CN111266834B - Automatic cutter replacing manipulator of coal mine underground coal mining machine and using method - Google Patents
Automatic cutter replacing manipulator of coal mine underground coal mining machine and using method Download PDFInfo
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- CN111266834B CN111266834B CN202010221926.9A CN202010221926A CN111266834B CN 111266834 B CN111266834 B CN 111266834B CN 202010221926 A CN202010221926 A CN 202010221926A CN 111266834 B CN111266834 B CN 111266834B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
- B23P19/027—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same using hydraulic or pneumatic means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
A cutting tooth automatic replacement manipulator of a coal mine underground coal mining machine and a use method are disclosed, wherein the manipulator comprises an old cutting tooth dismounting mechanical arm mechanism, a new cutting tooth mounting mechanical arm mechanism, an old cutting tooth dismounting impactor, a cutting tooth holder, a new cutting tooth mounting impactor and a cutting tooth storage box; the old cutting tooth dismounting mechanical arm mechanism and the new cutting tooth mounting mechanical arm mechanism are hung at the top of the hydraulic support in parallel, the old cutting tooth dismounting impactor is mounted on the old cutting tooth dismounting mechanical arm mechanism, the new cutting tooth mounting impactor is mounted on the new cutting tooth mounting mechanical arm mechanism, and the cutting tooth clamp is mounted on the new cutting tooth mounting impactor; the pick storage box is installed in hydraulic support bottom. The method comprises the following steps: and moving the new cutting pick to install the mechanical arm mechanism and enable the cutting pick holder to clamp the old cutting pick, moving the old cutting pick to dismantle the mechanical arm mechanism and enable the old cutting pick to dismantle the impactor to be right opposite to the old cutting pick, impacting and detaching the old cutting pick and putting the old cutting pick storage box back, and taking the new cutting pick out of the new cutting pick storage box and putting the new cutting pick back to a coal mining machine roller.
Description
Technical Field
The invention belongs to the technical field of mining equipment, and particularly relates to an automatic cutter replacing manipulator of a coal mine underground coal mining machine and a using method of the manipulator.
Background
The cutter of pick when the coal cutter cuts the coal rock, the pick can lead to its and the contact form of coal rock different because the working angle difference to make the degree of wear of pick have the difference, to wearing and tearing very fast pick, if not change in time, then can lead to other picks also can be wearing and tearing with higher speed, and in case a large amount of picks appear wearing and tearing back, if not timely change impaired pick, can lead to the cutting performance and the coal mining efficiency of coal cutter to descend by a wide margin. At present, cutting tooth replacement still stays in a manual replacement stage, but with the development of an intelligent coal mining technology, the traditional cutting tooth manual replacement mode cannot meet the requirement of intelligent coal mining.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the automatic cutting tooth replacing manipulator of the coal mine underground coal mining machine and the using method thereof, the traditional backward mode of manually replacing cutting teeth is abandoned, the disassembly of worn old cutting teeth and the installation of new cutting teeth can be automatically completed without manual participation, the cutting tooth disassembling and assembling efficiency is greatly improved, and the intelligent coal mining requirement is effectively met.
In order to achieve the purpose, the invention adopts the following technical scheme: a cutting tooth automatic replacement manipulator of a coal mine underground coal mining machine comprises an old cutting tooth dismounting mechanical arm mechanism, a new cutting tooth mounting mechanical arm mechanism, an old cutting tooth dismounting impactor, a cutting tooth clamp holder, a new cutting tooth mounting impactor and a cutting tooth storage box; the old cutting tooth dismounting mechanical arm mechanism and the new cutting tooth mounting mechanical arm mechanism are hung at the top of the hydraulic support in parallel, the old cutting tooth dismounting impactor is mounted on the old cutting tooth dismounting mechanical arm mechanism, the new cutting tooth mounting impactor is mounted on the new cutting tooth mounting mechanical arm mechanism, and the cutting tooth clamp holder is mounted on the new cutting tooth mounting impactor; the cutting pick storage box is installed at the bottom of the hydraulic support.
The old cutting tooth dismounting mechanical arm mechanism and the new cutting tooth mounting mechanical arm mechanism are the same in structure and respectively comprise a base, an electric rotary table, a large arm, an elbow joint, an electric rotary disc, a small arm, an electric wrist joint and a palm; the base is fixedly hoisted at the top of the hydraulic support, the electric revolving platform is hoisted on the base, one end of the large arm is hinged to the electric revolving platform, a large arm swinging motor is installed at the hinged point of the large arm and the electric revolving platform, the swinging motion of the large arm is driven by the large arm swinging motor, and the revolving motion of the large arm is driven by the electric revolving platform; the other end of the large arm is hinged with one end of an elbow joint, a small arm swinging motor is installed at the hinged point of the large arm and the elbow joint, the electric rotary disc is installed at the other end of the elbow joint, one end of the small arm is fixedly connected onto the electric rotary disc, swinging motion of the small arm is driven by the small arm swinging motor, and swinging motion of the small arm is driven by the electric rotary disc; the other end of the small arm is connected with one end of an electric wrist joint, the other end of the electric wrist joint is hinged with one end of a palm, a palm swinging motor is installed at the hinged point of the electric wrist joint and the palm, swinging movement of the palm is driven by the palm swinging motor, and rotary movement of the palm is driven by the electric wrist joint; and the other end of the palm is used for mounting an old cutting pick dismounting impactor or a new cutting pick mounting impactor.
The old cutting pick disassembling impactor comprises an old cutting pick hydraulic impact cylinder and an old cutting pick punch, the bottom end of a cylinder barrel of the old cutting pick hydraulic impact cylinder is fixedly connected to a palm, and the old cutting pick punch is fixedly connected to the top end of a piston rod of the old cutting pick hydraulic impact cylinder.
The new cutting tooth installation impactor comprises a new cutting tooth hydraulic impact cylinder, a new cutting tooth punch and a switching cylinder body, one end of the switching cylinder body is fixedly connected to the palm of the hand, and the cutting tooth holder is installed at the other end of the switching cylinder body; the novel cutting pick hydraulic impact cylinder is coaxially arranged on the inner side of the switching cylinder body, the bottom end of a cylinder barrel of the novel cutting pick hydraulic impact cylinder is fixedly connected to the palm side of the switching cylinder body, a piston rod of the novel cutting pick hydraulic impact cylinder faces to the holder side of the switching cylinder body, and the novel cutting pick punch is fixedly arranged at the top end of the piston rod of the novel cutting pick hydraulic impact cylinder.
The cutting pick holder comprises a frame body, a first chuck, a second chuck, a first holding hydraulic cylinder and a second holding hydraulic cylinder; the frame body is coaxially and fixedly arranged on the switching cylinder body, the second clamping hydraulic cylinder and the second clamping hydraulic cylinder are coaxially and symmetrically arranged on the frame body, and the central axes of the second clamping hydraulic cylinder and the second clamping hydraulic cylinder are vertical to the central axis of the new cutting tooth hydraulic impact cylinder; a piston rod of the first clamping hydraulic cylinder extends to the inner side of the frame body, and the first chuck is fixedly arranged at the top end of the piston rod of the first clamping hydraulic cylinder; a piston rod of the second clamping hydraulic cylinder extends to the inner side of the frame body, and the second chuck is fixedly arranged at the top end of the piston rod of the second clamping hydraulic cylinder; the first and second chucks form a pick holding bore.
A plurality of cutting pick inserting holes are formed in the surface of the box body of the cutting pick storage box; according to the difference of usage, the pick storage box divide into new pick storage box and old pick storage box, and new pick storage box and old pick storage box are arranged side by side, and the pick cartridge hole on the new pick storage box is used for depositing new pick, and the pick cartridge hole on the old pick storage box is used for depositing old pick.
The use method of the automatic replacement manipulator for the cutting teeth of the coal mine underground coal mining machine comprises the following steps:
the method comprises the following steps: when worn old cutting teeth on a drum of a coal mining machine need to be replaced, the drum of the coal mining machine is controlled to rotate to a specified angle, and the old cutting teeth are ensured to be in an effective working range of a manipulator;
step two: adjusting the spatial position of the old cutting pick disassembling mechanical arm mechanism, enabling the old cutting pick hydraulic impact cylinder to be located right behind the old cutting pick, ensuring the old cutting pick hydraulic impact cylinder and the old cutting pick to be in a coaxial state, and simultaneously ensuring that an old cutting pick punch and the old cutting pick reach an impact set distance;
step three: adjusting the spatial position of a mechanical arm mechanism mounted on a new cutting tooth, enabling the cutting tooth holder to be positioned right ahead of an old cutting tooth, ensuring that the cutting tooth holder and the old cutting tooth are in a coaxial state, then controlling the cutting tooth holder to move towards the old cutting tooth until the old cutting tooth extends into a cutting tooth holding hole, and finally controlling piston rods of a first clamping hydraulic cylinder and a second clamping hydraulic cylinder to extend out until the old cutting tooth is clamped by a first chuck and a second chuck;
step four: starting the old cutting tooth hydraulic impact cylinder to enable a piston rod of the old cutting tooth hydraulic impact cylinder to extend out at a high speed, impacting the old cutting tooth through an old cutting tooth punch moving at a high speed, and quickly retreating the cutting tooth holder at the same moment until the old cutting tooth is completely separated from the cutting tooth mounting hole;
step five: adjusting the spatial position of a mechanical arm mechanism of a new cutting pick, enabling a cutting pick holder holding an old cutting pick to move to an old cutting pick storage box, simultaneously selecting a cutting pick insertion hole which is arranged on the old cutting pick storage box and inserting the old cutting pick into the cutting pick storage box, then controlling piston rods of a first clamping hydraulic cylinder and a second clamping hydraulic cylinder to retract, enabling the old cutting pick to be separated from the clamping of a first chuck and a second chuck, and finally controlling the cutting pick holder to retreat until the old cutting pick is completely separated from the cutting pick holding hole;
step six: adjusting the spatial position of a mechanical arm mechanism mounted on a new cutting pick, enabling a cutting pick holder to move to a new cutting pick storage box, selecting a new cutting pick from the new cutting pick storage box, stopping the cutting pick holder right ahead of the new cutting pick, ensuring that the cutting pick holder and the new cutting pick are in a coaxial state, controlling the cutting pick holder to move to the new cutting pick until the new cutting pick extends into a cutting pick holding hole, and finally controlling piston rods of a first holding hydraulic cylinder and a second holding hydraulic cylinder to extend out until the new cutting pick is held by a first chuck and a second chuck;
step seven: controlling the pick holder to retreat until a new pick is pulled out of a pick inserting hole in a new pick storage box, and then adjusting the spatial position of a mechanical arm mechanism mounted on the new pick to enable the pick holder holding the new pick to move to a vacant pick mounting hole and ensure that the new pick and the pick mounting hole are in a coaxial state;
step eight: starting a new cutting tooth hydraulic impact cylinder to enable a piston rod of the new cutting tooth hydraulic impact cylinder to extend out at a high speed, impacting a new cutting tooth through a new cutting tooth punch moving at a high speed, and rapidly advancing a cutting tooth holder at the same moment until the new cutting tooth is completely inserted into a cutting tooth mounting hole;
step nine: the piston rods of the first clamping hydraulic cylinder and the second clamping hydraulic cylinder are controlled to retract, so that the new cutting tooth is separated from the clamping of the first chuck and the second chuck, and finally the cutting tooth clamp is controlled to retreat until the new cutting tooth is completely separated from the cutting tooth clamping hole;
step ten: and repeating the second step to the ninth step, and completely replacing the rest worn old cutting teeth on the roller of the coal mining machine with new cutting teeth.
The invention has the beneficial effects that:
according to the automatic cutting tooth replacing manipulator and the using method of the coal mine underground coal mining machine, the traditional laggard mode of manually replacing cutting teeth is abandoned, the disassembly of worn old cutting teeth and the installation of new cutting teeth can be automatically completed without manual participation, the cutting tooth disassembling and assembling efficiency is greatly improved, and the intelligent coal mining requirement is effectively met.
Drawings
FIG. 1 is a schematic structural view of an old pick removal robot mechanism of the present invention with an old pick removal impactor installed;
FIG. 2 is a schematic structural view of a new pick-mounting arm mechanism of the present invention incorporating a new pick-mounting impactor and pick holder;
FIG. 3 is a schematic view of the configuration of the old pick removal impactor of the present invention;
FIG. 4 is a schematic view of the new pick mounting impactor and pick holder of the invention;
FIG. 5 is a schematic view of the pick storage box of the present invention;
FIG. 6 is a working state diagram of the automatic replacement manipulator for the cutting teeth of the coal mine underground coal mining machine for disassembling old cutting teeth;
FIG. 7 is a working state diagram of the automatic cutter replacing manipulator of the coal mine underground coal mining machine for installing a new cutter;
FIG. 8 is a schematic diagram of the automatic cutting pick replacing manipulator of the coal mine underground coal mining machine and the coal mining machine in cooperation with each other;
in the drawing, 1-base, 2-electric rotary table, 3-big arm, 4-elbow joint, 5-electric rotary disc, 6-small arm, 7-electric wrist joint, 8-palm, 9-big arm swing motor, 10-small arm swing motor, 11-palm swing motor, 12-old cutting tooth dismounting impactor, 13-new cutting tooth mounting impactor, 14-old cutting tooth hydraulic impact cylinder, 15-old cutting tooth punch, 16-switching cylinder, 17-cutting tooth holder, 18-frame body, 19-first chuck, 20-second chuck, 21-first clamping hydraulic cylinder, 22-second clamping hydraulic cylinder, 23-cutting tooth clamping hole, 24-cutting tooth inserting hole, 25-new cutting tooth, 26-old cutting tooth storage box, 27-new cutting tooth, 28-old cutting tooth, 29-hydraulic support, 30-old cutting tooth dismounting mechanical arm mechanism, 31-new cutting tooth mechanical arm mechanism, 32-coal cutter mounting box.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 to 8, the automatic cutting tooth replacing manipulator of the coal mine underground coal mining machine comprises an old cutting tooth disassembling mechanical arm mechanism 30, a new cutting tooth assembling mechanical arm mechanism 31, an old cutting tooth disassembling impactor 12, a cutting tooth clamp holder 17, a new cutting tooth installing impactor 13 and a cutting tooth storage box; the old cutting tooth dismounting mechanical arm mechanism 30 and the new cutting tooth mounting mechanical arm mechanism 31 are hung at the top of the hydraulic support 29 in parallel, the old cutting tooth dismounting impactor 12 is mounted on the old cutting tooth dismounting mechanical arm mechanism 30, the new cutting tooth mounting impactor 13 is mounted on the new cutting tooth mounting mechanical arm mechanism 31, and the cutting tooth clamp holder 17 is mounted on the new cutting tooth mounting impactor 13; the pick storage box is mounted at the bottom of the hydraulic support 29.
The old cutting tooth dismounting mechanical arm mechanism 30 and the new cutting tooth mounting mechanical arm mechanism 31 are the same in structure and respectively comprise a base 1, an electric rotary table 2, a large arm 3, an elbow joint 4, an electric rotary disc 5, a small arm 6, an electric wrist joint 7 and a palm 8; the base 1 is fixedly hoisted at the top of the hydraulic support 29, the electric revolving platform 2 is hoisted on the base 1, one end of the large arm 3 is hinged on the electric revolving platform 2, a large arm swinging motor 9 is installed at the hinged point of the large arm 3 and the electric revolving platform 2, the swinging motion of the large arm 3 is driven by the large arm swinging motor 9, and the swinging motion of the large arm 3 is driven by the electric revolving platform 2; the other end of the large arm 3 is hinged with one end of the elbow joint 4, a small arm swinging motor 10 is installed at the hinged point of the large arm 3 and the elbow joint 4, the electric rotary disk 5 is installed at the other end of the elbow joint 4, one end of the small arm 6 is fixedly connected to the electric rotary disk 5, swinging motion of the small arm 6 is driven through the small arm swinging motor 10, and rotating motion of the small arm 6 is driven through the electric rotary disk 5; the other end of the small arm 6 is connected with one end of an electric wrist joint 7, the other end of the electric wrist joint 7 is hinged with one end of a palm 8, a palm swinging motor 11 is installed at the hinged point of the electric wrist joint 7 and the palm 8, swinging movement of the palm 8 is driven by the palm swinging motor 11, and rotating movement of the palm 8 is driven by the electric wrist joint 7; the other end of the palm 8 is used for installing an old cutting pick dismounting impactor 12 or a new cutting pick installing impactor 13.
The old cutting pick disassembly impactor 12 comprises an old cutting pick hydraulic impact cylinder 14 and an old cutting pick punch 15, the bottom end of a cylinder barrel of the old cutting pick hydraulic impact cylinder 14 is fixedly connected to the palm 8, and the old cutting pick punch 15 is fixedly connected to the top end of a piston rod of the old cutting pick hydraulic impact cylinder 14.
The new cutting tooth installation impactor 13 comprises a new cutting tooth hydraulic impact cylinder, a new cutting tooth punch and an adapter cylinder 16, one end of the adapter cylinder 16 is fixedly connected to the palm 8, and the cutting tooth holder 17 is installed at the other end of the adapter cylinder 16; the new cutting tooth hydraulic impact cylinder is coaxially arranged on the inner side of the switching cylinder body 16, the bottom end of a cylinder barrel of the new cutting tooth hydraulic impact cylinder is fixedly connected to the palm side of the switching cylinder body 16, a piston rod of the new cutting tooth hydraulic impact cylinder faces to the holder side of the switching cylinder body 16, and the new cutting tooth punch is fixedly arranged at the top end of the piston rod of the new cutting tooth hydraulic impact cylinder.
The cutting pick holder 17 comprises a frame body 18, a first chuck 19, a second chuck 20, a first holding hydraulic cylinder 21 and a second holding hydraulic cylinder 22; the frame body 18 is coaxially and fixedly arranged on the adapter cylinder body 16, the second clamping hydraulic cylinder 21 and the second clamping hydraulic cylinder 22 are coaxially and symmetrically arranged on the frame body 18, and the central axes of the second clamping hydraulic cylinder 21 and the second clamping hydraulic cylinder 22 are vertical to the central axis of the new cutting pick hydraulic impact cylinder; a piston rod of the first clamping hydraulic cylinder 21 extends to the inner side of the frame body 18, and the first chuck 19 is fixedly arranged at the top end of the piston rod of the first clamping hydraulic cylinder 21; a piston rod of the second clamping hydraulic cylinder 22 extends to the inner side of the frame body 18, and the second chuck 20 is fixedly arranged at the top end of the piston rod of the second clamping hydraulic cylinder 22; the first and second jaws 19, 20 define a pick holding bore 23.
A plurality of cutting pick inserting holes 24 are formed in the surface of the box body of the cutting pick storage box; according to different purposes, the cutting pick storage box is divided into a new cutting pick storage box 25 and an old cutting pick storage box 26, the new cutting pick storage box 25 and the old cutting pick storage box 26 are arranged in parallel, a cutting pick inserting hole 24 in the new cutting pick storage box 25 is used for storing a new cutting pick 27, and a cutting pick inserting hole 24 in the old cutting pick storage box 26 is used for storing an old cutting pick 28.
The use method of the automatic replacement manipulator for the cutting teeth of the coal mine underground coal mining machine comprises the following steps:
the method comprises the following steps: when worn old cutting teeth 28 on a drum of the coal mining machine 32 need to be replaced, the drum of the coal mining machine 32 is controlled to rotate to a specified angle, and the old cutting teeth 28 are ensured to be in an effective working range of a manipulator;
step two: adjusting the spatial position of an old cutting pick disassembling mechanical arm mechanism 30, enabling an old cutting pick hydraulic impact cylinder 14 to be located right behind an old cutting pick 28, ensuring that the old cutting pick hydraulic impact cylinder 14 and the old cutting pick 28 are in a coaxial state, and ensuring that an old cutting pick punch 15 and the old cutting pick 28 reach an impact set distance;
step three: adjusting the spatial position of a mechanical arm mechanism 31 for installing a new cutting pick, so that the cutting pick holder 17 is positioned right ahead of the old cutting pick 28, ensuring that the cutting pick holder 17 and the old cutting pick 38 are in a coaxial state, then controlling the cutting pick holder 17 to move towards the old cutting pick 28 until the old cutting pick 28 extends into a cutting pick holding hole 23, and finally controlling piston rods of a first holding hydraulic cylinder 21 and a second holding hydraulic cylinder 22 to extend until the old cutting pick 28 is held by a first chuck 19 and a second chuck 20;
step four: starting the old cutting pick hydraulic impact cylinder 14 to enable a piston rod of the old cutting pick hydraulic impact cylinder 14 to extend out at a high speed, impacting an old cutting pick 28 through an old cutting pick punch 15 moving at a high speed, and quickly retreating the cutting pick holder 17 at the same moment until the old cutting pick 28 is completely separated from a cutting pick mounting hole;
step five: adjusting the spatial position of a mechanical arm mechanism 31 for installing a new cutting pick, enabling a cutting pick holder 17 holding an old cutting pick 28 to move to an old cutting pick storage box 26, selecting a cutting pick inserting hole 24 which is arranged on one old cutting pick storage box 26 and inserting the old cutting pick 28 into the cutting pick holder, then controlling piston rods of a first clamping hydraulic cylinder 21 and a second clamping hydraulic cylinder 22 to retract, enabling the old cutting pick 28 to be separated from the clamping of a first chuck 19 and a second chuck 20, and finally controlling the cutting pick holder 17 to retreat until the old cutting pick 28 is completely separated from the cutting pick holding hole 23;
step six: adjusting the spatial position of a mechanical arm mechanism 31 for installing a new cutting pick, enabling a cutting pick holder 17 to move to a new cutting pick storage box 25, selecting a new cutting pick 27 from the new cutting pick storage box 25, stopping the cutting pick holder 17 right ahead of the new cutting pick 27, ensuring that the cutting pick holder 17 and the new cutting pick 27 are in a coaxial state, controlling the cutting pick holder 17 to move to the new cutting pick 27 until the new cutting pick 27 extends into a cutting pick holding hole 23, and finally controlling piston rods of a first holding hydraulic cylinder 21 and a second holding hydraulic cylinder 22 to extend until the new cutting pick 27 is held by a first chuck 19 and a second chuck 20;
step seven: controlling the pick holder 17 to retreat until a new pick 27 is pulled out of the pick insertion hole 24 in the new pick storage box 25, and then adjusting the spatial position of the mechanical arm mechanism 31 mounted on the new pick to enable the pick holder 17 holding the new pick 27 to move to a vacant pick mounting hole and ensure that the new pick 27 and the pick mounting hole are in a coaxial state;
step eight: starting a new cutting tooth hydraulic impact cylinder to enable a piston rod of the new cutting tooth hydraulic impact cylinder to extend out at a high speed, impacting a new cutting tooth 27 through a new cutting tooth punch moving at a high speed, and rapidly advancing the cutting tooth holder 17 at the same moment until the new cutting tooth 27 is completely inserted into a cutting tooth mounting hole;
step nine: the piston rods of the first clamping hydraulic cylinder 21 and the second clamping hydraulic cylinder 22 are controlled to retract, so that the new cutting tooth 27 is separated from the clamping of the first chuck 19 and the second chuck 20, and finally the cutting tooth clamp 17 is controlled to retreat until the new cutting tooth 27 is completely separated from the cutting tooth clamping hole 23;
step ten: and repeating the second step to the ninth step, and completely replacing the rest worn old picks 28 on the roller of the coal mining machine 32 with new picks 27.
The embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications without departing from the scope of the present invention are intended to be included in the scope of the present invention.
Claims (2)
1. The utility model provides a colliery is automatic manipulator of changing of coal-winning machine pick in pit which characterized in that: the device comprises an old cutting tooth dismounting mechanical arm mechanism, a new cutting tooth mounting mechanical arm mechanism, an old cutting tooth dismounting impactor, a cutting tooth holder, a new cutting tooth mounting impactor and a cutting tooth storage box; the old cutting tooth dismounting mechanical arm mechanism and the new cutting tooth mounting mechanical arm mechanism are hung at the top of the hydraulic support in parallel, the old cutting tooth dismounting impactor is mounted on the old cutting tooth dismounting mechanical arm mechanism, the new cutting tooth mounting impactor is mounted on the new cutting tooth mounting mechanical arm mechanism, and the cutting tooth clamp holder is mounted on the new cutting tooth mounting impactor; the cutting pick storage box is arranged at the bottom of the hydraulic support;
the old cutting tooth dismounting mechanical arm mechanism and the new cutting tooth mounting mechanical arm mechanism are the same in structure and respectively comprise a base, an electric rotary table, a large arm, an elbow joint, an electric rotary disc, a small arm, an electric wrist joint and a palm; the base is fixedly hoisted at the top of the hydraulic support, the electric revolving platform is hoisted on the base, one end of the large arm is hinged to the electric revolving platform, a large arm swinging motor is installed at the hinged point of the large arm and the electric revolving platform, the swinging motion of the large arm is driven by the large arm swinging motor, and the revolving motion of the large arm is driven by the electric revolving platform; the other end of the large arm is hinged with one end of an elbow joint, a small arm swinging motor is installed at the hinged point of the large arm and the elbow joint, the electric rotary disc is installed at the other end of the elbow joint, one end of the small arm is fixedly connected onto the electric rotary disc, swinging motion of the small arm is driven by the small arm swinging motor, and swinging motion of the small arm is driven by the electric rotary disc; the other end of the small arm is connected with one end of an electric wrist joint, the other end of the electric wrist joint is hinged with one end of a palm, a palm swinging motor is installed at the hinged point of the electric wrist joint and the palm, swinging movement of the palm is driven by the palm swinging motor, and rotary movement of the palm is driven by the electric wrist joint; the other end of the palm is used for mounting an old cutting pick dismounting impactor or a new cutting pick mounting impactor;
the old cutting pick disassembling impactor comprises an old cutting pick hydraulic impact cylinder and an old cutting pick punch, wherein the bottom end of a cylinder barrel of the old cutting pick hydraulic impact cylinder is fixedly connected to a palm, and the old cutting pick punch is fixedly connected to the top end of a piston rod of the old cutting pick hydraulic impact cylinder;
the new cutting tooth installation impactor comprises a new cutting tooth hydraulic impact cylinder, a new cutting tooth punch and a switching cylinder body, one end of the switching cylinder body is fixedly connected to the palm of the hand, and the cutting tooth holder is installed at the other end of the switching cylinder body; the new cutting tooth hydraulic impact cylinder is coaxially arranged on the inner side of the switching cylinder body, the bottom end of a cylinder barrel of the new cutting tooth hydraulic impact cylinder is fixedly connected to the palm side of the switching cylinder body, a piston rod of the new cutting tooth hydraulic impact cylinder faces to the holder side of the switching cylinder body, and the new cutting tooth punch is fixedly arranged at the top end of the piston rod of the new cutting tooth hydraulic impact cylinder;
the cutting pick holder comprises a frame body, a first chuck, a second chuck, a first holding hydraulic cylinder and a second holding hydraulic cylinder; the frame body is coaxially and fixedly arranged on the switching cylinder body, the second clamping hydraulic cylinder and the second clamping hydraulic cylinder are coaxially and symmetrically arranged on the frame body, and the central axes of the second clamping hydraulic cylinder and the second clamping hydraulic cylinder are vertical to the central axis of the new cutting tooth hydraulic impact cylinder; a piston rod of the first clamping hydraulic cylinder extends to the inner side of the frame body, and the first chuck is fixedly arranged at the top end of the piston rod of the first clamping hydraulic cylinder; a piston rod of the second clamping hydraulic cylinder extends to the inner side of the frame body, and the second chuck is fixedly arranged at the top end of the piston rod of the second clamping hydraulic cylinder; the first chuck and the second chuck form a cutting pick clamping hole;
a plurality of cutting pick inserting holes are formed in the surface of the box body of the cutting pick storage box; according to the difference of usage, the pick storage box divide into new pick storage box and old pick storage box, and new pick storage box and old pick storage box are arranged side by side, and the pick cartridge hole on the new pick storage box is used for depositing new pick, and the pick cartridge hole on the old pick storage box is used for depositing old pick.
2. The use method of the automatic replacement manipulator for the cutting picks of the coal mine underground coal mining machine, which is disclosed by claim 1, is characterized by comprising the following steps of:
the method comprises the following steps: when worn old cutting teeth on a drum of a coal mining machine need to be replaced, the drum of the coal mining machine is controlled to rotate to a specified angle, and the old cutting teeth are ensured to be in an effective working range of a manipulator;
step two: adjusting the spatial position of the old cutting pick disassembling mechanical arm mechanism, enabling the old cutting pick hydraulic impact cylinder to be located right behind the old cutting pick, ensuring the old cutting pick hydraulic impact cylinder and the old cutting pick to be in a coaxial state, and simultaneously ensuring that an old cutting pick punch and the old cutting pick reach an impact set distance;
step three: adjusting the spatial position of a mechanical arm mechanism mounted on a new cutting tooth, enabling the cutting tooth holder to be positioned right ahead of an old cutting tooth, ensuring that the cutting tooth holder and the old cutting tooth are in a coaxial state, then controlling the cutting tooth holder to move towards the old cutting tooth until the old cutting tooth extends into a cutting tooth holding hole, and finally controlling piston rods of a first clamping hydraulic cylinder and a second clamping hydraulic cylinder to extend out until the old cutting tooth is clamped by a first chuck and a second chuck;
step four: starting the old cutting tooth hydraulic impact cylinder to enable a piston rod of the old cutting tooth hydraulic impact cylinder to extend out at a high speed, impacting the old cutting tooth through an old cutting tooth punch moving at a high speed, and quickly retreating the cutting tooth holder at the same moment until the old cutting tooth is completely separated from the cutting tooth mounting hole;
step five: adjusting the spatial position of a mechanical arm mechanism of a new cutting pick, enabling a cutting pick holder holding an old cutting pick to move to an old cutting pick storage box, simultaneously selecting a cutting pick insertion hole which is arranged on the old cutting pick storage box and inserting the old cutting pick into the cutting pick storage box, then controlling piston rods of a first clamping hydraulic cylinder and a second clamping hydraulic cylinder to retract, enabling the old cutting pick to be separated from the clamping of a first chuck and a second chuck, and finally controlling the cutting pick holder to retreat until the old cutting pick is completely separated from the cutting pick holding hole;
step six: adjusting the spatial position of a mechanical arm mechanism mounted on a new cutting pick, enabling a cutting pick holder to move to a new cutting pick storage box, selecting a new cutting pick from the new cutting pick storage box, stopping the cutting pick holder right ahead of the new cutting pick, ensuring that the cutting pick holder and the new cutting pick are in a coaxial state, controlling the cutting pick holder to move to the new cutting pick until the new cutting pick extends into a cutting pick holding hole, and finally controlling piston rods of a first holding hydraulic cylinder and a second holding hydraulic cylinder to extend out until the new cutting pick is held by a first chuck and a second chuck;
step seven: controlling the pick holder to retreat until a new pick is pulled out of a pick inserting hole in a new pick storage box, and then adjusting the spatial position of a mechanical arm mechanism mounted on the new pick to enable the pick holder holding the new pick to move to a vacant pick mounting hole and ensure that the new pick and the pick mounting hole are in a coaxial state;
step eight: starting a new cutting tooth hydraulic impact cylinder to enable a piston rod of the new cutting tooth hydraulic impact cylinder to extend out at a high speed, impacting a new cutting tooth through a new cutting tooth punch moving at a high speed, and rapidly advancing a cutting tooth holder at the same moment until the new cutting tooth is completely inserted into a cutting tooth mounting hole;
step nine: the piston rods of the first clamping hydraulic cylinder and the second clamping hydraulic cylinder are controlled to retract, so that the new cutting tooth is separated from the clamping of the first chuck and the second chuck, and finally the cutting tooth clamp is controlled to retreat until the new cutting tooth is completely separated from the cutting tooth clamping hole;
step ten: and repeating the second step to the ninth step, and completely replacing the rest worn old cutting teeth on the roller of the coal mining machine with new cutting teeth.
Priority Applications (1)
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| CN117506961B (en) * | 2024-01-04 | 2024-03-08 | 欧特威(江苏)机械科技有限公司 | Automatic replacing manipulator for cutting pick of heading machine and using method |
| CN117532301B (en) * | 2024-01-10 | 2024-03-22 | 太原理工大学 | Ultrasonic transmission device for rapidly connecting and disassembling mining cutting pick |
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| US4512709A (en) * | 1983-07-25 | 1985-04-23 | Cincinnati Milacron Inc. | Robot toolchanger system |
| EP0246384A1 (en) * | 1986-05-22 | 1987-11-25 | Manitou Bf | Automatic tool-changing device for a manipulator arm |
| DE3641065A1 (en) * | 1986-12-01 | 1988-06-16 | Asys Gmbh Ges Fuer Die Herstel | Feed unit and working apparatus with a feed unit |
| JPH0753352B2 (en) * | 1990-10-29 | 1995-06-07 | ニッタ株式会社 | Automatic tool change coupler |
| EP2189753A3 (en) * | 2008-11-24 | 2011-01-05 | Politechnika Slaska | Assembly stand for mineral cutting head |
| CN104985421B (en) * | 2014-11-25 | 2018-02-23 | 惊天智能装备股份有限公司 | Connector disassembles robot |
| CN106863341B (en) * | 2017-02-14 | 2019-07-23 | 东北大学 | A kind of shield machine disk cutter tool-changing mechanical arm and its application method |
| CN108406836B (en) * | 2018-02-08 | 2020-11-03 | 大连理工大学 | TBM single-hob replacement manipulator end effector |
| CN108708735B (en) * | 2018-05-15 | 2019-09-24 | 山东大学 | One kind is for shield machine replacement cutter robot and application method |
| CN209855796U (en) * | 2019-04-28 | 2019-12-27 | 中铁工程装备集团有限公司 | Tunnel boring machine is with detecting tool changing robot |
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