Truss type loading and unloading system and method suitable for multi-specification mining drill bits

Abstract

The invention discloses a truss type loading and unloading system and method suitable for multi-specification mining drill bits. The truss type loading and unloading system comprises a truss type mechanical arm, a flexible gripper installed on the truss type mechanical arm, a loading and positioning device arranged below the truss type mechanical arm and a unloading tray. The flexible gripper comprises an air cylinder, a fixing base arranged on the lower portion of the air cylinder, a lifting base connected to the lower portion of the fixing base and connected with the lower portion of a piston rod of the air cylinder, two sets of arc-shaped supporting plates hinged to two ends of the fixing base, connecting plates hinged to the lifting base and the supporting plates respectively, and quick-change clamping jaws detachably arranged at the lower ends of the supporting plates. The loading and positioning device comprises a loading worktable, a pre-positioning mechanism arranged on the loading worktable, a laser positioning mechanism and a rotary displacement mechanism. The flexible gripper can accurately grab the drill bits, the quick-change clamping jaw is convenient to replace, and the drill bits of different specifications can be automatically grabbed; A locating and positioning device solves the problems that it is hard to position a blade of the drill bit and the grabbing position is inaccurate as the heights of the drill bits are inconsistent and the like.

Description

technical field [0001] The invention belongs to the technical field of industrial automation, and relates to a truss-type loading and unloading system and method suitable for multi-standard mining drill bits. Background technique [0002] With the continuous development of a new round of industrial revolution and the introduction of concepts such as "Industry 4.0", the demand for automation and intelligent production models in the manufacturing industry is increasing. Industrial robots, as an important carrier of intelligent manufacturing, have been widely used. In the manufacturing process, industrial robots replace manual operations to grab, carry objects or operate tools, which greatly reduces labor intensity and improves production efficiency and automation level. Technology and equipment with industrial robots as the main body have become an important symbol of a future manufacturing power, which is of great significance in promoting the development of my country's manu...

AI Technical Summary

Problems solved by technology

However, for mining drill bits, due to its special shape and structure and the production mode of small batches and multiple varieties, the traditional truss-type loading and unloading system has some defects, which cannot meet the needs of automatic loading and unloading, mainly in the following areas:

[0004] (1) Unable to realize automatic grabbing of mining drill bits

[0005] The shape of the mining drill bit is complex and the structure is special. The crown has 2 to 6 working blades, and the blades are unevenly distributed. The diameter of the crown is large and the diameter of the handle is small. Take the hand end, the traditional manipulator cannot meet the use requirements

[0006] (2) It cannot meet the flexible production requirements of different specifications and structures of mining drill bits

[0008] (3) It is impossible to accurately identify the circumferential phase of the drill bit to ensure accurate grasping position

[0009] The blade blades of mining drills are unevenly distributed. During automatic production such as machining, welding, and assembly, the mechanical equipment needs a fixed circumferential phase to start processing. Therefore, an automatic loading and unloading system is required to be able to identify the circumferential phase of the drill bit to ensure grasping and loading. The position is accurate, and the traditional truss-type loading and unloading system cannot meet the requirements of use

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