CN205393958U - A manipulator hookup frock for changing spiral welt - Google Patents
A manipulator hookup frock for changing spiral welt Download PDFInfo
- Publication number
- CN205393958U CN205393958U CN201620170865.7U CN201620170865U CN205393958U CN 205393958 U CN205393958 U CN 205393958U CN 201620170865 U CN201620170865 U CN 201620170865U CN 205393958 U CN205393958 U CN 205393958U
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- CN
- China
- Prior art keywords
- frock
- lining board
- screw lining
- plate
- mechanical hand
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Abstract
The utility model provides a manipulator hookup frock for changing spiral welt, install at the manipulator tip that is used for changing the spiral welt, this hookup frock includes base and apron, be equipped with rings and two curb plates integrative with the bottom plate on the bottom plate of base, two relative settings and the perpendicular to bottom plate of curb plate, the space that curb plate and apron and bottom plate enclose into installation swing mechanism jointly, the both ends of bottom plate incline to set up the connector that has the bolt hole respectively, and be equipped with the cambered surface on the connector, the spiral welt waiting to change and hookup frock and the back, the cambered surface and the spiral curved surface on the spiral welt of two connectors all are linear contact. The cooperation of this device through coupleing frock bottom and spiral welt curved surface realizes the good laminating of hookup frock and spiral welt for spiral welt and the connection of hookup between the frock be safe and reliable more.
Description
Technical field
This utility model belongs to vertical mixing mill technical field, particularly relates to a kind of mechanical hand for changing screw lining board and couples frock.
Background technology
In mining equiment field; the liner plate of grinding machine belongs to consumable goods; need periodic replacement; development along with mining equiment technology; the weight of lining board of grinder, dimensions are increasing, and the weight of one block of liner plate is typically in more than 1 ton, even 3-4 ton; manually carry out disassembling, assembling and replacing and can dramatically increase equipment downtime maintenance time, and there is very big potential safety hazard.
Traditional industrial robot load is typically in about tens kilograms, it is desirable to speed is fast, registration, owing to load is little, mostly is motor and drives.Technically, load is more big, and the guarantee of the positioning precision of industrial robot, intensity, rigidity is got up more difficult.Therefore, carry out the disassembling, assembling and replacing of lining board of grinder if, with industrial robot, just first have to solve the contradiction between robot load and positioning precision.
Rebush plate robotic device worldwide is only applicable to ball mill at present, change vertical mixing mill screw lining board mechanized equipment but without, because, the liner plate regular shape of ball mill, mechanical hand easily positions, closing, and the liner plate profile of vertical mixing mill is spiral camber, existing mechanical hand can not be fitted with screw lining board, can not complete the location to screw lining board and dismounting.
The liner plate of a usual large-scale vertical Ball-stirring mill weighs about 2～3 tons, complex contour (for spiral camber structure), and volume, weight are big, and in-site installation is extremely inconvenient.Therefore, vertical mixing mill is all manually change liner plate, and liner plate is put into mill body by navigate car, bottle gouard moved by hands, hinge, crowbar etc. of workshop by workman, wastes time and energy, and labor intensity is very big, and safety is very poor.
Utility model content
The purpose of this utility model is to provide a kind of mechanical hand for changing screw lining board and couples frock, this connection frock is arranged on the robot end changing screw lining board, and by couple bottom frock with the coordinating of screw lining board curved surface, realize the laminating coupling frock with screw lining board, and then put together on together, in the replacing relying on mechanical hand to complete liner plate.
In order to solve above-mentioned technical problem, this utility model be the technical scheme is that a kind of mechanical hand for changing screw lining board couples frock, it is arranged on the robot end for changing screw lining board, this connection frock includes base and cover plate, the base plate of base is provided with suspension ring and two side plates with base plate one, two side plates are oppositely arranged and are perpendicular to base plate, side plate surrounds, with cover plate and base plate, the space installing swing mechanism jointly, the two ends of base plate are obliquely installed the adapter with bolt hole respectively, and it is provided with cambered surface on the connectors, screw lining board to be replaced with couple frock handle and after, the cambered surface of two adapters all linearly contacts with the spiral camber on screw lining board.
Preferably, described side plate is provided perpendicular to the reinforcement rib of base plate.
Preferably, this connection frock connects one end width width more than the other end of mechanical hand.
Preferably, described adapter is cylindrical structure.
Preferably, the cambered surface of described adapter is coated with rubber slab.
Preferably, described swing mechanism is an oscillating motor, and arranges balanced valve in fluid pressure line.
Preferably, the spiral camber parameter according to screw lining board, the gradient of above-mentioned adapter is set so that adapter can match with curved surface, and two adapter shapes are at a certain angle.
Compared with prior art, the beneficial effects of the utility model are:
First, couple the adapter in tool base plate be obliquely installed can shape at a certain angle, and the spiral camber match parameters of its gradient and screw lining board, cambered surface on adapter design in addition, adapter can be realized and keep linear contact with screw lining board curved surface, better it is fitted on the curved surface of screw lining board so that couple frock so that screw lining board and the connection coupled between frock are more safe and reliable.
Second, owing to the weight of screw lining board is very big, use couple frock connect screw lining board shift time, the requirement of strength coupling frock is significantly high, and therefore, the base plate of this connection frock and two side plates are structure as a whole, can effectively strengthen the intensity of base, further, reinforcement rib is also set on side plate, further enhances side plate and the intensity of whole connection frock.
3rd, the rubber-coated plate of cambered surface of adapter can optimize the laminating degree coupled between frock and screw lining board curved surface further, reduces the impact on both degree of laminating that and adapter alignment error irregularly shaped by liner plate is brought the abrasion that minimizing is each other.
4th, by adopting oscillating motor as swing mechanism, can horizontal hunting with adjust couple frock position, to realize the location to associating frock, bolt hole on adapter is directed at the lifting eye on screw lining board, and balanced valve is set at hydraulic circuit, it is possible to make associating frock be parked in any position, it is prevented that the generation of the accident such as have a power failure suddenly, oil circuit goes wrong.
Accompanying drawing explanation
Fig. 1 is the schematic diagram one that this utility model is assemblied on screw lining board.
Fig. 2 is the schematic diagram two that this utility model is assemblied on screw lining board.
Fig. 3 is understructure schematic diagram of the present utility model.
Fig. 4 is the structural representation of screw lining board.
Labelling in figure: 1, screw lining board, 2, cover plate, 3, side plate, 4, base plate, 5, adapter, 6, suspension ring, 7, bolt, 8, strengthen rib, 9, bolt hole, 10, liner plate lifting eye, 11, liner plate installing hole, 12, liner plate hanger.
Detailed description of the invention
Below in conjunction with accompanying drawing, by detailed description of the invention, this utility model is further described.
As shown in the figure, a kind of mechanical hand for changing screw lining board couples frock, it is arranged on for changing the mechanical hand of the mechanical arm of screw lining board 1 on vertical mixing mill, screw lining board 1 to be replaced puts together on after in connection frock, coupling frock can with the spiral camber good fit of screw lining board 1, there is good fixed effect, thus carrying out in the process of pose adjustment at mechanical hand to screw lining board 1, it is ensured that stablizing of screw lining board 1.
nullThis connection frock includes base and cover plate 2，And it is arranged on the swing mechanism between base and cover plate 2，Base is made up of base plate 4 and side plate 3，Base plate 4 and side plate 3 are structure as a whole，The plane of base plate 4 is trapezoidal，Side plate 3 is provided with two，And it is oppositely arranged on the same side of base plate 4，Biside plate 3 forms a horn mouth，Cover plate 2 is arranged on the end of two side plates 3 by bolt，Described swing mechanism is oscillating motor，This connection frock is arranged on the mechanical hand of mechanical arm by oscillating motor，And realize coupling frock swinging in horizontal plane，The hydraulic circuit of this oscillating motor arranges balanced valve，Base plate 4 is provided with two adapters 5，It is separately mounted to the two ends of base plate 4，This adapter 5 is cylindrical structure，And the parameter according to screw lining board 1 curved surface is obliquely installed，Make its face of cylinder can contact with the curved surface of screw lining board 1，And it is tangential on screw lining board 1 curved surface，Ensure the linear contact of adapter 5 and screw lining board 1 curved surface，And，Adapter 5 is additionally provided with bolt hole 9，Semicircular suspension ring 6 it are additionally provided with in the side of base plate 4.
Preferably, on the face of cylinder of described adapter 5, cladding arranges rubber slab.
Preferably, described side plate 3 is provided with the reinforcement rib 8 being perpendicular to base plate 4.
nullA kind of mechanical hand installing this connection frock，Including pitch linkage plate and support，Pitch linkage plate is rotatably connected on this support by bearing pin and forms pitching joint，Pitch linkage plate is connected on the mechanical arm of lining plate replacing robot，Pitching joint motion is driven by the linear hydraulic cylinder arranged between pitch linkage plate and support，With ensure mechanical hand all the time with ground keeping parallelism，Described connection frock is connected by frock bindiny mechanism and oscillating motor I and support，Oscillating motor I is horizontally arranged at the lower surface of support by the installing hole of footing，The output flange at its two ends is connected in frock bindiny mechanism，To form spiral camber laminating joint，Drive frock bindiny mechanism and couple frock rotation，To adjust the angle being fixed on the screw lining board 1 and horizontal plane coupled in frock，Can fit with the spiral supporting plate of vertical mixing mill accurately，It is vertically arranged oscillating motor II between cover plate and the base plate of described connection frock，The footing of oscillating motor II side is connected on the connecting plate in frock bindiny mechanism，Its two ends output flange is connected on cover plate 2 and base plate 4，And then form installing hole positioning joint，Drive to couple frock and be fixed on the screw lining board 1 coupled in frock and swing in horizontal plane，The spiral supporting plate installing hole location of vertical Ball-stirring mill，The installing hole making liner plate installing hole 11 and spiral supporting plate aligns.
In use, connect being provided with the mechanical hand coupling frock on the robotic arm, mechanical arm can select the crane arm of crane, when liner plate installed by needs, by bolt 7, together with screw lining board 1 is put together on by nut with connection frock, the laminating of screw lining board 1 and spiral supporting plate is realized by spiral camber laminating joint, aliging of liner plate installing hole 11 and vertical mixing mill spiral supporting plate hole is realized by installing hole positioning joint, the pitching motion of mechanical hand is realized by pitching joint, make screw lining board pose adjustment process remains the level of mechanical hand and ground, to improve the positioning precision in the first two joint；When screw lining board 1 dismantled by needs, the bolt between screw lining board 1 and spiral supporting plate is taken off, then screw lining board 1 can be pulled out through the semicircle suspension ring 6 coupled in tool base plate 4 and liner plate hanger 12 with chain.
Claims (6)
1. the mechanical hand for changing screw lining board couples frock, it is arranged on the robot end for changing screw lining board (1), it is characterized in that: this connection frock includes base and cover plate (2), the base plate (4) of base is provided with suspension ring (6) and two side plates (3) with base plate (4) one, two side plates (3) are oppositely arranged and are perpendicular to base plate (4), side plate (3) surrounds, with cover plate (2) and base plate (4), the space installing swing mechanism jointly, the two ends of base plate (4) are obliquely installed the adapter (5) with bolt hole (9) respectively, and on adapter (5), it is provided with cambered surface, screw lining board (1) to be replaced with couple frock handle and after, the cambered surface of two adapters (5) all linearly contacts with the spiral camber on screw lining board (1).
2. a kind of mechanical hand for changing screw lining board according to claim 1 couples frock, it is characterised in that: described side plate (3) is provided perpendicular to the reinforcement rib (8) of base plate (4).
3. a kind of mechanical hand for changing screw lining board according to claim 1 couples frock, it is characterised in that: one end width that this connection frock is connected with mechanical hand is more than the width of the other end.
4. a kind of mechanical hand for changing screw lining board according to claim 1 couples frock, it is characterised in that: described adapter (5) is cylindrical structure.
5. a kind of mechanical hand for changing screw lining board according to claim 1 couples frock, it is characterised in that: the cambered surface of described adapter (5) is coated with rubber slab.
6. a kind of mechanical hand for changing screw lining board according to claim 1 couples frock, it is characterised in that: described swing mechanism is oscillating motor, and arranges balanced valve in hydraulic circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620170865.7U CN205393958U (en) | 2016-03-07 | 2016-03-07 | A manipulator hookup frock for changing spiral welt |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620170865.7U CN205393958U (en) | 2016-03-07 | 2016-03-07 | A manipulator hookup frock for changing spiral welt |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205393958U true CN205393958U (en) | 2016-07-27 |
Family
ID=56441357
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620170865.7U Active CN205393958U (en) | 2016-03-07 | 2016-03-07 | A manipulator hookup frock for changing spiral welt |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205393958U (en) |
-
2016
- 2016-03-07 CN CN201620170865.7U patent/CN205393958U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |