cutting teeth caused by wear or installation deviation, meet the cutting teeth replacement needs in different spatial environments, and greatly improve the versatility of the device.

[0019] Specifically, the clamping assembly 7 includes four sets of slide grooves 701 formed on the surface of the mounting plate 6. An electric slide rail 702 is fixedly installed inside the slide groove 701. A slider 703 is slidably installed on the electric slide rail 702. A clamping plate 704 is fixedly installed on the slider 703. The slide grooves 701 are inclined and aligned with the center on the surface of the mounting plate 6. Elastic components 8 are installed at equal intervals on the inner side of the clamping plate 704. The elastic component 8 includes a placement cavity 801 formed on the inner side of the clamping plate 704. A damping spring 802 is fixedly installed inside the placement cavity 801. A slide rod 803 is slidably installed at one end of the damping spring 802. The slide rod 803 has a "T" shaped cross-section. A silicone pad 9 is fixedly installed at one end of the slide rod 803. The silicone pad 9 matches the size of the clamping plate 704. In this embodiment, when the device clamping assembly 7 corresponds to the cutting tooth that needs to be replaced, the electric slide rail 702 is opened by the external controller. The four sets of electric slide rails 702 are started synchronously, driving the corresponding sliders 703 to slide along the inclined trajectory of the slide groove 701 towards the center of the mounting plate 6. During the sliding of the slider 703, the clamping plate 704 fixed on the slider 703 moves synchronously with the slider 703. The four sets of clamping plates 704 move closer to the center along the inclined trajectory. When the clamping plate 704 moves closer to and contacts the cutting tooth, the silicone pad 9 first adheres to the surface of the cutting tooth. As the clamping force gradually increases, the cutting tooth generates reverse pressure on the silicone pad 9, pushing the slide rod 803 to slide into the placement cavity 801, thereby compressing the damping spring 802. The damping spring 802 absorbs part of the clamping impact force through its own elastic deformation, and its damping characteristics prevent the slide bar 803 from rebounding quickly, achieving "soft contact" clamping. When the clamping force reaches the preset value, the damping spring 802 is compressed to its limit. At this time, the clamping plate 704 stops approaching further, preventing over-clamping from causing the cutting teeth to fall off. The silicone pad 9 at one end of the slide bar 803 increases the friction with the cutting tooth surface, effectively preventing the cutting teeth from slipping during gripping, disassembly, and conveying. On the other hand, the softness of the silicone material avoids rigid collisions between the clamping assembly 7 and the cutting teeth, protecting the cutting tooth surface from scratches and reducing wear on the clamping plate 704, extending the service life of the device, and achieving dual protection for the cutting teeth and the device itself. 7. After the cutting tooth is stably gripped, depending on the installation method of the cutting tooth, if it is threaded, the adjusting component 3 can drive the semi-circular wheel 303 to rotate slowly through the drive motor 4, thereby driving the fixed frame 5 and the inner drive mechanism of the mounting plate 6 to drive the clamping component 7 to rotate synchronously. At the same time, the robotic arm 1 applies a slight reverse pull, so that the cutting tooth is gradually rotated out of the cutting tooth seat of the tunneling machine. After the cutting tooth is disassembled, the robotic arm 1 moves the device with the old cutting tooth to the designated old cutting tooth recycling box. The device control system controls the electric slide rail 702 of the clamping component 7 to run in reverse, so that the slider 703 drives the clamping plate 704 to separate in all directions, releasing the old cutting tooth. The old cutting tooth falls into the recycling box, completing the recycling. The robotic arm 1 moves to the position of the new cutting tooth storage rack and repeats the above clamping action.

[0020] The working principle and usage process of this utility model are as follows: First, the robotic arm 1 is moved to the side of the tunneling machine. The drive motor 4 is started by the controller. The drive motor 4 drives a set of semi-circular wheels 303 to rotate. Through meshing transmission, another set of semi-circular wheels 303 rotates synchronously in the opposite direction, thereby driving the fixed frame 5, mounting plate 6, and clamping assembly 7 to complete the longitudinal angle adjustment. At the same time, the lateral force generated by the rotation of the semi-circular wheels 303 drives the two sets of meshing gears 301 connected to the L fixed plate 302 to rotate, realizing the lateral angle adjustment of the clamping assembly 7. Finally, the clamping assembly 7 is matched with the cutting tooth in terms of spatial angle. After the clamping assembly 7 is aligned with the cutting tooth, the electric slide rail 702 is activated, driving the slider. 703 slides towards the center along the inclined slide 701, causing the four sets of clamping plates 704 to surround it. The silicone pad 9 first contacts the cutting tooth. As the clamping force increases, the slide rod 803 compresses the damping spring 802 to absorb the impact force, achieving soft contact fixation. If the cutting tooth is threaded, the drive component drives the clamping component 7 to rotate, and with the reverse pulling force of the robotic arm 1, the cutting tooth is unscrewed. Then, the robotic arm 1 sends the old cutting tooth to the recycling bin, and the electric slide rail 702 runs in the reverse direction to release the old cutting tooth. Then it moves to the new cutting tooth storage rack, repeats the gripping action, adjusts the posture, and installs the new cutting tooth onto the cutting tooth seat through the pushing force of the robotic arm 1 and the rotation of the component. After completion, the robotic arm 1 resets and waits for the next operation.

[0021] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0022] The preferred embodiments of this utility model disclosed above are merely illustrative of the present utility model. These preferred embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A cutting tooth changing device for a tunneling machine, comprising a robotic arm (1), characterized in that, It also includes: Mounting base (2), which is mounted on the robotic arm (1), and the mounting base (2) is provided with an adjustment component (3); The fixing frame (5) is installed on one side of the adjusting component (3). The fixing frame (5) is rotatably mounted on one side of the fixing frame (5). The mounting plate (6) is provided with four sets of clamping components (7) for clamping the cutting teeth of the tunneling machine and then disassembling and replacing them.

2. The tunneling machine cutting tooth replacement device according to claim 1, characterized in that: The adjustment assembly (3) includes two sets of gears (301) meshing on the surface of the mounting base (2), an L-fixed plate (302) is fixedly mounted on the gears (301), and a semi-circular wheel (303) is rotatably mounted on the L-fixed plate (302).

3. The tunneling machine cutting tooth replacement device according to claim 2, characterized in that: The two sets of semi-circular wheels (303) are meshed and installed. One end of one set of semi-circular wheels (303) passes through the L fixing plate (302) and is fixedly connected to the output end of the drive motor (4). One end of the other set of semi-circular wheels (303) is equipped with a fixing frame (5).

4. The tunneling machine cutting tooth replacement device according to claim 1, characterized in that: The clamping assembly (7) includes four sets of slide grooves (701) formed on the surface of the mounting plate (6). An electric slide rail (702) is fixedly installed inside the slide groove (701). A slider (703) is slidably installed on the electric slide rail (702). A clamping plate (704) is fixedly installed on the slider (703).

5. A tunneling machine cutting tooth replacement device according to claim 4, characterized in that: The slide (701) is inclined and aligned with the center on the surface of the mounting plate (6), and elastic components (8) are installed at equal intervals on the inner side of the clamping plate (704).

6. A tunneling machine cutting tooth replacement device according to claim 5, characterized in that: The elastic component (8) includes a placement cavity (801) opened inside the clamping plate (704), a damping spring (802) is fixedly installed inside the placement cavity (801), and a slide rod (803) is slidably installed at one end of the damping spring (802).

7. A tunneling machine cutting tooth replacement device according to claim 6, characterized in that: The slide bar (803) has a "T" shaped cross-section, and a silicone pad (9) is fixedly installed at one end of the slide bar (803). The silicone pad (9) matches the size of the clamping plate (704).

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