CN108058155B - Mechanical arm device for replacing lining plate of ball mill - Google Patents

Mechanical arm device for replacing lining plate of ball mill Download PDF

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Publication number
CN108058155B
CN108058155B CN201711398186.0A CN201711398186A CN108058155B CN 108058155 B CN108058155 B CN 108058155B CN 201711398186 A CN201711398186 A CN 201711398186A CN 108058155 B CN108058155 B CN 108058155B
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CN
China
Prior art keywords
arm
worm
rotating
rod
lining plate
Prior art date
Application number
CN201711398186.0A
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Chinese (zh)
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CN108058155A (en
Inventor
不公告发明人
Original Assignee
南京溧水高新创业投资管理有限公司
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Application filed by 南京溧水高新创业投资管理有限公司 filed Critical 南京溧水高新创业投资管理有限公司
Priority to CN201711398186.0A priority Critical patent/CN108058155B/en
Publication of CN108058155A publication Critical patent/CN108058155A/en
Application granted granted Critical
Publication of CN108058155B publication Critical patent/CN108058155B/en

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/007Manipulators mounted on wheels or on carriages mounted on wheels
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/02Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04Programme-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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102Gears specially adapted therefor, e.g. reduction gears
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Abstract

The invention discloses a mechanical arm device for replacing a lining plate of a ball mill, which comprises a chassis, universal casters, a frame, a swing arm mechanism, a rotary arm worm disc, a rotary table, a worm, a gear motor and a gripper mechanism, wherein the four universal casters are arranged on the lower side of the chassis, the rotary arm worm disc and the frame form a rotation pair, the worm and the rotary arm worm disc form worm gear transmission, the worm and the gear motor are meshed through two gears to transmit power, the rotary arm worm disc and a rotary shaft form the rotation pair, the swing arm mechanism comprises a short connecting rod, a long connecting rod and an electric push rod, one end of the short connecting rod and the rotary table worm disc form the rotation pair, the other end and the long connecting rod form the rotation pair, the long connecting rod and the rotary table form the rotation pair, the electric push rod is arranged between the short connecting rod and the long connecting rod, the electric push rod controls the relative rotation of the rotary table and the rotary arm worm disc, a telescopic, the small arm and the gripper mounting table form a revolute pair, and the gripper mechanism is mounted on the gripper mounting table.

Description

Mechanical arm device for replacing lining plate of ball mill

Technical Field

The invention relates to a mechanical arm device, in particular to a mechanical arm device for replacing a lining plate of a ball mill.

Background

The lining plate of the ball mill is used for protecting the cylinder body of the ball mill, so that the cylinder body is prevented from being directly impacted and abraded by the grinding body and materials, and meanwhile, the movement state of the grinding body can be adjusted by utilizing the lining plates in different forms, so that the grinding effect of the grinding body on the materials is enhanced, the grinding efficiency of the mill is improved, the yield is increased, and the metal consumption is reduced. At present, the equipment for replacing the lining plate of the domestic ball mill falls behind, the equipment similar to a truck-mounted crane is adopted and comprises a telescopic arm, a rotary support and a winch, the whole set of equipment is conveyed to a barrel body of the ball mill by a movable cross beam, a lining plate is conveyed to a hoisting position by a trolley on the cross beam, and the lining plate is manually pushed to an accurate mounting position after being hoisted. Because the lining plates in the ball mill are large and many, much time and manpower are needed, and the operation is extremely unsafe, so that safety accidents are easy to happen.

Among foreign ball mill change welt equipment, the most advanced of technology is seven degree of freedom trade welt manipulator of sharp fast (REM) company production, and it has changed into a set of structure that has 3 degree of freedom gesture adjustments with the hoist engine at davit tip, respectively around X, Y, Z axle rotations (yaw, roll, every single move below), relies on the structure of multi freedom, has changed the installation of aforesaid hoist and mount formula welt into the installation of grabbing formula, and this can reduce intensity of labour to a great extent, improves the operating efficiency. However, the realization form of the added 3 degrees of freedom adopts a high-precision hydraulic motor, so that the cost is huge, and in addition, the technical monopoly of foreign companies and import of equipment are needed, so that a plurality of domestic companies are difficult to bear.

Disclosure of Invention

The invention aims to provide a mechanical arm device for replacing a lining plate of a ball mill, which is low in cost and flexible in movement and can meet the requirement of multiple degrees of freedom during installation and replacement of the lining plate, and aims to solve the problems that domestic equipment for replacing the lining plate of the ball mill falls behind, a large amount of manpower needs to be invested, the working environment of workers is unsafe, safety accidents easily occur, and the cost for introducing foreign equipment is high.

The technical scheme adopted by the invention is as follows: the utility model provides a mechanical arm device for changing ball mill welt, includes chassis, universal caster, frame, swing arm mechanism, rocking arm snail dish, revolving stage, worm, gear motor, pinion, gear wheel, flexible outer arm, flexible inner arm, forearm, revolving stage bearing, tongs mount table, tongs mechanism, forearm motor, its characterized in that: four universal casters are installed to the chassis downside, and rack-mount is in the chassis upside, and the balancing weight is placed in the chassis rear end, and rocking arm worm wheel installs inside the frame, and both constitute the revolute pair, and rocking arm worm wheel lateral surface is equipped with the worm wheel tooth, and the worm is installed on frame upper portion, and the worm cooperates with the worm wheel tooth in the rocking arm worm wheel outside, constitutes worm and gear transmission, and the worm left end is connected with the gear wheel, and gear motor installs on the frame top, pinion and gear motor output shaft fixed connection, and the gear wheel constitutes the tooth meshing relation with.

Furthermore, the center of the rotating arm worm disc is a round hole, two coaxial mounting holes are arranged in the radial direction of the inner side surface of the round hole, two coaxial rotating shafts are arranged in the radial direction of the rotating platform, and the two rotating shafts are respectively arranged in the two coaxial mounting holes in the rotating arm worm disc, so that the rotating platform and the rotating arm worm disc form a rotating pair.

Further, the swing arm mechanism comprises a short connecting rod, a long connecting rod and an electric push rod, a connecting rod rotating base is arranged on the rear end face of the rotary table worm disc, a rotary table shaft frame is arranged on the rear end face of the rotary table, one end of the short connecting rod is connected with the connecting rod rotating base to form a rotating pair, the other end of the short connecting rod is connected with one end of the long connecting rod to form a rotating pair, the other end of the long connecting rod is connected with the rotary table shaft frame to form a rotating pair, and the electric push rod is arranged between.

Furthermore, flexible outer arm and revolving stage fixed connection, flexible inner wall is installed inside flexible outer arm, and both constitute the sliding pair, and flexible inner arm front end is connected with the forearm rear end, constitutes the revolute pair, and the forearm motor is installed in flexible inner arm front end, provides power for the rotation of forearm, installs the revolving stage bearing between forearm front end and the tongs mount table, makes preceding both constitute the revolute pair, and the tongs mechanism is installed on the tongs mount table.

Drawings

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

Fig. 2 is a schematic partial cross-sectional view of the position of the tumbler mechanism according to the invention.

Fig. 3 is a partial cross-sectional view of the frame of the present invention.

FIG. 4 is a schematic view of the present invention in an installed position with the top liner panel.

Fig. 5 is a schematic view showing the posture of the present invention when the vertical wall lining board is installed.

Reference numerals: 1 chassis, 1.1 universal caster, 1.2 balancing weights, 2 frames, 3 swing arm mechanisms, 3.1 short connecting rods, 3.2 electric push rods, 3.3 long connecting rods, 4 rotating arm scrolls, 4.1 connecting rod rotary bases, 5 rotary tables, 5.1 rotary table shaft frames, 5.2 rotary shafts, 5.3 rotary shafts, 6 worms, 7 gear motors, 8 pinions, 9 gearwheels, 10 telescopic outer arms, 11 telescopic inner arms, 12 pinions, 13 rotary table bearings, 14 gripper mounting tables, 15 gripper mechanisms and 16 forearm motors.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

As shown in fig. 1, 2 and 3, the mechanical arm device for replacing the lining plate of the ball mill comprises a chassis 1, a universal caster 1.1, a frame 2, a swing arm mechanism 3, a rotating arm and a worm disc 4, a rotating platform 5, a worm 6, a gear motor 7, a pinion 8, a large gear 9, a telescopic outer arm 10, a telescopic inner arm 11, a small arm 12, a rotating platform bearing 13, a gripper mounting table 14, a gripper mechanism 15 and a small arm motor 16, and is characterized in that: four universal caster 1.1 are installed to 1 downside in chassis, frame 2 installs in 1 upside in chassis, balancing weight 1.2 is placed in the chassis rear end, rocking arm worm dish 4 is installed inside frame 2, both constitute the revolute pair, 4 lateral surfaces of rocking arm worm dish are equipped with the worm wheel tooth, worm 6 is installed on 2 upper portions in the frame, worm 6 and the worm wheel tooth cooperation in the 4 outsides of rocking arm worm dish constitute worm gear, 6 left ends of worm are connected with gear wheel 9, gear motor 7 installs in 2 tops in the frame, pinion 8 and gear motor 7 output shaft fixed connection, gear wheel 9 and pinion 8 constitute the meshing relation of teeth of a cogwheel.

The center of the rotating arm worm disc 4 is a round hole, two coaxial mounting holes are arranged in the radial direction of the inner side surface of the round hole, two coaxial rotating shafts (5.2 and 5.3) are arranged in the radial direction of the rotating platform, and the two rotating shafts (5.2 and 5.3) are respectively arranged in the two coaxial mounting holes in the rotating arm worm disc 4, so that the rotating platform 5 and the rotating arm worm disc 4 form a revolute pair.

The swing arm mechanism 3 include short connecting rod 3.1, long connecting rod 3.3, electric push rod 3.2, be equipped with a connecting rod swivel mount 4.1 on the rocking arm snail 4 rear end face, be equipped with revolving stage pedestal 5.1 on the 5 rear end faces of revolving stage, short connecting rod 3.1 one end is connected with connecting rod swivel mount 4.1, constitutes the revolute pair, the other end is connected with long connecting rod 3.3 one end, constitutes the revolute pair, the long connecting rod 3.3 other end is connected with revolving stage pedestal 5.1, constitutes the revolute pair, install electric push rod 3.2 between short connecting rod 3.1 and the long connecting rod 3.3.

The telescopic outer arm 10 is fixedly connected with the rotary table 5, the telescopic inner arm 11 is installed inside the telescopic outer arm 10 and forms a moving pair, the front end of the telescopic inner arm 11 is connected with the rear end of the small arm 12 to form a rotating pair, the small arm motor 16 is installed at the front end of the telescopic inner arm 11 and provides power for rotation of the small arm 12, the rotary table bearing 13 is installed between the front end of the small arm 12 and the gripper installation table 14 to enable the front end of the small arm 12 and the gripper installation table 14 to form the rotating pair, and the gripper mechanism 15 is installed on the gripper installation table 14.

The embodiment of the invention comprises the following steps:

as shown in fig. 4, when the lining plate to be mounted is positioned at the top of the cylinder, the lining plate is clamped by the gripping mechanism 15, then the gear motor 7 drives the rotating arm worm disc 4 to rotate to a proper angle through the meshing relationship of the worm 6 and the rotating arm worm disc 4, the electric push rod 3.2 extends to enable the telescopic outer arm 10 to swing upwards, the telescopic inner arm 11 extends to a proper position, the small arm motor 16 drives the small arm 12 to rotate to a proper angle, and after the gripping mounting table 14 rotates to a proper angle relative to the small arm 12, the lining plate clamped by the gripping mechanism 15 reaches a preset mounting position, and then the lining plate is fastened to the inner side of the ball mill cylinder to complete the mounting. The mounting process of the liner plates on other sides is similar and is not described in detail.

As shown in figure 5, when the lining plate to be installed is positioned on the vertical wall of the cylinder body, the axis of the small arm 12 is parallel to the vertical surface through the driving of the gear motor 7 and the small arm motor 16, and after the lining plate reaches the designated position, the lining plate is fastened on the vertical wall of the cylinder body of the ball mill, and then the installation can be completed.

Claims (1)

1. The utility model provides a robotic arm device for changing ball mill welt, includes chassis (1), universal caster (1.1), frame (2), swing arm mechanism (3), rocking arm snail dish (4), revolving stage (5), worm (6), gear motor (7), pinion (8), gear wheel (9), flexible outer arm (10), flexible inner arm (11), forearm (12), revolving stage bearing (13), tongs mount table (14), tongs mechanism (15), forearm motor (16), its characterized in that: four universal casters (1.1) are mounted on the lower side of a chassis (1), a rack (2) is mounted on the upper side of the chassis (1), a rotating arm worm disc (4) is mounted inside the rack (2) and forms a revolute pair, worm gear teeth are arranged on the outer side surface of the rotating arm worm disc (4), a worm (6) is mounted on the upper portion of the rack (2), the worm (6) is matched with the worm gear teeth on the outer side of the rotating arm worm disc (4) to form worm gear transmission, a large gear (9) is connected to the left end of the worm (6), a gear motor (7) is mounted on the top end of the rack (2), a small gear (8) is fixedly connected with an output shaft of the gear motor (7), and the large gear (;
the center of the rotating arm worm disc (4) is a round hole, two coaxial mounting holes are formed in the radial direction of the inner side surface of the round hole, two coaxial rotating shafts (5.2 and 5.3) are arranged in the radial direction of the rotating platform, and the two rotating shafts (5.2 and 5.3) are respectively arranged in the two coaxial mounting holes in the rotating arm worm disc (4), so that the rotating platform (5) and the rotating arm worm disc (4) form a revolute pair;
the swing arm mechanism (3) comprises a short connecting rod (3.1), a long connecting rod (3.3) and an electric push rod (3.2), a connecting rod rotating base (4.1) is arranged on the rear end face of the rotating arm worm disc (4), a rotating platform shaft bracket (5.1) is arranged on the rear end face of the rotating platform (5), one end of the short connecting rod (3.1) is connected with the connecting rod rotating base (4.1) to form a rotating pair, the other end of the short connecting rod is connected with one end of the long connecting rod (3.3) to form a rotating pair, the other end of the long connecting rod (3.3) is connected with the rotating platform shaft bracket (5.1) to form a rotating pair, and the electric push rod (3.2) is arranged between the short connecting rod (;
the telescopic outer arm (10) is fixedly connected with the rotary table (5), the telescopic inner arm (11) is installed inside the telescopic outer arm (10) and forms a moving pair, the front end of the telescopic inner arm (11) is connected with the rear end of the small arm (12) to form a rotating pair, the small arm motor (16) is installed at the front end of the telescopic inner arm (11) to provide power for the rotation of the small arm (12), a rotary table bearing (13) is installed between the front end of the small arm (12) and the gripper installation table (14) to enable the front end of the small arm (12) and the gripper installation table (14) to form a rotating pair, and the gripper mechanism (15) is installed on the gripper installation table (14);
when the lining plate to be installed is positioned at the top of the cylinder body, the lining plate is clamped through a hand grip mechanism (15), then a gear motor (7) drives a rotating arm worm disc (4) to rotate to a proper angle through the meshing relation of a worm (6) and the rotating arm worm disc (4), an electric push rod (3.2) extends to enable a telescopic outer arm (10) to swing upwards, a telescopic inner arm (11) extends to a proper position, a small arm motor (16) drives a small arm (12) to rotate to a proper angle, after a hand grip installation table (14) rotates to a proper angle relative to the small arm (12), the lining plate clamped by the hand grip mechanism (15) reaches a preset installation position, and then the lining plate is fastened to the inner side of the cylinder body of the ball mill to complete installation;
when the lining plate to be installed is positioned on the vertical wall of the cylinder body, the axis of the small arm (12) is parallel to the vertical surface through the driving of the gear motor (7) and the small arm motor (16), and after the lining plate reaches a designated position, the lining plate is fastened on the vertical wall of the cylinder body of the ball mill, so that the installation can be completed.
CN201711398186.0A 2017-12-21 2017-12-21 Mechanical arm device for replacing lining plate of ball mill CN108058155B (en)

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

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CN108058155A CN108058155A (en) 2018-05-22
CN108058155B true CN108058155B (en) 2020-12-18

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Families Citing this family (4)

* Cited by examiner, † Cited by third party
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

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE582789A (en) * 1958-09-19
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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Address after: 211214 Kechuang building, Futian Road, Zhetang street, Lishui Economic Development Zone, Nanjing City, Jiangsu Province

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Address before: 300393, room 1, unit 10, 503 building, Beizhen water garden, Xiqing District, Tianjin

Applicant before: Lian Xuefang

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