CN113561161B

CN113561161B - Angle-adjustable lining changing manipulator and using method thereof

Info

Publication number: CN113561161B
Application number: CN202110898371.6A
Authority: CN
Inventors: 梁大伟
Original assignee: Anhui Jangho Intelligent Equipment Group Co ltd
Current assignee: Anhui Jangho Intelligent Equipment Group Co ltd
Priority date: 2021-08-05
Filing date: 2021-08-05
Publication date: 2022-11-15
Anticipated expiration: 2041-08-05
Also published as: CN113561161A

Abstract

The invention discloses a lining changing manipulator with an adjustable angle and a use method thereof, wherein one side of the top of a base is fixedly connected with a rotary base, the top of the rotary base is rotatably connected with a rotary cylinder, the other side of the top of the base is rotatably connected with a connecting shaft, a rotary mechanism is fixedly arranged on the connecting shaft, the rotary mechanism is rotatably connected with a piston rod of the rotary cylinder, the top of the rotary mechanism is provided with a lifting mechanism, the lifting mechanism is internally and slidably connected with a conveying mechanism, a bridge is slidably connected in the conveying mechanism, a working assembly can be arranged on the end surface of the bridge, the piston rod of the rotary cylinder is started to extend to drive a connecting plate to rotate along the connecting shaft, so that the angle of the whole device is adjusted, the conveying mechanism can be driven to integrally move in the vertical direction along a sliding rod under the action of the lifting cylinder, and the height of a working part of the device is adjusted; four driving wheels at the bottom of the conveying mechanism push the bridge to move through a driving motor, so that the position of the working position of the device in the horizontal direction is adjusted.

Description

Angle-adjustable lining changing manipulator and using method thereof

Technical Field

The invention relates to the technical field of automation equipment, in particular to a lining changing manipulator with an adjustable angle and a using method thereof.

Background

The lining changing manipulator is a device of which a bridge frame is supported on a ground track through supporting legs at two sides and a ground beam, is a manipulator specially used for the lining changing operation of a large-scale ball mill, and realizes multiple actions of horizontal feeding, horizontal rotation, boom extension, boom lifting, end hanging and the like.

The invention discloses a relining manipulator bridge structure disclosed in the patent publication No. CN111285040A, which comprises an underframe, wherein first slide rails are fixedly arranged on two sides of the top of the underframe, first slide link blocks are slidably arranged on the first slide rails, a first connecting shaft is arranged between the two first slide link blocks, the first connecting shaft is rotatably arranged between the two first slide link blocks, and two first fixed seats are fixedly arranged on two sides of the underframe. According to the lining trolley, the first air cylinder and the second air cylinder are arranged, so that the upper supporting plate of the lining trolley can finish secondary lifting, further, the lining plate can be placed on the supporting plate of the lining trolley by people with different heights, the practicability is high, meanwhile, when the structure is arranged in a ball mill where the lining trolley enters, the entering of different ball mill calibers can be met by reducing the height of the supporting plate, the technical problems that in the prior art, operators with different heights place the lining plate on the lining trolley difficultly and the height of the lining trolley cannot meet the requirement of entering the ball mill when the ball mill calibers are small are solved, and the device is limited by a plurality of environmental factors because tracks need to be arranged in advance when the lining trolley finishes movement.

Disclosure of Invention

The invention aims to provide an angle-adjustable lining changing manipulator and a using method thereof, so as to achieve the following technical effects:

the device can realize the nimble regulation of work position, drives the motion of work position through conveying mechanism simultaneously, has avoided predetermineeing the track and has received the influence of environmental factor.

The purpose of the invention can be realized by the following technical scheme:

the utility model provides a relining manipulator of angularly adjustable, includes the base, top one side fixedly connected with rotating base of base, rotating base's top is rotated and is connected with revolving cylinder, the top opposite side of base is rotated and is connected with the connecting axle, fixed mounting has rotary mechanism on the connecting axle, rotary mechanism rotates with revolving cylinder's piston rod to be connected, elevating system is installed at rotary mechanism's top, sliding connection has conveying mechanism among the elevating system, sliding connection has the crane span structure among the conveying mechanism.

As a further scheme of the invention: the connecting shaft is fixedly provided with a mounting seat, one side of the mounting seat is fixedly provided with a connecting plate, and one side of the top of the connecting plate is rotatably connected with a piston rod of the rotary cylinder.

As a further scheme of the invention: the utility model discloses a pneumatic conveying device, including mount pad, roof, slide bar, sliding sleeve, two fixedly connected with conveying mechanism between the sliding sleeve, the both sides fixed mounting of mount pad has the curb plate, two the top fixedly connected with roof of curb plate, the bottom fixedly connected with lift cylinder of roof, install the slide bar that the symmetry set up between mount pad and the roof, two equal sliding connection has the sliding sleeve on the slide bar, two fixedly connected with conveying mechanism between the sliding sleeve.

As a further scheme of the invention: conveying mechanism includes the transmission case, top one side fixed mounting of transmission case has driving motor, driving motor's output shaft inserts the transmission case, the bottom both sides fixed mounting of transmission case has the dust cover, be provided with the drive wheel in the dust cover, the bottom intermediate position fixedly connected with stopper of transmission case, the top sliding connection of backup pad has the crane span structure, the both sides edge and the drive wheel looks butt of crane span structure, the top fixedly connected with slider of crane span structure, the slider joint is in the stopper.

As a further scheme of the invention: the novel belt conveyor is characterized in that an installation plate is arranged at the bottom of the transmission case, one end of the inner side of the installation plate is rotatably connected with a second rotating shaft, a first transmission wheel is fixedly installed on the second rotating shaft, one end of the inner side of the installation plate is rotatably connected with a first rotating shaft, a third transmission wheel is fixedly installed on the first rotating shaft, teeth are arranged on the lower edge of the third transmission wheel, the teeth of the third transmission wheel are meshed and connected, and a belt is sleeved on the third transmission wheel, the second transmission wheel and the first transmission wheel on each side.

As a further scheme of the invention: the utility model discloses a belt conveyor belt, including mounting panel, adjusting base, take-up pulley, pivot two, pivot one and pivot two, the inboard both sides fixed position that is close to the centre of mounting panel has the regulation base, install the take-up pulley on the regulation base, the outside looks butt of take-up pulley and belt, driving motor's output shaft and the pivot fixed connection of one side, pivot one and pivot two all extend to the bottom outside and the fixedly connected with drive wheel of mounting panel.

As a further scheme of the invention: and a stop block is fixedly arranged on one side of the bridge.

The invention has the beneficial effects that:

the piston rod extends to drive the connecting plate to rotate along the connecting shaft, so that the angle of the whole device is adjusted, the conveying mechanism can be driven to move along the sliding rod in the vertical direction integrally under the action of the lifting cylinder, and the height of a working part of the device is adjusted; four driving wheels at the bottom of the conveying mechanism push the bridge to move through a driving motor, so that the position of a working part of the device in the horizontal direction is adjusted; the device is flexibly adjusted, and meanwhile, the bridge moves in the conveying mechanism, so that the influence of environmental factors on the preset track is avoided.

Drawings

The invention will be further described with reference to the accompanying drawings.

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the lifting mechanism of the present invention;

FIG. 3 is a schematic view of a rotary mechanism mounting structure of the present invention;

FIG. 4 is a schematic view of the conveying mechanism of the present invention;

FIG. 5 is a schematic view of the internal structure of the conveying mechanism of the present invention;

fig. 6 is a schematic view of the mounting position of the driving wheel of the present invention.

In the figure: 1. a base; 2. a rotation mechanism; 201. a mounting base; 202. a connecting plate; 3. a stopper; 4. a lifting mechanism; 401. a top plate; 402. a lifting cylinder; 403. a slide bar; 404. a sliding sleeve; 405. a side plate; 5. a conveying mechanism; 501. a drive motor; 502. a transmission case; 5021. mounting a plate; 5022. a first transmission wheel; 5023. a tension wheel; 5024. adjusting the base; 5025. a belt; 5026. a second driving wheel; 5027. a third driving wheel; 5028. a first rotating shaft; 5029. a second rotating shaft; 503. a dust cover; 504. a drive wheel; 505. a support plate; 506. a slider; 507. a limiting block; 6. a rotating cylinder; 7. rotating the base; 8. a connecting shaft; 9. a bridge frame.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the invention relates to an angle-adjustable lining changing manipulator and a use method thereof, wherein one side of the top of a base 1 is fixedly connected with a rotating base 7, the top of the rotating base 7 is rotatably connected with a rotating cylinder 6, the other side of the top of the base 1 is rotatably connected with a connecting shaft 8, a rotating mechanism 2 is fixedly installed on the connecting shaft 8, the rotating mechanism 2 is rotatably connected with a piston rod of the rotating cylinder 6, the top of the rotating mechanism 2 is provided with a lifting mechanism 4, the lifting mechanism 4 is slidably connected with a conveying mechanism 5, the conveying mechanism 5 is slidably connected with a bridge 9, and the end surface of the bridge 9 can be provided with operating equipment; fixed mounting has mount pad 201 on the connecting axle 8, and one side fixed mounting of mount pad 201 has connecting plate 202, and top one side and the piston rod of revolving cylinder 6 of connecting plate 202 rotate to be connected, start revolving cylinder 6, and revolving cylinder 6's piston rod extends, because rotating base 7 fixes at the top of base 1, and the piston rod extension drives connecting plate 202 and takes place rotatoryly along connecting axle 8 for the angularly adjustable of whole device.

Both sides fixed mounting of mount pad 201 has curb plate 405, the top fixedly connected with roof 401 of two curb plates 405, the bottom fixedly connected with lift cylinder 402 of roof 401, can be according to conveying mechanism 5's bearing capacity in the production of reality change the mode of the ascending decline of lift cylinder 402 drive into motor drive, install the slide bar 403 that the symmetry set up between mount pad 201 and the roof 401, equal sliding connection has sliding sleeve 404 on two slide bars 403, fixedly connected with conveying mechanism 5 between two sliding sleeves 404, the effect through lift cylinder 402 can drive conveying mechanism 5 wholly to do the motion of vertical direction along slide bar 403.

The conveying mechanism 5 comprises a transmission case 502, a driving motor 501 is fixedly mounted on one side of the top of the transmission case 502, an output shaft of the driving motor 501 is connected into the transmission case 502, dust covers 503 are fixedly mounted on two sides of the bottom of the transmission case 502, driving wheels 504 are arranged in the dust covers 503, a limiting block 507 is fixedly connected to the middle position of the bottom of the transmission case 502, a bridge frame 9 is slidably connected to the top of the supporting plate 505, two side edges of the bridge frame 9 are abutted to the driving wheels 504, a sliding block 506 is fixedly connected to the top of the bridge frame 9, the sliding block 506 is clamped in the limiting block 507, the limiting block 507 can limit the sliding block 506, and the bridge frame 9 is prevented from shifting in motion.

The bottom of the transmission case 502 is provided with a mounting plate 5021, one end of the inner side of the mounting plate 5021 is rotatably connected with a second rotating shaft 5029, a first driving wheel 5022 is fixedly mounted on the second rotating shaft 5029, one end of the inner side of the mounting plate 5021 is rotatably connected with a first rotating shaft 5028, a third driving wheel 5027 is fixedly mounted on the first rotating shaft 5028, teeth are arranged on the lower edges of the three driving wheels 5027, the teeth of the three driving wheels 5027 are meshed and connected, a belt 5025 is sleeved on the third driving wheel 5027, the second driving wheel 5026 and the first driving wheel 5022 on each side, adjusting bases 5024 are fixedly mounted at two sides of the inner side of the mounting plate 5021 close to the middle, tensioning pulleys 5023 are mounted on the adjusting bases 5024, and the tensioning pulleys 5023 are abutted against the outer side of the belt 5025, the installation position of a tension pulley 5023 on an adjusting base 5024 can be adjusted, the tightness degree of a belt 5025 is adjusted, an output shaft of a driving motor 501 is fixedly connected with a first rotating shaft 5028 on one side, the first rotating shaft 5028 and a second rotating shaft 5029 both extend to the outer side of the bottom of an installing plate 5021 and are fixedly connected with a driving wheel 504, the first rotating shaft 5028 and the second rotating shaft 5029 are on the same vertical straight line, the driving motor 501 is started, the output shaft of the driving motor drives the first rotating shaft 5028 on one side to rotate, due to meshing of teeth on the lower sides of the two driving wheels three 5027, the two driving wheels three 5027 rotate in opposite directions, and under the driving of the belt 5025, the first driving wheel 5022 on the upper side rotates along with the driving direction to push a bridge 9 to move; the stopper 3 is fixedly installed on one side of the bridge 9, and when the bridge 9 moves to the maximum displacement position, the stopper 3 is in contact with the conveying mechanism 5, so that the bridge 9 is prevented from falling off.

The working principle of the invention is as follows:

starting the rotary cylinder 6, extending a piston rod of the rotary cylinder 6, and driving the connecting plate 202 to rotate along the connecting shaft 8 due to the fact that the rotary base 7 is fixed to the top of the base 1 and the piston rod is extended, so that the angle of the whole device is adjustable;

the conveying mechanism 5 can be driven to move along the slide bar 403 in the vertical direction by the action of the lifting cylinder 402, so that the height of the working part of the device can be adjusted;

the driving motor 501 is started, an output shaft of the driving motor drives a first rotating shaft 5028 on one side to rotate, due to the meshing of teeth on the lower sides of two third driving wheels 5027, the two third driving wheels 5027 rotate in opposite directions, and under the driving of a belt 5025, two first driving wheels 5022 on the upper side rotate along with the rotation, so that four driving wheels 504 at the bottom of the conveying mechanism 5 push the bridge 9 to move on two sides of the bridge 9 by virtue of friction force, and the position of a working position of the device in the horizontal direction is adjustable.

In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate a number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Although one embodiment of the present invention has been described in detail, the description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The lining changing manipulator with the adjustable angle comprises a base (1), wherein one side of the top of the base (1) is fixedly connected with a rotating base (7), the top of the rotating base (7) is rotatably connected with a rotating cylinder (6), and the lining changing manipulator is characterized in that the other side of the top of the base (1) is rotatably connected with a connecting shaft (8), a rotating mechanism (2) is fixedly installed on the connecting shaft (8), the rotating mechanism (2) is rotatably connected with a piston rod of the rotating cylinder (6), an elevating mechanism (4) is installed at the top of the rotating mechanism (2), a conveying mechanism (5) is slidably connected in the elevating mechanism (4), and a bridge (9) is slidably connected in the conveying mechanism (5);

a mounting seat (201) is fixedly mounted on the connecting shaft (8), a connecting plate (202) is arranged on the mounting seat (201), and the connecting plate (202) is rotatably connected with a piston rod of the rotary cylinder (6);

side plates (405) are fixedly mounted on two sides of the mounting base (201), top portions of the two side plates (405) are fixedly connected with a top plate (401), the bottom of the top plate (401) is fixedly connected with a lifting cylinder (402), and the lifting cylinder (402) drives the conveying mechanism (5) to move;

the conveying mechanism (5) comprises a transmission case (502), a driving motor (501) is fixedly installed on one side of the top of the transmission case (502), an output shaft of the driving motor (501) is connected into the transmission case (502), a driving wheel (504) is arranged at the bottom of the transmission case (502), a limiting block (507) is fixedly connected to the middle position of the bottom of the transmission case (502), a supporting plate (505) is arranged at the bottom of the conveying mechanism (5), a bridge frame (9) is slidably connected to the top of the supporting plate (505), edges of two sides of the bridge frame (9) are abutted to the driving wheel (504), a sliding block (506) is fixedly connected to the top of the bridge frame (9), and the sliding block (506) is clamped in the limiting block (507);

the bottom of the transmission case (502) is provided with an installation plate (5021), one end of the inner side of the installation plate (5021) is rotatably connected with a second rotating shaft (5029), a first driving wheel (5022) is fixedly installed on the second rotating shaft (5029), one end of the inner side of the installation plate (5021) is rotatably connected with a first rotating shaft (5028), two sides of the lower portion of the installation plate (5021) are rotatably connected with a second driving wheel (5026), a third driving wheel (5027) is fixedly installed on the first rotating shaft (5028), gear rings are arranged outside the third driving wheels (5027), the gear rings of the third driving wheels (5027) are meshed and connected, and a belt (5025) is sleeved on each side of the third driving wheel (5027), the second driving wheel (5026) and the first driving wheel (5022);

an adjusting base (5024) is installed on the installing plate (5021), a tensioning wheel (5023) is installed on the adjusting base (5024), an output shaft of the driving motor (501) is fixedly connected with a first rotating shaft (5028) on one side, and the first rotating shaft (5028) and a second rotating shaft (5029) both extend to the outer side of the bottom of the installing plate (5021) and are fixedly connected with a driving wheel (504);

and a stop block (3) is fixedly arranged on one side of the bridge (9).

2. An angularly adjustable relining robot as claimed in claim 1, wherein the method of use of the angularly adjustable relining robot comprises the steps of:

step one, starting a rotary cylinder (6), extending a piston rod of the rotary cylinder (6), and extending the piston rod to drive a connecting plate (202) to rotate along a connecting shaft (8) so as to complete the angle adjustment of the whole device;

secondly, the conveying mechanism (5) is driven to integrally move in the vertical direction along the sliding rod (403) under the action of the lifting cylinder (402), so that the height of a working part of the device can be adjusted;

and step three, starting a driving motor (501), driving a first rotating shaft (5028) on one side to rotate by an output shaft of the driving motor, enabling two driving wheels (5027) to rotate in opposite directions, and driving the first driving wheels (5022) on the upper side to rotate along with the belt (5025), so that four driving wheels (504) at the bottom of the conveying mechanism (5) push a bridge (9) to move, and position adjustment of a working position of the device in the horizontal direction can be completed.