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

Automatic mining hydraulic support pin disassembly apparatus and use thereof Download PDF

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WO2020140812A1
WO2020140812A1 PCT/CN2019/128335 CN2019128335W WO2020140812A1 WO 2020140812 A1 WO2020140812 A1 WO 2020140812A1 CN 2019128335 W CN2019128335 W CN 2019128335W WO 2020140812 A1 WO2020140812 A1 WO 2020140812A1
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pin
console
hydraulic cylinder
stud
hydraulic
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PCT/CN2019/128335
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French (fr)
Chinese (zh)
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万丽荣
张帅
孟昭胜
高魁东
刘志海
杨春祥
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山东科技大学
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Priority to CN201910665452.4 priority Critical
Priority to CN201910665452.4A priority patent/CN110238630A/en
Application filed by 山东科技大学 filed Critical 山东科技大学
Publication of WO2020140812A1 publication Critical patent/WO2020140812A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines 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
    • B23P19/02Machines 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
    • B23P19/027Machines 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

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

一种矿用液压支架销轴自动拆卸装备及其应用Mine hydraulic support pin shaft automatic disassembly equipment and its application 技术领域Technical field
本发明涉及一种矿用液压支架销轴自动拆卸装备及其应用,属于矿山机械设备技术领域。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.
背景技术Background technique
液压支架作为矿井下一种重要设备,通常由顶梁、掩护梁、尾梁、前后连杆、底板等各个部件通过销轴连接而成。近几年来,随着井下综采设备的发展,液压支架逐渐趋向于大型化,大采高液压支架已经发展为井下使用的主要架型,其使用的销轴型号也随之逐渐变大。由于液压支架在制造、运输、下井时都需要将其拆成各种部件,方便转移,但也随着销轴的重量、安装高度的不断增加,在销轴拆卸过程中出现的各种问题日趋增长。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.
通常矿井下环境复杂,支架上的销轴配合间隙小,长时间处于有水以及各种粉尘的环境下,容易发生锈蚀,卡在销孔内,最终销轴难以拆除。在传统拆卸的情况下,例如甩锤撞击销轴、手拉葫芦、气割等方式工作时工作强度大,耗费大量的劳动力,并且效率低下,同时对于部分人工使用液压拔销器等工具的方式,准备工作繁琐,具有一定的操作难度,并未有效缩短拆卸时间,且对工人安全隐患大,需要拆除后人工进行搬运。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.
例如,中国专利文献CN108581931A公开了一种大型矿用液压支架销轴拆卸装置,其主要包括推动套筒和拉动套筒,所述推动套筒和拉动套筒分别位于液压支架两侧。它可以实现第一液压杆工作对推动套筒施加向上的力,第二液压杆对拉动套筒施加向下的力,而推动套筒和拉动套筒通过钢索绳和动滑轮拉紧相连,从而使得两个力相互作用,有效的减少工作人员推动套筒顶住在液压支架上的力,降低劳动强度,动滑轮便于省力使得推动套筒和拉动套筒拉紧相连,拆卸时,不仅通过螺纹连接柱拉动销轴拆卸,而且还通过推动套筒内的第一液压推杆推动销轴,有效的减轻螺纹连接柱拉动销轴作用力,防止滑丝。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.
中国专利文献CN207888185U公开了一种液压支架销轴拆卸装置,包括吊机和拔销装置,所述吊机包括起吊机构,所述起吊机构连接所述拔销装置,所述拔销装置包括拔销油缸和销轴连接装置,所述拔销油缸水平设置,所述拔销油缸的活塞杆伸出端连接所述 销轴连接装置。该专利提高了销轴拆卸效率,提高了施工安全性,采用液压控制,远距离操作,减少了人力、物力的投入,节约了成本。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.
以上两种销轴拆卸方案尽管节省了人力,实现了机械配合拆卸作业,一定程度上提高了安全性。但是,以上两种方案自动化程度相对较低,还是需要消耗工人过多的体力和精力。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.
发明内容Summary of the invention
针对现有技术的不足,本发明提供一种矿用液压支架销轴自动拆卸装备,该自动拆卸装备基于图像识别处理技术,能够实现销轴拆卸作业的自动化和智能化,并可针对不同类型和规格的销轴进行拆除,无需中途更换设备,可实现一机多用,作业效率高。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.
本发明还提供了上述一种矿用液压支架销轴自动拆卸装备的工作方法。The invention also provides the above-mentioned working method of the automatic disassembly equipment of the mining hydraulic support pin.
本发明的技术方案如下:The technical solution of the present invention is as follows:
一种矿用液压支架销轴自动拆卸装备,包括行走小车、液压油缸拔销装置、螺柱固定装置、螺柱更换装置、升降平台、起重装置和控制台;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;
升降平台底部通过剪叉机构安装在行走小车上,升降平台顶部设置有工形轨道,液压油缸拔销装置的一侧连接有承托板,且液压油缸拔销装置和承托板的底部通过电动滚轮置于工形轨道上,螺柱更换装置安装在承托板上,承托板上开设有凹槽轨道,凹槽轨道的一端设置有电机A,电机A通过链条传动带动螺柱固定装置沿凹槽轨道移动;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;
液压油缸拔销装置前端连接有销轴夹紧装置,液压油缸拔销装置末端安装有图像识别处理装置;起重装置和控制台安装在行走小车上,并位于剪叉机构一侧;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;
行走小车、液压油缸拔销装置、螺柱固定装置、螺柱更换装置、剪叉机构、起重装置、图像识别处理装置、电机A、电动滚轮均由控制台连接控制。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.
优选的,所述液压油缸拔销装置外壁连接一套筒,套筒一侧开口,销轴夹紧装置位于套筒内。此设计的好处是,当销轴被拔出后,可径直进入套筒内,避免销轴意外掉落,保证作业安全。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.
优选的,所述销轴夹紧装置包括微型电机、齿轮及两个L形夹紧杆,微型电机的输出轴连接齿轮,齿轮与L形夹紧杆的末端啮合。此设计的好处是,两个L形夹紧杆的末端设有齿,与齿轮形成齿条齿轮传动机构,两个L形夹紧杆的末端分别通过一套齿轮、微型电机连接控制,通过微型电机带动齿轮转动,使两个L形夹紧杆相向运动或背向运动。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.
优选的,所述升降平台的一侧连接有销轴回收板。此设计的好处是,销轴回收板位于套筒开口一侧,可使拆卸完成的销轴依靠重力通过套筒开口自行滚动到销轴回收板上。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.
优选的,所述行走小车的两侧设置有四个液压缸支腿,液压缸支腿由控制台连接控制。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.
优选的,所述螺柱更换装置包括电机B和圆盘,电机B的输出轴连接圆盘,圆盘上设置有多个螺柱夹紧装置,螺柱夹紧装置用来装夹专用螺柱。此设计的好处是,螺柱夹紧装置可以装夹不同型号的螺柱,从而适用于多种类型销轴的拆卸。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.
优选的,所述螺柱夹紧装置包括两个弧形杆和弹簧,两个弧形杆与圆盘通过轴连接,两个弧形杆的底部连接弹簧。此设计的好处是,专用螺柱放置在两个弧形杆内,通过弹簧提供一定的夹紧力,从而起到夹紧专用螺柱的作用。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.
优选的,所述专用螺柱包括螺杆和尾环,尾环连接在螺杆末端。Preferably, the special stud includes a screw and a tail ring, and the tail ring is connected to the end of the screw.
优选的,所述螺柱固定装置包括电机C和旋转头,电机C的输出轴连接旋转头,旋转头上开设有凹型槽,电机C由控制台连接控制。此设计的好处是,专用螺柱尾部的尾环可以插入旋转头上的凹型槽内,通过电机C驱动旋转头转动,从而将专用螺柱在销轴的螺纹孔内拧紧或拧松。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.
优选的,所述起重装置包括旋转底座、第一连杆、第二连杆、吊钩和起吊液压缸,第一连杆安装在旋转底座上,旋转底座通过螺栓固定在行走小车上,第二连杆的前端连接吊钩,第二连杆的末端与第一连杆的顶端铰接,起吊液压缸的缸筒连接第一连杆,起吊液压缸的活塞杆顶端铰接第二连杆底部,起吊液压缸由控制台连接控制。此设计的好处是,通过起吊液压缸的伸缩,使第二连杆升起或落下,从而使吊钩吊起或放下液压支架部分。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.
优选的,所述图像识别处理装置选用CCD摄像头。此设计的好处是,利用CCD摄像头收集图像,将信号传输至控制台识别处理。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.
一种矿用液压支架销轴自动拆卸装备的工作方法,包括以下步骤:A working method of automatic disassembling equipment for mining hydraulic support pin includes the following steps:
A销轴上有螺纹孔A pin has a threaded hole
(1)通过控制台使行走小车移动到需要拆卸销轴的液压支架一侧;(1) Move the walking trolley to the side of the hydraulic bracket that needs to remove the pin through the console;
(2)通过控制台调整起重装置,利用起重装置将待拆卸的液压支架部分固定;(2) Adjust the lifting device through the console, and use the lifting device to fix the hydraulic support to be removed;
(3)通过控制台启动图像识别处理装置,采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台;(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)控制台根据反馈的图像信息自动调整行走小车、升降平台、承托板共同协调作业,最终使螺柱固定装置头部的凹型槽对准销轴上的螺纹孔,同时液压缸支腿伸出,固定整个装备;(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)通过控制台控制螺柱更换装置前端的圆盘转动,使螺柱夹紧装置携带的与销轴螺纹孔相匹配的专用螺柱对准螺柱固定装置头部的凹型槽;(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)控制台控制电机A运行,使螺柱固定装置沿着承托板上的凹槽轨道前进,使螺柱固定装置头部的凹型槽与专用螺柱的尾环配合连接,螺柱固定装置内部电机C开始运转,将专用螺柱拧紧至销轴的螺纹孔内;(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)螺柱固定装置沿着承托板上的凹槽轨道后退,图像识别处理装置将拧紧的专用螺柱的图像信息传输给控制台;(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)控制台根据反馈的图像信息再次自动调整行走小车、升降平台、承托板共同协调作业,最终使液压油缸拔销装置前端的L形夹紧杆对准专用螺柱的尾环;(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)液压油缸拔销装置的液压油缸开始工作,L形夹紧杆勾住专用螺柱的尾环,将销轴进行拉拔拆卸;(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)拔下的销轴进入到套筒内,当销轴整体位移到套筒一侧开口时,销轴受重力作用,从开口滚动到销轴回收板上;(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
B销轴上无螺纹孔No threaded hole on B pin shaft
(1)通过控制台使行走小车行走到需要拆卸销轴的液压支架一侧;(1) Use the console to move the trolley to the side of the hydraulic bracket that needs to remove the pin;
(2)通过控制台调整起重装置,利用起重装置将待拆卸的液压支架部分固定;(2) Adjust the lifting device through the console, and use the lifting device to fix the hydraulic support to be removed;
(3)通过控制台启动图像识别处理装置,采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台;(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)控制台根据反馈的图像信息自动调整行走小车、升降平台、承托板共同协调作业,最终使液压油缸拔销装置前端的L形夹紧杆对准销轴,同时液压缸支腿伸出,固定整个装备;(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)液压油缸拔销装置的液压油缸向外伸出,L形夹紧杆前端将销轴向外顶出一段距离;(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)液压缸支腿收起,通过控制台使行走小车移动到液压支架另一侧;(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)图像识别处理装置再次采集当前要拆卸销轴的图像信息,并将图像信息传输给 控制台;(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)控制台根据反馈的图像信息再次自动调整行走小车、升降平台、承托板共同协调作业,最终使液压油缸拔销装置前端的L形夹紧杆对准销轴,同时液压缸支腿伸出,固定整个装备;(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)控制台启动微型电机,使两个并列的L形夹紧杆张开,液压油缸驱动L形夹紧杆到达销轴处,两个L形夹紧杆夹紧销轴突起的部分,向外进行拉拔,完成拆卸;(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)拔下的销轴进入到套筒内,当销轴整体位移到套筒一侧开口时,销轴受重力作用,从开口滚动到销轴回收板上。(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.
本发明的有益效果在于:The beneficial effects of the present invention are:
1)本发明液压支架销轴自动拆卸装备,可替代传统的人工作业方式,采用液压油缸向外顶出或拉拔销轴,提供了更大的动力,减少了拔销困难的情况,节省大量的劳动力,降低了安全隐患。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)本发明采用图像识别智能控制,降低了操作难度和对操作工人的技术要求,避免人工定位,相对于人工定位的效率与精度更高;通过螺柱更换装置和螺柱固定装置可以实现自动在销轴螺纹孔上安装螺柱,减少了所需劳动力。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)通过自动更换专用螺柱、固定螺柱、销轴回收板等装置的共同作用,可在不停止设备运行的情况下进行多个销轴的拆卸,整体上大幅度提高了销轴拆卸的效率。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)本发明中的行走装置、剪叉架升降平台,以及承托板下的电动滚轮,可以使该装备对不同位置、高度的销轴进行拆卸;配合起重装置,实现了起吊带拆卸部件和销轴拆卸装备的一体化,减少了所需设备、工人数量等;销轴回收板配合行走小车可以避免拆卸后的销轴进行人工搬运。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.
附图说明BRIEF DESCRIPTION
图1为本发明自动拆卸装备的立体图Ⅰ;Figure 1 is a perspective view Ⅰ of the automatic disassembly equipment of the present invention;
图2为本发明自动拆卸装备的立体图Ⅱ;Figure 2 is a perspective view II of the automatic disassembly equipment of the present invention;
图3为本发明自动拆卸装备的主视图;3 is a front view of the automatic disassembly equipment of the present invention;
图4为本发明自动拆卸装备的侧视图;4 is a side view of the automatic disassembly equipment of the present invention;
图5为本发明自动拆卸装备的俯视图;5 is a top view of the automatic disassembly equipment of the present invention;
其中:1-螺柱更换装置,2-螺柱夹紧装置,3-电机B,4-凹型槽,5-螺柱固定装置,6-滑轮,7-销轴夹紧装置,8-套筒,9-液压油缸拔销装置,10-图像识别处理装置,11- 开口,12-销轴回收板,13-承托板,14-电机A,15-凹槽轨道,16-电动滚轮,17-工形轨道,18-升降平台,19-升降平台液压油缸,20-电源,21-控制台,22-起重装置,23-行走装置,24-液压缸支腿。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.
具体实施方式detailed description
下面通过实施例并结合附图对本发明做进一步说明,但不限于此。The present invention will be further described below by way of embodiments with reference to the drawings, but it is not limited thereto.
实施例1:Example 1:
如图1至图5所示,本实施例提供一种矿用液压支架销轴自动拆卸装备,包括行走小车、液压油缸拔销装置9、螺柱固定装置5、螺柱更换装置1、升降平台18、起重装置22和控制台21;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;
升降平台18底部通过剪叉机构安装在行走小车上,通过两个升降平台液压油缸19驱使剪叉机构撑开升起或折叠落下,从而带动升降平台18的升降。升降平台18顶部安装有工形轨道17,液压油缸拔销装置9的一侧焊接有承托板13,且液压油缸拔销装置9和承托板13的底部通过电动滚轮16置于工形轨道17上。螺柱更换装置1焊接在承托板13上,承托板13上开设有凹槽轨道15,凹槽轨道15的一端安装有电机A14,电机A14通过链条传动带动螺柱固定装置5沿凹槽轨道15来回移动;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;
液压油缸拔销装置9前端连接有销轴夹紧装置7,液压油缸拔销装置9末端安装有图像识别处理装置10;起重装置22和控制台21安装在行走小车上,并位于剪叉机构一侧;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
行走小车、液压油缸拔销装置9、螺柱固定装置5、螺柱更换装置1、剪叉机构、起重装置22、图像识别处理装置10、电机A14、电动滚轮16均由控制台连接控制。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.
具体而言,行走小车为常规运输平板车,行走小车上安装有控制台21,控制台主要为工业计算机,行走小车的运行过程(前进、后退、转弯等)由控制台21控制。为保证整个装备作业过程中的稳定性,在行走小车的两侧通过螺栓固定安装有四个液压缸支腿24,四个液压缸支腿24的工作过程同样由控制台21控制(控制台控制液压管路上的电磁阀,使油箱里的油液进入液压缸支腿,使其工作),四个液压缸支腿24的活塞杆伸出着地后,确保拆卸销轴作业过程中整个装备的稳定性。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.
液压油缸拔销装置9外壁焊接一套筒8,套筒8一侧开口11,销轴夹紧装置7位于套筒8内。液压油缸拔销装置9主体为液压油缸,销轴夹紧装置7整体焊接在液压油缸活塞杆前端,通过液压油缸活塞杆的伸缩带动销轴夹紧装置7在套筒8内伸出或退回。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.
销轴夹紧装置7整体外壳内设置有微型电机、齿轮及两个L形夹紧杆,微型电机的 输出轴连接齿轮,两个L形夹紧杆的末端设有齿,两个L形夹紧杆各自与一个齿轮形成齿条齿轮传动机构,两个齿轮由两个微型电机同时驱动,即通过两个微型电机带动齿轮转动,使两个L形夹紧杆相向运动或背向运动,实现合拢或分离。当销轴被拔出后,通过液压油缸活塞杆的缩回使销轴夹紧装置7带着拔下的销轴径直进入套筒8内,避免销轴意外掉落,保证作业安全。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.
承托板13焊接在液压油缸拔销装置9的一侧,二者底部的电动滚轮16为集成驱动电机的电动滚轮,驱动电机也是由控制台21连接控制,通过控制台21控制驱动电机工作,使电动滚轮16在工形轨道17上运行。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.
螺柱更换装置1包括电机B3和圆盘,电机B3焊接在承托板13上,电机B3的输出轴连接圆盘的中心,圆盘上设置有七个螺柱夹紧装置2,螺柱夹紧装置2用来装夹专用螺柱。螺柱夹紧装置2可以装夹不同型号的螺柱,从而适用于多种类型销轴的拆卸。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.
螺柱夹紧装置2包括两个弧形杆和弹簧,圆盘上开设有容纳弧形杆的缺口,两个弧形杆下半部分位于缺口内,两个弧形杆与圆盘通过轴连接,两个弧形杆的底部连接弹簧。通过弹簧提供一定的夹紧力,从而起到夹紧专用螺柱的作用。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.
专用螺柱包括螺杆和尾环,尾环连接在螺杆末端,尾环和螺杆可以是焊接,也可以是一体制造成型。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.
螺柱固定装置5包括电机C和旋转头,电机C的输出轴传动连接旋转头,旋转头前端开设有凹型槽4,凹型槽4与尾环匹配,可容纳尾环。电机C由控制台21连接控制,专用螺柱尾部的尾环可以插入旋转头前端的凹型槽4内,通过电机C驱动旋转头转动,从而将专用螺柱在销轴的螺纹孔内拧紧或拧松。另外,螺柱固定装置5底部设有滑轮6,通过电机A14通过链条传动带动螺柱固定装置5沿凹槽轨道15向前移动,并配合旋转头的旋转,将专用螺柱拧进螺纹孔内。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 .
起重装置22包括旋转底座、第一连杆、第二连杆、吊钩和起吊液压缸,第一连杆安装在旋转底座上,旋转底座通过螺栓固定在行走小车上,第二连杆的前端连接吊钩,第二连杆的末端与第一连杆的顶端铰接,起吊液压缸的缸筒连接第一连杆,起吊液压缸的活塞杆顶端铰接第二连杆底部,起吊液压缸由控制台21连接控制。通过起吊液压缸的伸缩,使第二连杆升起或落下,从而使吊钩吊起或放下液压支架部分。旋转底座为常规设备,内设电机驱动的旋转机构,同样由控制台21连接控制。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.
图像识别处理装置10选用CCD摄像头。利用CCD摄像头收集图像,将信号传输至控 制台21识别处理。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.
支撑升降平台18的剪叉机构为市面现有设备,通过升降平台液压油缸19驱动铰链连杆机构实现折叠升降,从而带动升降平台18抬起或落下,升降平台液压油缸19也是由控制台连接控制的。控制台21主要部件为工业计算机,通过现有电路、油路、采集卡连接控制各种油缸、电机、CCD摄像头的工作过程。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.
实施例2:Example 2:
一种矿用液压支架销轴自动拆卸装备,结构如实施例1所述,其不同之处在于:升降平台18的一侧连接有销轴回收板12。销轴回收板12位于套筒开口11一侧,可使拆卸完成的销轴通过套筒开口11由重力自行滚动到销轴回收板12上。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.
实施例3:Example 3:
一种矿用液压支架销轴自动拆卸装备的工作方法,利用实施例2所述的技术方案,针对有螺纹孔的销轴进行拆卸作业,具体操作过程如下: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)通过控制台21使行走小车移动到需要拆卸的液压支架一侧;(1) Move the trolley to the side of the hydraulic support to be disassembled through the console 21;
(2)通过控制台21调整起重装置22,利用起重装置22的吊钩将待拆卸的液压支架部分固定,避免出现销轴拔下后部件掉落引起的安全事故;(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)通过控制台21启动CCD摄像头,采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台21;(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)控制台21根据反馈的图像信息自动调整行走小车、升降平台18、承托板13共同协调作业,最终使螺柱固定装置5旋转头上的凹型槽4对准带拆卸销轴上的螺纹孔,同时液压缸支腿24伸出,固定整个装备;(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)通过控制台21控制螺柱更换装置1前端的圆盘转动,使螺柱夹紧装置2携带的与销轴螺纹孔相匹配的专用螺柱对准螺柱固定装置5旋转头上的凹型槽4;(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)控制台21控制电机A14运行,使螺柱固定装置5沿着承托板13上的凹槽轨道15前进,使螺柱固定装置5旋转头上的凹型槽4与专用螺柱的尾环配合连接,螺柱固定装置内部电机C开始运转,将专用螺柱拧紧至销轴的螺纹孔内;(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)螺柱固定装置5沿着承托板13上的凹槽轨道15后退,CCD摄像头将拧紧的专用螺柱的图像信息传输给控制台21;(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)控制台21根据反馈的图像信息再次自动调整行走小车、升降平台18、承托板13共同协调作业,最终使液压油缸拔销装置9前端的L形夹紧杆对准专用螺柱的尾环;(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)液压油缸拔销装置9后部的液压油缸开始工作,液压油缸活塞杆伸出,L形夹紧杆勾住专用螺柱的尾环,通过液压油缸活塞杆的收缩将销轴进行拉拔拆卸;(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)拔下的销轴进入到套筒8内,当销轴整体位移到套筒一侧开口11时,销轴受重力作用,从开口滚动到销轴回收板12上。(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.
实施例4:Example 4:
一种矿用液压支架销轴自动拆卸装备的工作方法,利用实施例2所述的技术方案,针对无螺纹孔的销轴进行拆卸作业,具体操作过程如下: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)通过控制台21使行走小车行走到需要拆卸的液压支架一侧;(1) Use the console 21 to move the trolley to the side of the hydraulic support that needs to be disassembled;
(2)通过控制台21调整起重装置22,利用起重装置22的吊钩将待拆卸的液压支架部分固定,避免出现销轴拔下后部件掉落引起的安全事故;(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)通过控制台21启动CCD摄像头,采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台21;(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)控制台21根据反馈的图像信息自动调整行走小车、升降平台18、承托板13共同协调作业,最终使液压油缸拔销装置9前端的L形夹紧杆对准待拆卸销轴,同时液压缸支腿24伸出,固定整个装备;(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)液压油缸拔销装置9后部的液压油缸活塞杆向外伸出,L形夹紧杆前端将销轴向外顶出一段距离;(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)液压缸支腿24收起,通过控制台21使行走小车移动到液压支架另一侧;(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)CCD摄像头再次采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台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)控制台21根据反馈的图像信息再次自动调整行走小车、升降平台18、承托板13共同协调作业,最终使液压油缸拔销装置9前端的L形夹紧杆对准销轴,同时液压缸支腿24伸出,固定整个装备;(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)控制台21控制微型电机启动,通过微型电机使两个并列的L形夹紧杆张开,液压油缸驱动L形夹紧杆到达销轴处,两个L形夹紧杆夹紧销轴突起的部分(销轴端部有一圈突起),向外进行拉拔,完成拆卸;(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)拔下的销轴进入到套筒8内,当销轴整体位移到套筒8一侧开口11时,销轴受重力作用,从开口滚动到销轴回收板12上。(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 (10)

  1. 一种矿用液压支架销轴自动拆卸装备,其特征在于,包括行走小车、液压油缸拔销装置、螺柱固定装置、螺柱更换装置、升降平台、起重装置和控制台;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;
    升降平台底部通过剪叉机构安装在行走小车上,升降平台顶部设置有工形轨道,液压油缸拔销装置的一侧连接有承托板,且液压油缸拔销装置和承托板的底部通过电动滚轮置于工形轨道上,螺柱更换装置安装在承托板上,承托板上开设有凹槽轨道,凹槽轨道的一端设置有电机A,电机A通过链条传动带动螺柱固定装置沿凹槽轨道移动;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;
    液压油缸拔销装置前端连接有销轴夹紧装置,液压油缸拔销装置末端安装有图像识别处理装置;起重装置和控制台安装在行走小车上,并位于剪叉机构一侧;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;
    行走小车、液压油缸拔销装置、螺柱固定装置、螺柱更换装置、剪叉机构、起重装置、图像识别处理装置、电机A、电动滚轮均由控制台连接控制。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.
  2. 如权利要求1所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述液压油缸拔销装置外壁连接一套筒,套筒一侧开口,销轴夹紧装置位于套筒内。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.
  3. 如权利要求1所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述销轴夹紧装置包括微型电机、齿轮及两个L形夹紧杆,微型电机的输出轴连接齿轮,齿轮与L形夹紧杆的末端啮合。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.
  4. 如权利要求1所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述升降平台的一侧连接有销轴回收板;所述行走小车的两侧设置有四个液压缸支腿,液压缸支腿由控制台连接控制。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.
  5. 如权利要求1所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述螺柱更换装置包括电机B和圆盘,电机B的输出轴连接圆盘,圆盘上设置有多个螺柱夹紧装置,螺柱夹紧装置用来装夹专用螺柱。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.
  6. 如权利要求5所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述螺柱夹紧装置包括两个弧形杆和弹簧,两个弧形杆与圆盘通过轴连接,两个弧形杆的底部连接弹簧;所述专用螺柱包括螺杆和尾环,尾环连接在螺杆末端。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.
  7. 如权利要求1所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述螺柱固定装置包括电机C和旋转头,电机C的输出轴连接旋转头,旋转头上开设有凹型槽,电机C由控制台连接控制。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.
  8. 如权利要求1所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述起重装置包括旋转底座、第一连杆、第二连杆、吊钩和起吊液压缸,第一连杆安装在旋转底座上,旋转底座通过螺栓固定在行走小车上,第二连杆的前端连接吊钩,第二连杆的末端与第一连杆的顶端铰接,起吊液压缸的缸筒连接第一连杆,起吊液压缸的活塞杆顶端铰接第二连杆底部,起吊液压缸由控制台连接控制。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.
  9. 如权利要求1所述的矿用液压支架销轴自动拆卸装备,其特征在于,所述图像识别处理装置选用CCD摄像头。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.
  10. 一种如权利要求1-9任一项所述的矿用液压支架销轴自动拆卸装备的工作方法,包括以下步骤: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销轴上有螺纹孔A pin has a threaded hole
    (1)通过控制台使行走小车移动到需要拆卸销轴的液压支架一侧;(1) Move the walking trolley to the side of the hydraulic bracket that needs to remove the pin through the console;
    (2)通过控制台调整起重装置,利用起重装置将待拆卸的液压支架部分固定;(2) Adjust the lifting device through the console, and use the lifting device to fix the hydraulic support to be removed;
    (3)通过控制台启动图像识别处理装置,采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台;(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)控制台根据反馈的图像信息自动调整行走小车、升降平台、承托板共同协调作业,最终使螺柱固定装置头部的凹型槽对准销轴上的螺纹孔,同时液压缸支腿伸出,固定整个装备;(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)通过控制台控制螺柱更换装置前端的圆盘转动,使螺柱夹紧装置携带的与销轴螺纹孔相匹配的专用螺柱对准螺柱固定装置头部的凹型槽;(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)控制台控制电机A运行,使螺柱固定装置沿着承托板上的凹槽轨道前进,使螺柱固定装置头部的凹型槽与专用螺柱的尾环配合连接,螺柱固定装置内部电机C开始运转,将专用螺柱拧紧至销轴的螺纹孔内;(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)螺柱固定装置沿着承托板上的凹槽轨道后退,图像识别处理装置将拧紧的专用螺柱的图像信息传输给控制台;(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)控制台根据反馈的图像信息再次自动调整行走小车、升降平台、承托板共同协调作业,最终使液压油缸拔销装置前端的L形夹紧杆对准专用螺柱的尾环;(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)液压油缸拔销装置的液压油缸开始工作,L形夹紧杆勾住专用螺柱的尾环,将销轴进行拉拔拆卸;(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)拔下的销轴进入到套筒内,当销轴整体位移到套筒一侧开口时,销轴受重力 作用,从开口滚动到销轴回收板上;(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
    B销轴上无螺纹孔No threaded hole on B pin shaft
    (1)通过控制台使行走小车行走到需要拆卸销轴的液压支架一侧;(1) Use the console to move the trolley to the side of the hydraulic bracket that needs to remove the pin;
    (2)通过控制台调整起重装置,利用起重装置将待拆卸的液压支架部分固定;(2) Adjust the lifting device through the console, and use the lifting device to fix the hydraulic support to be removed;
    (3)通过控制台启动图像识别处理装置,采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台;(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)控制台根据反馈的图像信息自动调整行走小车、升降平台、承托板共同协调作业,最终使液压油缸拔销装置前端的L形夹紧杆对准销轴,同时液压缸支腿伸出,固定整个装备;(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)液压油缸拔销装置的液压油缸向外伸出,L形夹紧杆前端将销轴向外顶出一段距离;(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)液压缸支腿收起,通过控制台使行走小车移动到液压支架另一侧;(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)图像识别处理装置再次采集当前要拆卸销轴的图像信息,并将图像信息传输给控制台;(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)控制台根据反馈的图像信息再次自动调整行走小车、升降平台、承托板共同协调作业,最终使液压油缸拔销装置前端的L形夹紧杆对准销轴,同时液压缸支腿伸出,固定整个装备;(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)控制台启动微型电机,使两个并列的L形夹紧杆张开,液压油缸驱动L形夹紧杆到达销轴处,两个L形夹紧杆夹紧销轴突起的部分,向外进行拉拔,完成拆卸;(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)拔下的销轴进入到套筒内,当销轴整体位移到套筒一侧开口时,销轴受重力作用,从开口滚动到销轴回收板上。(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.
PCT/CN2019/128335 2019-07-23 2019-12-25 Automatic mining hydraulic support pin disassembly apparatus and use thereof WO2020140812A1 (en)

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