WO2020140812A1

WO2020140812A1 - Automatic mining hydraulic support pin disassembly apparatus and use thereof

Info

Publication number: WO2020140812A1
Application number: PCT/CN2019/128335
Authority: WO
Inventors: 万丽荣; 张帅; 孟昭胜; 高魁东; 刘志海; 杨春祥
Original assignee: 山东科技大学
Priority date: 2019-07-23
Filing date: 2019-12-25
Publication date: 2020-07-09
Also published as: AU2019382302B2; AU2019382302A1; JP2021512240A; CN110238630A; CA3088053C; CN110238630B; JP6931944B2; CA3088053A1

Abstract

An automatic mining hydraulic support pin disassembly apparatus and a use thereof. The bottom of a lifting platform (18) is installed on a movable trolley by means of a scissor lift mechanism. One side of a hydraulic oil tank pin withdrawal apparatus (9) is connected to a holding plate (13), and the hydraulic oil tank pin withdrawal apparatus (9) and the bottom of the holding plate (13) are placed on an H-shaped rail (17) by means of electric rollers (16); a bolt replacement apparatus (1) is installed on the holding plate (13); a bolt fastening apparatus (5) is connected to a recessed rail (15) disposed on the holding plate (13) and is driven by a motor A (14); the front end of the hydraulic oil tank pin withdrawal apparatus (9) is connected to a pin clamping apparatus (7), and an image recognition and processing device (10) is installed at the rear end of the hydraulic oil tank pin withdrawal apparatus (9); a lifting apparatus (22) and a console (21) are installed on the movable trolley; the movable trolley, the hydraulic oil tank pin withdrawal apparatus (9), the bolt fastening apparatus (5), the bolt replacement apparatus (1), the scissor lift mechanism, the lifting apparatus (22), the image recognition and processing device (10), the motor A (14), and the electric rollers (16) are all connected to and controlled by the console (21). The present apparatus can replace the traditional manual operation and enable automatic and intelligent pin disassembly.

Description

Mine hydraulic support pin shaft automatic disassembly equipment and its application

Technical field

The invention relates to a mine hydraulic support pin shaft automatic disassembly equipment and its application, belonging to the technical field of mining machinery and equipment.

Background technique

As an important equipment under the mine, hydraulic support is usually formed by connecting the top beam, shield beam, tail beam, front and rear connecting rods, bottom plate and other components through pins. In recent years, with the development of underground comprehensive mining equipment, hydraulic supports have gradually tended to become larger, and large mining height hydraulic supports have developed into the main frame type used underground, and the pin models used have gradually become larger. Because the hydraulic support needs to be disassembled into various parts during manufacturing, transportation, and downhole, it is convenient to transfer, but with the continuous increase of the weight and installation height of the pin, various problems appearing in the process of pin disassembly are increasing. increase.

Usually the environment under the mine is complex, the pin shaft on the bracket has a small clearance, and it is prone to rusting under the environment of water and various dusts for a long time. It is stuck in the pin hole and the pin shaft is difficult to remove. In the case of traditional disassembly, such as the hammer hitting the pin, hand chain hoist, gas cutting, etc., the work intensity is large, it consumes a lot of labor, and the efficiency is low. At the same time, for some manual use of tools such as hydraulic pullers, The preparation work is cumbersome, has certain operation difficulty, does not effectively shorten the disassembly time, and poses a great potential safety hazard to workers. It needs to be manually moved after disassembly.

For example, Chinese patent document CN108581931A discloses a large-scale mining hydraulic support pin removal device, which mainly includes a pushing sleeve and a pulling sleeve, which are located on both sides of the hydraulic support. It can realize that the first hydraulic rod works to exert an upward force on the pushing sleeve, the second hydraulic rod exerts a downward force on the pulling sleeve, and the pushing sleeve and the pulling sleeve are tightly connected by a steel rope and a moving pulley, thereby The two forces interact to effectively reduce the force of the worker pushing the sleeve against the hydraulic support and reduce the labor intensity. The moving pulley is easy to save effort so that the pushing sleeve and the pulling sleeve are tightly connected. When disassembling, not only through the thread connection The column pulls the pin shaft for disassembly, and also pushes the pin shaft by pushing the first hydraulic push rod in the sleeve, which effectively reduces the force of the threaded connecting column pulling the pin shaft and prevents slipping.

Chinese patent document CN207888185U discloses a hydraulic support pin removal device, which includes a hoist and a pin pullout device, the hoist includes a lifting mechanism, the hoisting mechanism is connected to the pin pullout device, and the pin pullout device includes a pullout pin An oil cylinder and a pin shaft connecting device, the pin pulling oil cylinder is arranged horizontally, and the extending end of the piston rod of the pin pulling oil cylinder is connected to the pin shaft connecting device. The patent improves the disassembly efficiency of the pin shaft and improves the construction safety. It adopts hydraulic control and remote operation, which reduces the investment of manpower and material resources and saves costs.

Although the above two pin shaft disassembly schemes save manpower and realize mechanical cooperation disassembly operations, the safety is improved to a certain extent. However, the above two schemes have a relatively low degree of automation, which still requires excessive physical strength and energy of workers.

Summary of the invention

In view of the shortcomings of the prior art, the present invention provides a mine hydraulic support pin automatic disassembly equipment, which is based on image recognition processing technology, which can realize the automation and intelligence of pin disassembly operations, and can target different types and Pins of different specifications can be dismantled without replacing equipment in the middle, which can realize multi-use of one machine and high working efficiency.

The invention also provides the above-mentioned working method of the automatic disassembly equipment of the mining hydraulic support pin.

The technical solution of the present invention is as follows:

A mine hydraulic support pin shaft automatic disassembly equipment, including a walking trolley, a hydraulic oil cylinder pin pulling device, a stud fixing device, a stud replacement device, a lifting platform, a lifting device and a console;

The bottom of the lifting platform is installed on the walking trolley through a scissor mechanism. The top of the lifting platform is provided with an I-shaped track. A support plate is connected to one side of the hydraulic cylinder pull-out device, and the bottom of the hydraulic cylinder pull-out device and the support plate are electrically driven. The roller is placed on the I-shaped track, and the stud replacement device is installed on the support plate. The support plate is provided with a groove track. One end of the groove track is provided with a motor A. The motor A drives the stud fixing device along the chain. Groove track movement;

A pin clamping device is connected to the front end of the hydraulic cylinder pin pullout device, and an image recognition processing device is installed at the end of the hydraulic cylinder pin pullout device; the lifting device and the console are installed on the walking trolley and are located on the side of the scissor mechanism;

Walking trolley, hydraulic cylinder pin pullout device, stud fixing device, stud replacement device, scissor mechanism, lifting device, image recognition processing device, motor A, electric roller are all controlled by the console connection.

Preferably, a sleeve is connected to an outer wall of the pin pulling device of the hydraulic oil cylinder, one side of the sleeve is opened, and the pin shaft clamping device is located in the sleeve. The advantage of this design is that when the pin is pulled out, it can directly enter the sleeve to avoid accidental drop of the pin and ensure safe operation.

Preferably, the pin shaft clamping device includes a micro motor, a gear, and two L-shaped clamping rods. The output shaft of the micro motor is connected to the gear, and the gear meshes with the end of the L-shaped clamping rod. The advantage of this design is that the ends of the two L-shaped clamping rods are provided with teeth and form a rack and pinion transmission mechanism with the gears. The ends of the two L-shaped clamping rods are controlled by a set of gears and micro motors. The motor drives the gear to rotate, so that the two L-shaped clamping rods move toward or away from each other.

Preferably, a pin recovery plate is connected to one side of the lifting platform. The advantage of this design is that the pin recovery plate is located on the side of the sleeve opening, so that the disassembled pin can roll to the pin recovery plate by gravity through the sleeve opening.

Preferably, four hydraulic cylinder legs are provided on both sides of the walking trolley, and the hydraulic cylinder legs are connected and controlled by the console.

Preferably, the stud replacement device includes a motor B and a disc. The output shaft of the motor B is connected to the disc. A plurality of stud clamping devices are provided on the disc. The stud clamping device is used to clamp a special stud . The advantage of this design is that the stud clamping device can hold different types of studs, so it is suitable for the disassembly of many types of pins.

Preferably, the stud clamping device includes two arc-shaped rods and a spring, the two arc-shaped rods and the disc are connected by a shaft, and the bottoms of the two arc-shaped rods are connected to the spring. The advantage of this design is that the special studs are placed in the two arc-shaped rods, and a certain clamping force is provided by the spring, thereby playing the role of clamping the special studs.

Preferably, the special stud includes a screw and a tail ring, and the tail ring is connected to the end of the screw.

Preferably, the stud fixing device includes a motor C and a rotary head, the output shaft of the motor C is connected to the rotary head, a concave groove is formed on the rotary head, and the motor C is controlled by the console connection. The advantage of this design is that the tail ring at the tail of the special stud can be inserted into the concave groove on the rotary head, and the rotary head is driven by the motor C to rotate, thereby tightening or loosening the special stud in the threaded hole of the pin.

Preferably, the lifting device includes a rotating base, a first connecting rod, a second connecting rod, a hook, and a lifting hydraulic cylinder. The first connecting rod is installed on the rotating base, and the rotating base is fixed to the walking cart by bolts. The front end of the two connecting rods is connected to the hook, the end of the second connecting rod is hinged to the top of the first connecting rod, the cylinder of the lifting hydraulic cylinder is connected to the first connecting rod, and the top of the piston rod of the lifting hydraulic cylinder is hinged to the bottom of the second connecting rod, The lifting hydraulic cylinder is controlled by the console connection. The advantage of this design is that the second connecting rod is raised or lowered by the expansion and contraction of the lifting hydraulic cylinder, so that the hook lifts or lowers the hydraulic support part.

Preferably, the image recognition processing device uses a CCD camera. The advantage of this design is that the CCD camera is used to collect the image and transmit the signal to the console for recognition and processing.

A working method of automatic disassembling equipment for mining hydraulic support pin includes the following steps:

A pin has a threaded hole

(1) Move the walking trolley to the side of the hydraulic bracket that needs to remove the pin through the console;

(2) Adjust the lifting device through the console, and use the lifting device to fix the hydraulic support to be removed;

(3) Start the image recognition processing device through the console, collect the image information of the pin to be dismantled at present, and transmit the image information to the console;

(4) The console automatically adjusts the walking trolley, lifting platform, and support plate to coordinate the work according to the feedback image information, and finally aligns the concave groove on the head of the stud fixing device with the threaded hole on the pin, and the hydraulic cylinder leg Reach out and fix the entire equipment;

(5) Control the rotation of the disc at the front end of the stud replacement device through the console, so that the special studs carried by the stud clamping device matching the threaded holes of the pin shaft are aligned with the concave grooves on the head of the stud fixing device;

(6) The console controls the operation of motor A, so that the stud fixing device advances along the groove track on the support plate, so that the concave groove on the head of the stud fixing device is connected with the tail ring of the special stud, and the stud is fixed The motor C in the device starts to run, and the special stud is screwed into the threaded hole of the pin;

(7) The stud fixing device retreats along the groove track on the support plate, and the image recognition processing device transmits the image information of the tightened special stud to the console;

(8) According to the feedback image information, the console automatically adjusts the walking trolley, lifting platform, and support plate to coordinate the work, and finally aligns the L-shaped clamping rod at the front end of the hydraulic cylinder pullout device with the tail ring of the special stud;

(9) The hydraulic cylinder of the hydraulic cylinder pull-out device starts to work, the L-shaped clamping rod hooks the tail ring of the special stud, and the pin shaft is pulled and removed;

(10) The unplugged pin enters the sleeve. When the pin moves to the opening on the side of the sleeve as a whole, the pin is subjected to gravity and rolls from the opening to the pin recovery plate;

or

No threaded hole on B pin shaft

(1) Use the console to move the trolley to the side of the hydraulic bracket that needs to remove the pin;

(4) The console automatically adjusts the walking cart, lifting platform, and support plate to coordinate the work based on the feedback image information, and finally aligns the L-shaped clamping rod at the front of the hydraulic cylinder pin pullout device with the pin shaft, and the hydraulic cylinder legs extend Out, fix the entire equipment;

(5) The hydraulic cylinder of the hydraulic cylinder pin-pulling device extends outwards, and the front end of the L-shaped clamping rod pushes the pin axially outward for a distance;

(6) The legs of the hydraulic cylinder are retracted, and the walking trolley is moved to the other side of the hydraulic support through the console;

(7) The image recognition processing device collects the image information of the pin to be disassembled again, and transmits the image information to the console;

(8) According to the feedback image information, the console automatically adjusts the walking trolley, lifting platform, and support plate to coordinate the work, and finally aligns the L-shaped clamping rod at the front end of the hydraulic cylinder pullout device with the pin shaft, and the hydraulic cylinder outrigger Reach out and fix the entire equipment;

(9) The console activates the micro motor to open the two parallel L-shaped clamping rods, the hydraulic cylinder drives the L-shaped clamping rod to reach the pin, and the two L-shaped clamping rods clamp the protruding part of the pin. Pull out to complete the disassembly;

(10) The removed pin shaft enters the sleeve. When the pin shaft is displaced to the opening on the side of the sleeve as a whole, the pin shaft is subjected to gravity and rolls from the opening to the pin shaft recovery plate.

The beneficial effects of the present invention are:

1) The automatic disassembly equipment of the hydraulic support pin of the present invention can replace the traditional manual operation method, and the hydraulic oil cylinder is used to eject or pull the pin out, which provides greater power, reduces the difficulty of pin removal, and saves A large amount of labor reduces the safety hazards.

2) The present invention uses image recognition intelligent control, which reduces the difficulty of operation and the technical requirements for the operator, avoids manual positioning, and has higher efficiency and accuracy compared to manual positioning; automatic replacement can be achieved through the stud replacement device and the stud fixing device Installing studs on the threaded holes of the pin shaft reduces the labor required.

3) Through the joint action of automatic replacement of special studs, fixed studs, pin recovery plates and other devices, multiple pin removals can be performed without stopping the operation of the equipment, which greatly improves the pin removal. effectiveness.

4) The walking device, the scissor lifting platform and the electric roller under the supporting plate of the present invention can make the equipment dismantle the pins at different positions and heights; with the lifting device, the lifting belt disassembly component is realized The integration with the pin shaft disassembly equipment reduces the required equipment, the number of workers, etc.; the pin shaft recovery board cooperates with the walking trolley to avoid manual handling of the pin shaft after disassembly.

BRIEF DESCRIPTION

Figure 1 is a perspective view Ⅰ of the automatic disassembly equipment of the present invention;

Figure 2 is a perspective view II of the automatic disassembly equipment of the present invention;

3 is a front view of the automatic disassembly equipment of the present invention;

4 is a side view of the automatic disassembly equipment of the present invention;

5 is a top view of the automatic disassembly equipment of the present invention;

Among them: 1- stud replacement device, 2- stud clamping device, 3- motor B, 4- concave groove, 5- stud fixing device, 6- pulley, 7- pin shaft clamping device, 8- sleeve , 9-hydraulic cylinder pin pulling device, 10-image recognition processing device, 11-opening, 12-pin shaft recovery plate, 13-supporting plate, 14-motor A, 15-groove track, 16-electric roller, 17 -I-shaped track, 18-lift platform, 19-lift platform hydraulic cylinder, 20-power supply, 21-console, 22-lifting device, 23-walking device, 24-hydraulic cylinder leg.

detailed description

The present invention will be further described below by way of embodiments with reference to the drawings, but it is not limited thereto.

Example 1:

As shown in FIGS. 1 to 5, this embodiment provides a mine hydraulic support pin automatic disassembly equipment, including a walking trolley, a hydraulic cylinder pin pulling device 9, a stud fixing device 5, a stud replacement device 1, a lifting platform 18. Lifting device 22 and console 21;

The bottom of the lifting platform 18 is installed on the walking trolley through the scissor mechanism, and the two lifting platform hydraulic cylinders 19 drive the scissor mechanism to open up or fold down, thereby driving the lifting platform 18 up and down. An I-shaped rail 17 is installed on the top of the lifting platform 18, a supporting plate 13 is welded on one side of the hydraulic cylinder pin-out device 9, and the bottoms of the hydraulic cylinder cylinder pin-out device 9 and the supporting plate 13 are placed on the I-shaped track through an electric roller 16 17 on. The stud replacement device 1 is welded to the supporting plate 13, and the supporting plate 13 is provided with a groove track 15. One end of the groove track 15 is installed with a motor A14 which drives the stud fixing device 5 along the groove through a chain drive The track 15 moves back and forth;

The pin clamp device 7 is connected to the front end of the hydraulic cylinder pin pullout device 9, the image recognition processing device 10 is installed at the end of the hydraulic cylinder pin pullout device 9; the lifting device 22 and the console 21 are installed on the walking trolley and are located in the scissor mechanism One side

The trolley, the hydraulic cylinder pin pulling device 9, the stud fixing device 5, the stud replacement device 1, the scissor mechanism, the lifting device 22, the image recognition processing device 10, the motor A14, and the electric roller 16 are all connected and controlled by the console.

Specifically, the walking trolley is a conventional transportation flatbed vehicle, and a console 21 is installed on the walking trolley, the console is mainly an industrial computer, and the running process (forward, backward, turning, etc.) of the walking trolley is controlled by the console 21. In order to ensure the stability of the entire equipment operation process, four hydraulic cylinder legs 24 are fixedly installed on both sides of the trolley by bolts. The working process of the four hydraulic cylinder legs 24 is also controlled by the console 21 (console control The solenoid valve on the hydraulic line allows the oil in the oil tank to enter the hydraulic cylinder leg to make it work). After the piston rods of the four hydraulic cylinder legs 24 are extended to the ground, ensure the stability of the entire equipment during the operation of removing the pin Sex.

A sleeve 8 is welded on the outer wall of the pin pulling device 9 of the hydraulic cylinder, the sleeve 11 has an opening 11 on one side, and the pin clamping device 7 is located in the sleeve 8. The main body of the hydraulic cylinder pin pulling device 9 is a hydraulic cylinder. The pin clamp device 7 is welded to the front end of the piston rod of the hydraulic cylinder. The pin clamp device 7 is extended or retracted in the sleeve 8 through the expansion and contraction of the piston rod of the hydraulic cylinder.

The pin shaft clamping device 7 is provided with a micro motor, a gear and two L-shaped clamping rods in the overall housing. The output shaft of the micro motor is connected to the gears. The ends of the two L-shaped clamping rods are provided with teeth and two L-shaped clamps. Each of the tightening rods and a gear form a rack and pinion transmission mechanism. The two gears are driven by two micromotors at the same time, that is, the two micromotors drive the gears to rotate, so that the two L-shaped clamping rods move toward or away from each other. Collapse or separate. After the pin shaft is pulled out, the pin clamp device 7 with the pin shaft pulled out enters the sleeve 8 directly through the retraction of the piston rod of the hydraulic cylinder, so as to prevent the pin shaft from accidentally falling and ensure the safety of the operation.

The bearing plate 13 is welded to one side of the hydraulic cylinder pin-out device 9. The electric rollers 16 at the bottom of the two are electric rollers with integrated drive motors. The drive motors are also connected and controlled by the console 21, and the drive motors are controlled by the console 21. The electric roller 16 is run on the I-shaped rail 17.

The stud replacement device 1 includes a motor B3 and a disc. The motor B3 is welded to the support plate 13. The output shaft of the motor B3 is connected to the center of the disc. The disc is provided with seven stud clamping devices 2. The stud clamp The tightening device 2 is used for clamping special studs. The stud clamping device 2 can hold different types of studs, so it is suitable for disassembling various types of pins.

The stud clamping device 2 includes two arc-shaped rods and a spring, and a gap is formed on the disc to accommodate the arc-shaped rod, the lower half of the two arc-shaped rods are located in the gap, and the two arc-shaped rods are connected to the disc through a shaft , The bottom of the two curved rods is connected to the spring. A certain clamping force is provided by the spring, thereby playing the role of clamping a special stud.

The special studs include a screw and a tail ring. The tail ring is connected to the end of the screw. The tail ring and the screw can be welded or integrally formed.

The stud fixing device 5 includes a motor C and a rotary head. The output shaft of the motor C is connected to the rotary head by driving. A concave groove 4 is formed at the front end of the rotary head. The concave groove 4 matches the tail ring and can accommodate the tail ring. The motor C is connected and controlled by the console 21, the tail ring of the special stud tail can be inserted into the concave groove 4 at the front end of the rotary head, and the rotary head is driven to rotate by the motor C, thereby tightening or screwing the special stud in the threaded hole of the pin loose. In addition, the stud fixing device 5 is provided with a pulley 6 at the bottom, which drives the stud fixing device 5 to move forward along the groove track 15 through the chain drive of the motor A14, and cooperates with the rotation of the rotary head to screw the special stud into the threaded hole .

The lifting device 22 includes a rotating base, a first connecting rod, a second connecting rod, a hook, and a lifting hydraulic cylinder. The first connecting rod is installed on the rotating base, and the rotating base is fixed to the walking cart by bolts. The front end is connected to the hook, the end of the second connecting rod is hinged to the top of the first connecting rod, the cylinder of the lifting hydraulic cylinder is connected to the first connecting rod, the top of the piston rod of the lifting hydraulic cylinder is hinged to the bottom of the second connecting rod, and the lifting hydraulic cylinder is The console 21 is connected for control. Through the expansion and contraction of the lifting hydraulic cylinder, the second link is raised or lowered, so that the hook lifts or lowers the hydraulic support part. The rotating base is a conventional device, which is equipped with a motor-driven rotating mechanism, which is also connected and controlled by the console 21.

The image recognition processing device 10 selects a CCD camera. The image is collected with a CCD camera, and the signal is transmitted to the control station 21 for recognition processing.

The scissor mechanism supporting the lifting platform 18 is the existing equipment on the market, and the hinge link mechanism is driven by the lifting platform hydraulic cylinder 19 to realize the folding and lifting, so as to drive the lifting platform 18 to lift up or down. The lifting platform hydraulic cylinder 19 is also controlled by the console connection of. The main component of the console 21 is an industrial computer, which controls the working process of various oil cylinders, motors, and CCD cameras through the connection of existing circuits, oil circuits, and acquisition cards.

Example 2:

A mine hydraulic support pin automatic disassembly equipment, the structure is as described in the first embodiment, the difference is that: a pin recovery plate 12 is connected to one side of the lifting platform 18. The pin recovery plate 12 is located on the side of the sleeve opening 11, so that the disassembled pin can be rolled onto the pin recovery plate 12 by gravity through the sleeve opening 11.

Example 3:

A method for automatically disassembling the pin shaft of a hydraulic support for a mine. Using the technical solution described in Example 2, the pin shaft with a threaded hole is disassembled. The specific operation process is as follows:

(1) Move the trolley to the side of the hydraulic support to be disassembled through the console 21;

(2) Adjust the lifting device 22 through the console 21, and use the hook of the lifting device 22 to fix the hydraulic bracket to be disassembled to avoid the safety accident caused by the falling of the components after the pin is pulled out;

(3) Start the CCD camera through the console 21, collect the image information of the pin to be dismantled, and transmit the image information to the console 21;

(4) The console 21 automatically adjusts the walking trolley, the lifting platform 18, and the supporting plate 13 to coordinate the work based on the feedback image information, and finally aligns the concave groove 4 on the rotating head of the stud fixing device 5 with the removal pin Threaded holes, while the hydraulic cylinder legs 24 extend out to fix the entire equipment;

(5) Control the rotation of the disc at the front end of the stud replacement device 1 through the console 21, so that the special studs carried by the stud clamping device 2 matching the threaded holes of the pin shaft are aligned with the stud fixing device 5 on the rotating head Concave groove 4;

(6) The console 21 controls the operation of the motor A14 to advance the stud fixing device 5 along the groove track 15 on the support plate 13, so that the stud fixing device 5 rotates the concave groove 4 on the head and the tail of the special stud The ring fits and connects, and the internal motor C of the stud fixing device starts to run. Tighten the special stud into the threaded hole of the pin;

(7) The stud fixing device 5 retreats along the groove track 15 on the supporting plate 13, and the CCD camera transmits the image information of the screwed special stud to the console 21;

(8) The console 21 automatically adjusts the walking trolley, the lifting platform 18, and the support plate 13 to coordinate the work again according to the feedback image information, and finally aligns the L-shaped clamping rod at the front end of the hydraulic cylinder pull-out device 9 with the special stud Tail ring

(9) The hydraulic cylinder at the rear of the hydraulic cylinder pin pulling device 9 starts to work, the piston rod of the hydraulic cylinder extends, the L-shaped clamping rod hooks the tail ring of the special stud, and the pin shaft is pulled by the shrinkage of the piston rod of the hydraulic cylinder Pull out

(10) The unplugged pin enters the sleeve 8. When the pin is moved to the opening 11 on the side of the sleeve as a whole, the pin is subjected to gravity and rolls from the opening to the pin recovery plate 12.

Example 4:

A working method of automatic disassembling equipment for mining hydraulic support pins. The technical solution described in Example 2 is used to disassemble pins with no threaded holes. The specific operation process is as follows:

(1) Use the console 21 to move the trolley to the side of the hydraulic support that needs to be disassembled;

(4) The console 21 automatically adjusts the walking trolley, the lifting platform 18, and the support plate 13 to coordinate the work based on the feedback image information, and finally aligns the L-shaped clamping rod at the front end of the hydraulic cylinder pin pulling device 9 with the pin to be removed, At the same time, the hydraulic cylinder legs 24 extend to fix the entire equipment;

(5) The piston rod of the hydraulic cylinder at the rear of the hydraulic cylinder pin pull-out device 9 extends outward, and the front end of the L-shaped clamping rod pushes the pin axially outward a certain distance;

(6) The hydraulic cylinder legs 24 are retracted, and the walking trolley is moved to the other side of the hydraulic support through the console 21;

(7) The CCD camera collects the image information of the pin shaft to be removed again, and transmits the image information to the console 21;

(8) The console 21 automatically adjusts the walking trolley, the lifting platform 18, and the support plate 13 to coordinate the work again according to the feedback image information, and finally aligns the L-shaped clamping rod at the front end of the hydraulic cylinder pull-out device 9 with the pin shaft, and at the same time The hydraulic cylinder legs 24 extend to fix the entire equipment;

(9) The console 21 controls the micro motor to start, and the two parallel L-shaped clamping rods are opened by the micro motor, the hydraulic cylinder drives the L-shaped clamping rod to reach the pin shaft, and the two L-shaped clamping rods clamp the pin The protruding part of the shaft (there is a ring of protrusions at the end of the pin shaft), pull out outward to complete disassembly;

(10) The unplugged pin enters the sleeve 8, and when the pin is entirely displaced to the opening 11 on the side of the sleeve 8, the pin is subjected to gravity and rolls from the opening to the pin recovery plate 12.

Claims

A mine hydraulic support pin automatic disassembly equipment, which is characterized by comprising a walking trolley, a hydraulic oil cylinder pin pulling device, a stud fixing device, a stud replacement device, a lifting platform, a lifting device and a console;

The bottom of the lifting platform is installed on the walking trolley through a scissor mechanism. The top of the lifting platform is provided with an I-shaped track. A support plate is connected to one side of the hydraulic cylinder pull-out device, and the bottom of the hydraulic cylinder pull-out device and the support plate are electrically driven. The roller is placed on the I-shaped track, and the stud replacement device is installed on the support plate. The support plate is provided with a groove track. One end of the groove track is provided with a motor A. The motor A drives the stud fixing device along the chain. Groove track movement;

A pin clamping device is connected to the front end of the hydraulic cylinder pin pullout device, and an image recognition processing device is installed at the end of the hydraulic cylinder pin pullout device; the lifting device and the console are installed on the walking trolley and are located on the side of the scissor mechanism;

Walking trolley, hydraulic cylinder pin pullout device, stud fixing device, stud replacement device, scissor mechanism, lifting device, image recognition processing device, motor A, electric roller are all controlled by the console connection.
The automatic disassembling device for the pin of a hydraulic support for a mine according to claim 1, wherein the outer wall of the pin pulling device of the hydraulic oil cylinder is connected to a sleeve, the sleeve is opened on one side, and the pin clamping device is located in the sleeve.
The automatic disassembling device for the pin of a mine hydraulic support according to claim 1, wherein the pin clamping device includes a micro motor, a gear and two L-shaped clamping rods, and the output shaft of the micro motor is connected to the gear, The gear meshes with the end of the L-shaped clamping lever.
The automatic disassembling device for the pin of a mining hydraulic support according to claim 1, characterized in that a pin recovery plate is connected to one side of the lifting platform; four hydraulic cylinder legs are provided on both sides of the walking trolley The hydraulic cylinder legs are controlled by the console connection.
The automatic disassembly equipment for the pin of a hydraulic support of a mine according to claim 1, wherein the stud replacement device includes a motor B and a disc, and the output shaft of the motor B is connected to the disc, and a plurality of discs are provided on the disc Stud clamping device, which is used to clamp special studs.
The automatic disassembling device for the pin of a hydraulic support for a mine according to claim 5, characterized in that the stud clamping device includes two arc-shaped rods and springs, the two arc-shaped rods and the disc are connected by a shaft, two The bottom of each arc-shaped rod is connected with a spring; the special stud includes a screw rod and a tail ring, and the tail ring is connected to the end of the screw rod.
The automatic disassembling device for the pin of a hydraulic support of a mine according to claim 1, wherein the stud fixing device includes a motor C and a rotary head, the output shaft of the motor C is connected to the rotary head, and a concave groove is formed on the rotary head , Motor C is controlled by the console connection.
The automatic disassembling equipment for a mine hydraulic support pin according to claim 1, wherein the lifting device includes a rotating base, a first connecting rod, a second connecting rod, a hook and a lifting hydraulic cylinder, the first connecting The rod is mounted on a rotating base, which is fixed to the trolley by bolts. The front end of the second link is connected to the hook, the end of the second link is hinged to the top of the first link, and the cylinder of the lifting hydraulic cylinder is connected to the first One connecting rod, the top of the piston rod of the lifting hydraulic cylinder is hinged to the bottom of the second connecting rod, and the lifting hydraulic cylinder is controlled by the console connection.
The automatic disassembling device for the pin of a hydraulic support for mining according to claim 1, wherein the image recognition processing device uses a CCD camera.
A method for automatically disassembling equipment for a hydraulic support pin of a mine according to any one of claims 1-9, comprising the following steps:

A pin has a threaded hole

(1) Move the walking trolley to the side of the hydraulic bracket that needs to remove the pin through the console;

(2) Adjust the lifting device through the console, and use the lifting device to fix the hydraulic support to be removed;

(3) Start the image recognition processing device through the console, collect the image information of the pin to be dismantled at present, and transmit the image information to the console;

(4) The console automatically adjusts the walking trolley, lifting platform, and support plate to coordinate the work according to the feedback image information, and finally aligns the concave groove on the head of the stud fixing device with the threaded hole on the pin, and the hydraulic cylinder leg Reach out and fix the entire equipment;

(5) Control the rotation of the disc at the front end of the stud replacement device through the console, so that the special studs carried by the stud clamping device matching the threaded holes of the pin shaft are aligned with the concave grooves on the head of the stud fixing device;

(6) The console controls the operation of motor A, so that the stud fixing device advances along the groove track on the support plate, so that the concave groove on the head of the stud fixing device is connected with the tail ring of the special stud, and the stud is fixed The motor C in the device starts to run, and the special stud is screwed into the threaded hole of the pin;

(7) The stud fixing device retreats along the groove track on the support plate, and the image recognition processing device transmits the image information of the tightened special stud to the console;

(8) According to the feedback image information, the console automatically adjusts the walking trolley, lifting platform, and support plate to coordinate the work, and finally aligns the L-shaped clamping rod at the front end of the hydraulic cylinder pullout device with the tail ring of the special stud;

(9) The hydraulic cylinder of the hydraulic cylinder pull-out device starts to work, the L-shaped clamping rod hooks the tail ring of the special stud, and the pin shaft is pulled and removed;

(10) The unplugged pin enters the sleeve. When the pin moves to the opening on the side of the sleeve as a whole, the pin is subjected to gravity and rolls from the opening to the pin recovery plate;

or

No threaded hole on B pin shaft

(1) Use the console to move the trolley to the side of the hydraulic bracket that needs to remove the pin;

(2) Adjust the lifting device through the console, and use the lifting device to fix the hydraulic support to be removed;

(3) Start the image recognition processing device through the console, collect the image information of the pin to be dismantled at present, and transmit the image information to the console;

(4) The console automatically adjusts the walking cart, lifting platform, and support plate to coordinate the work based on the feedback image information, and finally aligns the L-shaped clamping rod at the front of the hydraulic cylinder pin pullout device with the pin shaft, and the hydraulic cylinder legs extend Out, fix the entire equipment;

(5) The hydraulic cylinder of the hydraulic cylinder pin-pulling device extends outwards, and the front end of the L-shaped clamping rod pushes the pin axially outward for a distance;

(6) The legs of the hydraulic cylinder are retracted, and the walking trolley is moved to the other side of the hydraulic support through the console;

(7) The image recognition processing device collects the image information of the pin to be disassembled again, and transmits the image information to the console;

(8) According to the feedback image information, the console automatically adjusts the walking trolley, lifting platform, and support plate to coordinate the work, and finally aligns the L-shaped clamping rod at the front end of the hydraulic cylinder pullout device with the pin shaft, and the hydraulic cylinder outrigger Reach out and fix the entire equipment;

(9) The console activates the micro motor to open the two parallel L-shaped clamping rods, the hydraulic cylinder drives the L-shaped clamping rod to reach the pin, and the two L-shaped clamping rods clamp the protruding part of the pin. Pull out to complete the disassembly;

(10) The removed pin shaft enters the sleeve. When the pin shaft is displaced to the opening on the side of the sleeve as a whole, the pin shaft is subjected to gravity and rolls from the opening to the pin shaft recovery plate.