CN110181557A - The localization method of toothholder robot installation cutting drum toothholder - Google Patents
The localization method of toothholder robot installation cutting drum toothholder Download PDFInfo
- Publication number
- CN110181557A CN110181557A CN201910425994.4A CN201910425994A CN110181557A CN 110181557 A CN110181557 A CN 110181557A CN 201910425994 A CN201910425994 A CN 201910425994A CN 110181557 A CN110181557 A CN 110181557A
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- China
- Prior art keywords
- toothholder
- robot
- movement
- guide rail
- cutting drum
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of localization methods of toothholder robot installation cutting drum toothholder.Present invention aim to address installation error existing for existing cutting drum toothholder installation method is big and the technical issues of design requirement is not achieved in the cutterhead accuracy of manufacture.The technical solution adopted by the present invention is that: a kind of localization method of toothholder robot installation cutting drum toothholder comprising toothholder to be positioned: 1) being mounted on toothholder mounting rack by the following steps, and toothholder robot starts to execute finder；2) rotary positioning mechanism completes first spatial orientation and the space orientation movement of toothholder to be positioned；3) while turntable executes step 2) movement, toothholder positioning robot completes second location action of toothholder to be positioned, third space orientation movement, second spatial orientation and the movement of third spatial orientation；4) when close to target position, horizontal linear guide rail will be mobile to target position to carry out at a slow speed, be finally completed the third space orientation movement of toothholder.
Description
Technical field
The present invention relates to a kind of localization methods of toothholder robot installation cutting drum toothholder, it belongs to cutting drum toothholder
Installation method technical field.
Background technique
Cutting drum toothholder just can determine that pick mounted thereto is in space 6 pose parameters of needs and correctly set
Count position, 3 spatial orientation parameters including 3 space orientation parameters of tooth tip and pick axis.3 space bits of usual tooth tip
Center of circle angle, axial height and the axial radii expression for setting parameter cylindrical-coordinate system determine；3 spatial orientations of pick axis
Parameter can obtain design chamfering, corner and the elevation angle by rotating cartesian coordinate system in certain sequence.Traditional pick positioning side
Method is that one piece of production is close with cutterhead appearance profile, and is slightly larger than the L shaped plate of cutterhead shape.It onboard processes and designs
The corresponding several groups location hole of toothholder quantity, and produce an one end axis positioned using toothholder hole, and one end can be provided
L shaped plate can be mounted on and correspond to welding structural element on location hole.The design parameter being circumferentially distributed according to pick, different
On circumferential position, which is fixed in the corresponding location hole of L shaped plate, and energy toothholder bottom surface is filled with cutting head surface
Divide fitting, to complete positioning of the toothholder on cutterhead.It is missed when the body of the cutting head, toothholder or L shaped plate location hole have manufacture
In the case where difference, in the space actual location and orientation result of cutting head surface, there are larger differences with design parameter for toothholder bottom surface
Not, L shaped plate must be lifted up sometimes along cutterhead axis direction, just toothholder bottom surface can be made to be bonded with cutting head surface, most
The physical location and posture for leading to be mounted on pick in toothholder eventually are inaccurate, influence the working effect of cutterhead.
Summary of the invention
Present invention aim to address installation error existing for existing cutting drum toothholder installation method is big and cutterhead system
The technical issues of design requirement is not achieved in manufacturing accuracy, provides a kind of localization method of toothholder robot installation cutting drum toothholder.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of localization method of toothholder robot installation cutting drum toothholder comprising the following steps:
1) toothholder to be positioned is mounted on toothholder mounting rack, and the original state of toothholder to be positioned is toothholder mounting rack
The axis of axis and horizontal linear guide rail keeps conllinear, and toothholder robot starts to execute finder；
2) turntable in rotary positioning mechanism is spun upside down along the axis of overturning gear wheel to predetermined angular, is completed to be positioned
First spatial orientation of toothholder acts；Simultaneously turntable around own axes rotate left and right to have positioned one, toothholder interval same
The first space orientation movement of toothholder to be positioned is completed in the position of helix pick center of circle angular separation；
3) while turntable executes step 2) movement, the cruciform joint of toothholder positioning robot is on vertical straight line guide rail
The distance of axial spacing projected length in turntable reverses direction of a same helix pick arrangement is moved along the vertical direction,
Complete second location action of toothholder to be positioned；Horizontal linear guide rail is quickly moved to the target position of toothholder to be positioned simultaneously
Dynamic, the third space orientation movement for executing toothholder to be positioned hits angle adjuster during horizontal linear guide rail is mobile
Predetermined angular is rotated around corner adjuster output shaft line, completes second spatial orientation movement of toothholder to be positioned, toothholder installation
Frame rotates predetermined angular around the output axis of strike angle adjuster, completes the third spatial orientation movement of toothholder to be positioned；
4) when close to target position, judge whether toothholder, turntable and cruciform joint to be positioned have arrived at predetermined position,
If not yet reached, wait, otherwise horizontal linear guide rail will be mobile to target position to carry out at a slow speed, be finally completed toothholder
Third space orientation movement；Toothholder to be positioned is by after the accurate spot welding positioning for determining the completion toothholder on cutting drum；Tooth
The horizontal linear guide rail of seat positioning robot, which executes, retreats evacuation, executes above-mentioned steps 2 to position next toothholder circulation)~step
It is rapid 4) to prepare.
The beneficial effects of the present invention are:
The present invention by adopting the above technical scheme, realizes the technique for positioning toothholder by toothholder positioning robot's automatic cycle
Method reduces toothholder positioning time-consuming, improves cutting drum toothholder location efficiency, promote the promotion of cutting drum manufacturing quality, keep away
Exempt from the inter-agency interference of robot motion, realizes the high-precision manufacturer's standard of cutting drum.
Detailed description of the invention
Fig. 1 is present invention schematic diagram to be installed；
Fig. 2 is scheme of installation of the present invention
In figure: 1- cutting drum, 2- have positioned toothholder, and 3- toothholder to be positioned, 4- toothholder positioning robot, 4-1- level is directly
Line guide rail, 4-2- vertical straight line guide rail, 4-3- cruciform joint, 4-4- corner adjuster, 4-5- hit angle adjuster, 4-6- toothholder
Mounting rack, 5- rotary positioning mechanism, 5-1- turntable, 5-2- overturn gear wheel, 6- pedestal.
Specific embodiment
The invention will be further described with reference to the accompanying drawings and examples.
As depicted in figs. 1 and 2, the localization method of one of the present embodiment toothholder robot installation cutting drum toothholder,
It includes the following steps:
1) toothholder 3 to be positioned is mounted on toothholder mounting rack 4-6, and the original state of toothholder to be positioned 3 is toothholder peace
The axis of the axis and horizontal linear guide rail 4-1 of shelving 4-6 keeps conllinear, and toothholder robot 4 starts to execute finder；
2) the turntable 5-1 in rotary positioning mechanism 5 is spun upside down along the axis of overturning gear wheel 5-2 to predetermined angular, complete
It is acted at first spatial orientation of toothholder 3 to be positioned；Simultaneously turntable 5-1 around own axes rotate left and right to positioned toothholder
It is spaced the position of a same helix pick center of circle angular separation, completes the first space orientation movement of toothholder 3 to be positioned；
3) while turntable 5-1 executes step 2) movement, the cruciform joint 4-3 of toothholder positioning robot 4 is vertical straight
The axial spacing of a same helix pick arrangement is moved on line guide rail 4-2 along the vertical direction in turntable 5-1 reverses direction
The distance of projected length completes second location action of toothholder 3 to be positioned；Horizontal linear guide rail 4-1 is quickly to undetermined simultaneously
The target position of position toothholder 3 is mobile, executes the third space orientation movement of toothholder 3 to be positioned, moves in horizontal linear guide rail 4-1
In dynamic process, strike angle adjuster 4-5 rotates predetermined angular around corner adjuster 4-4 output axis, completes toothholder 3 to be positioned
Second spatial orientation movement, toothholder mounting rack 4-6 around strike angle adjuster 4-5 output axis rotate predetermined angular, it is complete
It is acted at the third spatial orientation of toothholder 3 to be positioned；
4) when close to target position, it is pre- to judge whether toothholder 3, turntable 5-1 and cruciform joint 4-3 to be positioned have arrived at
Positioning is set, if not yet reached, is waited, and otherwise horizontal linear guide rail 4-1 will be mobile to target position to carry out at a slow speed, finally
Complete the third space orientation movement of toothholder；Toothholder 3 to be positioned is by the accurate point for determining the completion toothholder on cutting drum 1
After weldering positioning；The horizontal linear guide rail 4-1 of toothholder robot, which is executed, retreats evacuation, executes for the next toothholder circulation of positioning above-mentioned
Step 2)~step 4) is prepared.
The cutting drum toothholder robot that the present invention uses, including toothholder positioning robot 4, pedestal 6 and rotational positioning machine
Structure 5, the toothholder positioning robot 4 are located at one side of pedestal 6, and the rotary positioning mechanism 5 is located at the another side of pedestal 6, institute
Toothholder positioning robot 4 is stated by horizontal linear guide rail 4-1, vertical straight line guide rail 4-2, cruciform joint 4-3 and by corner adjuster
The robot arm composition that 4-4, strike angle adjuster 4-5, toothholder mounting rack 4-6 are constituted, the horizontal linear guide rail 4-1 and perpendicular
Straight linear guide 4-2 is in the horizontal linear guide rail hole and vertical straight line guide rail hole of cruciform joint 4-3 setting in order to machine
The horizontal or vertical movement of human arm；The robot arm is determined mounted in horizontal linear guide rail 4-1 end for pick automatically
Position.
Claims (1)
1. a kind of localization method of toothholder robot installation cutting drum toothholder, it is characterised in that: include the following steps:
1) toothholder to be positioned (3) is mounted on toothholder mounting rack (4-6), and the original state of toothholder to be positioned (3) is toothholder
The axis of mounting rack (4-6) and the axis of horizontal linear guide rail (4-1) keep conllinear, and toothholder robot (4) starts to execute positioning
Program；
2) turntable (5-1) in rotary positioning mechanism (5) is spun upside down along the axis of overturning gear wheel (5-2) to predetermined angular,
Complete first spatial orientation movement of toothholder to be positioned (3)；Turntable (5-1) is rotated left and right around own axes simultaneously arrives and has determined
The position of the one same helix pick center of circle angular separation in position toothholder interval, first space for completing toothholder to be positioned (3) are fixed
Position movement；
3) while turntable (5-1) executes step 2) movement, the cruciform joint (4-3) of toothholder positioning robot (4) is vertical
The axial spacing for moving a same helix pick arrangement in linear guide (4-2) along the vertical direction is overturn at turntable (5-1)
The distance of projected length on direction completes second location action of toothholder to be positioned (3)；Horizontal linear guide rail (4-1) simultaneously
It is quickly mobile to the target position of toothholder to be positioned (3), the third space orientation movement of toothholder to be positioned (3) is executed, in water
During flat line guide rail (4-1) is mobile, strike angle adjuster (4-5) is pre- around corner adjuster (4-4) output axis rotation
Determine angle, completes second spatial orientation movement of toothholder to be positioned (3), toothholder mounting rack (4-6) is around strike angle adjuster (4-
5) output axis rotates predetermined angular, completes the third spatial orientation movement of toothholder to be positioned (3)；
4) when close to target position, judge whether toothholder to be positioned (3), turntable (5-1) and cruciform joint (4-3) have arrived at
Predetermined position waits if not yet reached, and otherwise horizontal linear guide rail (4-1) will be mobile to target position to carry out at a slow speed,
It is finally completed the third space orientation movement of toothholder；Toothholder (3) to be positioned is completed on cutting drum (1) by accurate determine
After the spot welding positioning of toothholder；The horizontal linear guide rail (4-1) of toothholder robot, which executes, retreats evacuation, follows to position next toothholder
Ring executes above-mentioned steps 2)~step 4) prepares.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425994.4A CN110181557A (en) | 2019-05-21 | 2019-05-21 | The localization method of toothholder robot installation cutting drum toothholder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910425994.4A CN110181557A (en) | 2019-05-21 | 2019-05-21 | The localization method of toothholder robot installation cutting drum toothholder |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110181557A true CN110181557A (en) | 2019-08-30 |
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ID=67717094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910425994.4A Pending CN110181557A (en) | 2019-05-21 | 2019-05-21 | The localization method of toothholder robot installation cutting drum toothholder |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0647559A (en) * | 1992-07-31 | 1994-02-22 | Hirotec:Kk | Spot welding device |
| CN102581540A (en) * | 2012-03-30 | 2012-07-18 | 中煤科工集团重庆研究院 | Cutting tooth positioning tool |
| CN103447727A (en) * | 2013-08-19 | 2013-12-18 | 江苏中机矿山设备有限公司 | Drilling-type coal mining machine drill bit tooth holder welding tool and method |
| CN205363137U (en) * | 2016-01-20 | 2016-07-06 | 福建明鑫机器人科技有限公司 | Biax seat formula machine of shifting |
| CN107042382A (en) * | 2017-06-02 | 2017-08-15 | 永城煤电控股集团有限公司 | Coal mining machine roller pick box welded retainer |
| CN109332948A (en) * | 2018-10-30 | 2019-02-15 | 中国矿业大学 | A kind of the automatic positioning equipment and its automatic location welding method of pick |
-
2019
- 2019-05-21 CN CN201910425994.4A patent/CN110181557A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0647559A (en) * | 1992-07-31 | 1994-02-22 | Hirotec:Kk | Spot welding device |
| CN102581540A (en) * | 2012-03-30 | 2012-07-18 | 中煤科工集团重庆研究院 | Cutting tooth positioning tool |
| CN103447727A (en) * | 2013-08-19 | 2013-12-18 | 江苏中机矿山设备有限公司 | Drilling-type coal mining machine drill bit tooth holder welding tool and method |
| CN205363137U (en) * | 2016-01-20 | 2016-07-06 | 福建明鑫机器人科技有限公司 | Biax seat formula machine of shifting |
| CN107042382A (en) * | 2017-06-02 | 2017-08-15 | 永城煤电控股集团有限公司 | Coal mining machine roller pick box welded retainer |
| CN109332948A (en) * | 2018-10-30 | 2019-02-15 | 中国矿业大学 | A kind of the automatic positioning equipment and its automatic location welding method of pick |
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