CN108058155A - A kind of robot arm device for being used to replace ball grinding machine lining board - Google Patents
A kind of robot arm device for being used to replace ball grinding machine lining board Download PDFInfo
- Publication number
- CN108058155A CN108058155A CN201711398186.0A CN201711398186A CN108058155A CN 108058155 A CN108058155 A CN 108058155A CN 201711398186 A CN201711398186 A CN 201711398186A CN 108058155 A CN108058155 A CN 108058155A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- turntable
- arm
- revolute pair
- forearm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The present invention discloses a kind of robot arm device for being used to replace ball grinding machine lining board,Including chassis,Universal caster wheel,Rack,Oscillating arm mechanisms,Pivoted arm snail disk,Turntable,Worm screw,Gear motor,Handgrip mechanism,There are four universal caster wheels for chassis underside installation,Pivoted arm snail disk forms revolute pair with rack,Worm screw forms Worm Wheel System with pivoted arm snail disk,Worm screw engages passing power with gear motor by two gears,Pivoted arm snail disk forms revolute pair with shaft,Oscillating arm mechanisms include short connecting rod,Long connecting rod,Electric putter,Short connecting rod one end forms revolute pair with turntable snail disk,The other end forms revolute pair with long connecting rod,Long connecting rod forms revolute pair with turntable,Electric putter is installed between short connecting rod and long connecting rod,Electric putter controls the relative rotation of turntable and pivoted arm snail disk,Flexible outer arm is fixedly connected with turntable,Flexible inner arm forms revolute pair with forearm,Forearm motor provides power for the rotation of forearm,Forearm forms revolute pair with handgrip erecting bed,Handgrip mechanism is installed on handgrip erecting bed.
Description
Technical field
The present invention relates to a kind of robot arm devices, and in particular to be it is a kind of for replace ball grinding machine lining board mechanical arm dress
It puts.
Background technology
Ball grinding machine lining board is for protecting ball mill barrel, makes cylinder from abrasive body and material directly impact and friction,
Various forms of liner plates can also be used to adjust the motion state of abrasive body simultaneously, the crushing of material is made with enhancing abrasive body
With helping to improve the mill efficiency of grinding machine, increase yield, reduce metal consumption.Country's ball mill replaces liner plate equipment at present
Fall behind, using a kind of equipment of similar truck-mounted crane, be made of telescopic arm, revolving support and hoist engine, complete equipment is by a shifting
Dynamic crossbeam is sent to ball mill barrel, and the trolley on crossbeam send liner plate to Hoisting Position, again by manually pushing to after liner plate lifting
Precise mounting position.Since ball grinder interior liner plate is big and more, so need to take a lot of time and put into a large amount of manpowers, and
Operation is also absolutely unsafe, and security incident easily occurs.
External ball mill is replaced in liner plate equipment, and state-of-the-art technology is that the seven freedom that sharp fast (REM) company produces changes
Liner plate manipulator has changed the hoist engine of boom tip into a set of structure with 3 degree of freedom pose adjustments, rotating around X,
Y, Z axis rotates (following to claim yaw, roll, pitching), by multivariant structure, by foregoing lift-on/lift-off type liner plate mounting means
Gripping-type installation is changed to, this can largely reduce labor intensity, improve operating efficiency.But due to increased 3 freedom
For the way of realization of degree all using high-precision hydraulic motor, cost is huge, and along with offshore company's technical monopoly, equipment need to be into
Mouthful so that domestic many companies are difficult to bear.
The content of the invention
Liner plate equipment backwardness is replaced, it is necessary to put into a large amount of manpowers for domestic ball mill, and the working environment of workers is dangerous, easily
Generation security incident, and the problem of Introduced From Abroad cost of equipment is expensive, it is an object of the invention to provide one kind for more changing the shuttle
The robot arm device of lining board of grinder, not only at low cost and movement is flexible, disclosure satisfy that multiple degrees of freedom when liner plate is replaced in installation is wanted
It asks.
The technical solution that the present invention takes is：A kind of robot arm device for being used to replace ball grinding machine lining board, including chassis, ten thousand
To castor, rack, oscillating arm mechanisms, pivoted arm snail disk, turntable, worm screw, gear motor, pinion gear, gear wheel, flexible outer arm, flexible
Inner arm, forearm, turntable bearing, handgrip erecting bed, handgrip mechanism, forearm motor, it is characterised in that：There are four chassis underside installations
Universal caster wheel, rack are installed on the upside of chassis, and clump weight is positioned over the extreme end of chassis, and pivoted arm snail disk is installed on machine frame inside, the two
Revolute pair is formed, pivoted arm snail disk lateral surface is equipped with worm-gear toothing, and upper rack is equipped with worm screw, worm screw and the snail on the outside of pivoted arm snail disk
The gear teeth coordinate, and form Worm Wheel System, and worm screw left end is connected with gear wheel, and gear motor is installed on rack top, pinion gear
It is fixedly connected with gear motor output shaft, gear wheel forms gear teeth meshing relation with pinion gear.
Further, the pivoted arm snail disk center is circular hole, sets that there are two coaxial in its circular hole medial surface radial direction
Mounting hole, turntable radial direction are set there are two concentric shaft, which is respectively arranged in two inside pivoted arm snail disk
It is a to be co-axially mounted in hole, turntable is made to form revolute pair with pivoted arm snail disk.
Further, the oscillating arm mechanisms include short connecting rod, long connecting rod, electric putter, and turntable snail back-end disk face is equipped with
One connecting rod swivel base, turntable rear end face are equipped with turntable pedestal, and short connecting rod one end is connected with connecting rod swivel base, form revolute pair, separately
One end is connected with long connecting rod one end, forms revolute pair, and the long connecting rod other end is connected with turntable pedestal, forms revolute pair, short connecting rod
Electric putter is installed between long connecting rod.
Further, the flexible outer arm is fixedly connected with turntable, and flexible inner wall is installed on inside flexible outer arm, the two
Prismatic pair is formed, flexible inner arm front end is connected with forearm rear end, forms revolute pair, and forearm motor is installed on flexible inner arm front end,
Power is provided for the rotation of forearm, turntable bearing is installed between forearm front end and handgrip erecting bed, the above two is formed and rotates
Pair, handgrip mechanism are installed on handgrip erecting bed.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2 is the partial cutaway schematic of whirling arm mechanism position in the present invention.
Fig. 3 is the partial cutaway schematic of rack in the present invention.
Posture schematic diagram when Fig. 4 is present invention installation top liner plate.
Posture schematic diagram when Fig. 5 is present invention installation wall liner plate.
Drawing reference numeral：1 chassis, 1.1 universal caster wheels, 1.2 clump weights, 2 racks, 3 oscillating arm mechanisms, 3.1 short connecting rods, 3.2 electricity
Push rod, 3.3 long connecting rods, 4 pivoted arm snail disks, 4.1 connecting rod swivel bases, 5 turntables, 5.1 turntable pedestals, 5.2 shafts, 5.3 shafts, 6 worm screws,
7 gear motors, 8 pinion gears, 9 gear wheels, 10 flexible outer arms, 11 flexible inner arms, 12 forearms, 13 turntable bearings, the installation of 14 handgrips
Platform, 15 handgrip mechanisms, 16 forearm motors.
Specific embodiment
With reference to specific embodiment, the invention will be further described, in the illustrative examples and explanation of the invention
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1, Figure 2, Figure 3 shows, it is a kind of for replacing the robot arm device of ball grinding machine lining board, including chassis 1, multi-axis foot
It is wheel 1.1, rack 2, oscillating arm mechanisms 3, pivoted arm snail disk 4, turntable 5, worm screw 6, gear motor 7, pinion gear 8, gear wheel 9, flexible outer
Arm 10, flexible inner arm 11, forearm 12, turntable bearing 13, handgrip erecting bed 14, handgrip mechanism 15, forearm motor 16, feature exists
In：1 downside installation of chassis is there are four universal caster wheel 1.1, and rack 2 is installed on 1 upside of chassis, after clump weight 1.2 is positioned over chassis
End, pivoted arm snail disk 4 is installed on inside rack 2, and the two forms revolute pair, and 4 lateral surface of pivoted arm snail disk is equipped with worm-gear toothing, in rack 2
Portion is equipped with worm screw 6, and worm screw 6 and the worm-gear toothing in 4 outside of pivoted arm snail disk coordinate, and form Worm Wheel System, the connection of 6 left end of worm screw
Have gear wheel 9, gear motor 7 is installed on 2 top of rack, and pinion gear 2 is fixedly connected with 7 output shaft of gear motor, gear wheel 9 with
Pinion gear 8 forms gear teeth meshing relation.
4 center of pivoted arm snail disk is circular hole, sets there are two hole is co-axially mounted, turns in its circular hole medial surface radial direction
Platform radial direction is set there are two concentric shaft (5.2,5.3), which is respectively arranged in pivoted arm snail disk
Two inside 4 are co-axially mounted in hole, and turntable 5 is made to form revolute pair with pivoted arm snail disk 4.
The oscillating arm mechanisms 3 include short connecting rod 3.1, long connecting rod 3.3, electric putter 3.2, are set on 4 rear end face of turntable snail disk
There are one connecting rod swivel base 4.1,5 rear end face of turntable is equipped with turntable pedestal 5.1, and 3.1 one end of short connecting rod connects with connecting rod swivel base 4.1
It connects, forms revolute pair, the other end is connected with 3.3 one end of long connecting rod, forms revolute pair, 3.3 other end of long connecting rod and turntable pedestal
5.1 connections, form revolute pair, electric putter 3.2 are equipped between short connecting rod 3.1 and long connecting rod 3.3.
The flexible outer arm 10 is fixedly connected with turntable 5, and flexible inner wall 11 is installed on inside flexible outer arm 10, the two structure
Into prismatic pair, flexible 11 front end of inner arm is connected with 12 rear end of forearm, forms revolute pair, and forearm motor 16 is installed on flexible inner arm 11
Front end provides power for the rotation of forearm 12, turntable bearing 13 is equipped between 12 front end of forearm and handgrip erecting bed 14, before making
The two forms revolute pair, and handgrip mechanism 15 is installed on handgrip erecting bed 14.
The embodiment of the present invention：
As shown in figure 4, when liner plate to be mounted is needed to be located at the top of cylinder, liner plate is clamped by handgrip mechanism 15 first,
Then gear motor 7 turns to proper angle by worm screw 6 and the meshing relation of pivoted arm snail disk 4, driving pivoted arm snail disk 4, and electricity pushes away
Bar 3.2 extends, and is swung up flexible outer arm 10, and flexible inner arm 11 is elongated to suitable position, and forearm motor 16 drives forearm 12
Suitable angle is turned to, after handgrip erecting bed 14 rotates suitable angle compared with forearm 12, clamped by handgrip mechanism 15
Liner plate reaches predetermined installation site, then liner plate is anchored on the inside of ball mill barrel, installation can be completed.The lining of other sides
Plate installation process is similar, repeats no more.
As shown in figure 5, when liner plate to be mounted is needed to be located at cylinder wall, pass through gear motor 7 and forearm motor 16
Driving, makes 12 axis of forearm parallel with vertical plane, and after liner plate reaches designated position, liner plate is anchored on ball mill barrel wall
Installation can be completed.
Claims (4)
1. it is a kind of for replacing the robot arm device of ball grinding machine lining board, including chassis (1), universal caster wheel (1.1), rack (2), pendulum
It is arm mechanism (3), pivoted arm snail disk (4), turntable (5), worm screw (6), gear motor (7), pinion gear (8), gear wheel (9), flexible outer
Arm (10), flexible inner arm (11), forearm (12), turntable bearing (13), handgrip erecting bed (14), handgrip mechanism (15), forearm electricity
Machine (16), it is characterised in that：Universal caster wheel (1.1), rack (2) are installed on chassis (1) there are four installations on the downside of chassis (1)
Side, pivoted arm snail disk (4) are installed on rack (2) inside, and the two forms revolute pair, and pivoted arm snail disk (4) lateral surface is equipped with worm-gear toothing, machine
Frame (2) top is equipped with worm screw (6), and worm screw (6) coordinates with the worm-gear toothing on the outside of pivoted arm snail disk (4), forms Worm Wheel System,
Worm screw (6) left end is connected with gear wheel (9), and gear motor (7) is installed on rack (2) top, pinion gear (2) and gear motor
(7) output shaft is fixedly connected, and gear wheel (9) forms gear teeth meshing relation with pinion gear (8).
2. a kind of robot arm device for being used to replace ball grinding machine lining board as described in claim 1, it is characterised in that：Pivoted arm snail disk
(4) center is circular hole, is set in its circular hole medial surface radial direction there are two being co-axially mounted hole, and turntable radial direction sets that there are two same
The shaft (5.2,5.3) in axle center, two shafts (5.2,5.3) are respectively arranged in two internal coaxial peaces of pivoted arm snail disk (4)
It fills in hole, turntable (5) is made to form revolute pair with pivoted arm snail disk (4).
3. a kind of robot arm device for being used to replace ball grinding machine lining board as described in claim 1, it is characterised in that：Oscillating arm mechanisms
(3) include short connecting rod (3.1), long connecting rod (3.3), electric putter (3.2), set that there are one connecting rods to turn on turntable snail disk (4) rear end face
Seat (4.1), turntable (5) rear end face are equipped with turntable pedestal (5.1), and short connecting rod (3.1) one end is connected with connecting rod swivel base (4.1),
Revolute pair is formed, the other end is connected with long connecting rod (3.3) one end, forms revolute pair, long connecting rod (3.3) other end and turntable pedestal
(5.1) connect, form revolute pair, electric putter (3.2) is installed between short connecting rod (3.1) and long connecting rod (3.3).
4. a kind of robot arm device for being used to replace ball grinding machine lining board as described in claim 1, it is characterised in that：Flexible outer arm
(10) it is fixedly connected with turntable (5), flexible inner wall (11) is installed on flexible outer arm 10) it is internal, the two forms prismatic pair, stretches interior
Arm (11) front end is connected with forearm (12) rear end, forms revolute pair, and forearm motor (16) is installed on flexible inner arm (11) front end, is
The rotation of forearm (12) provides power, and turntable bearing (13) is equipped between forearm (12) front end and handgrip erecting bed (14), is made
The above two form revolute pair, and handgrip mechanism (15) is installed on handgrip erecting bed (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398186.0A CN108058155B (en) | 2017-12-21 | 2017-12-21 | Mechanical arm device for replacing lining plate of ball mill |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711398186.0A CN108058155B (en) | 2017-12-21 | 2017-12-21 | Mechanical arm device for replacing lining plate of ball mill |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108058155A true CN108058155A (en) | 2018-05-22 |
| CN108058155B CN108058155B (en) | 2020-12-18 |
Family
ID=62139847
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711398186.0A Active CN108058155B (en) | 2017-12-21 | 2017-12-21 | Mechanical arm device for replacing lining plate of ball mill |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108058155B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108975179A (en) * | 2018-09-17 | 2018-12-11 | 安徽德马泰格起重机械有限公司 | A kind of the Congo's Gu mine manipulator |
| CN108996407A (en) * | 2018-09-17 | 2018-12-14 | 安徽德马泰格起重机械有限公司 | A kind of rail mounted manipulator |
| US10328539B1 (en) | 2018-11-20 | 2019-06-25 | King Saud University | Assistive device for heavy tool operation |
| CN111215862A (en) * | 2020-02-18 | 2020-06-02 | 合肥市春华起重机械有限公司 | Lining-changing mechanical arm mechanism capable of lifting in multiple stages and using method thereof |
| CN113001140A (en) * | 2021-03-17 | 2021-06-22 | 安徽春华智能科技有限公司 | Lining-changing manipulator bridge structure |
| CN113652647A (en) * | 2021-08-16 | 2021-11-16 | 佛山市博顿光电科技有限公司 | Protective baffle replacing equipment and replacing method thereof, and protective baffle of film coating machine |
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| GB880152A (en) * | 1958-09-19 | 1961-10-18 | Gen Mills Inc | Remote control manipulators |
| CN2692422Y (en) * | 2004-04-23 | 2005-04-13 | 北新建材(集团)有限公司 | Device for changing linear motion into circular motion in door and window experimental mechanical hand |
| CN201092044Y (en) * | 2007-11-06 | 2008-07-30 | 大连阿拇特科技发展有限公司 | Automatic feeding-unloading manipulator tilting mechanism |
| CN202964645U (en) * | 2012-11-29 | 2013-06-05 | 连云港天明装备有限公司 | Round log supporting mechanical hand |
| CN205766105U (en) * | 2016-06-28 | 2016-12-07 | 衢州学院 | A kind of five axis robot |
| CN106914920A (en) * | 2017-03-30 | 2017-07-04 | 南京工程学院 | Towards the variation rigidity flexible actuator of lower limb ankle-joint exoskeleton robot |
| CN107414804A (en) * | 2017-09-22 | 2017-12-01 | 中国东方电气集团有限公司 | A kind of manipulator with space all standing work capacity |
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2017
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Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB880152A (en) * | 1958-09-19 | 1961-10-18 | Gen Mills Inc | Remote control manipulators |
| CN2692422Y (en) * | 2004-04-23 | 2005-04-13 | 北新建材(集团)有限公司 | Device for changing linear motion into circular motion in door and window experimental mechanical hand |
| CN201092044Y (en) * | 2007-11-06 | 2008-07-30 | 大连阿拇特科技发展有限公司 | Automatic feeding-unloading manipulator tilting mechanism |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108975179A (en) * | 2018-09-17 | 2018-12-11 | 安徽德马泰格起重机械有限公司 | A kind of the Congo's Gu mine manipulator |
| CN108996407A (en) * | 2018-09-17 | 2018-12-14 | 安徽德马泰格起重机械有限公司 | A kind of rail mounted manipulator |
| US10328539B1 (en) | 2018-11-20 | 2019-06-25 | King Saud University | Assistive device for heavy tool operation |
| CN111215862A (en) * | 2020-02-18 | 2020-06-02 | 合肥市春华起重机械有限公司 | Lining-changing mechanical arm mechanism capable of lifting in multiple stages and using method thereof |
| CN111215862B (en) * | 2020-02-18 | 2021-04-06 | 合肥市春华起重机械有限公司 | Lining-changing mechanical arm mechanism capable of lifting in multiple stages and using method thereof |
| CN113001140A (en) * | 2021-03-17 | 2021-06-22 | 安徽春华智能科技有限公司 | Lining-changing manipulator bridge structure |
| CN113001140B (en) * | 2021-03-17 | 2022-05-03 | 安徽春华智能科技有限公司 | Lining-changing manipulator bridge structure |
| CN113652647A (en) * | 2021-08-16 | 2021-11-16 | 佛山市博顿光电科技有限公司 | Protective baffle replacing equipment and replacing method thereof, and protective baffle of film coating machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108058155B (en) | 2020-12-18 |
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Effective date of registration: 20201130 Address after: 211214 Kechuang building, Futian Road, Zhetang street, Lishui Economic Development Zone, Nanjing City, Jiangsu Province Applicant after: Nanjing Lishui hi tech Venture Capital Management Co.,Ltd. Address before: 300393, room 1, unit 10, 503 building, Beizhen water garden, Xiqing District, Tianjin Applicant before: Lian Xuefang |
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Effective date of registration: 20210303 Address after: 211222 mingjuejie Town, Lishui District, Nanjing City, Jiangsu Province Patentee after: Nanjing Lishui Jinxin Forging Co.,Ltd. Address before: 211214 Kechuang building, Futian Road, Zhetang street, Lishui Economic Development Zone, Nanjing City, Jiangsu Province Patentee before: Nanjing Lishui hi tech Venture Capital Management Co.,Ltd. |