A design method of manipulator for installing mill liner

Abstract

The invention provides a manipulator design method for installing a mill lining. A rolling pendulum device, a gripping device, other accessories and a first cylinder, a second cylinder, a third cylinder, a forth cylinder and a swinging cylinder fit to the accessories are designed in the manipulator, wherein the first cylinder has the rolling joint action in the rolling pendulum device, and the second cylinder has the joint action of back-and-forth movement; the third cylinder has the pitch joint action, and the forth cylinder has the gripping joint action in the gripping device; the swinging cylinder has the joint action of up-and-down swing; multiple displacements of the manipulator in space are achieved through these different joint actions, and the high-load drive of the manipulator is achieved through arranging these cylinders; the structure size of the manipulator is reduced. In the invention, the degree of mechanization and automation in the replacement of the mill lining is greatly improved, and the labor intensity is reduced; the replacement time of the lining is shortened, and potential safety hazards in manual operation are avoided.

Description

technical field

[0001] The invention belongs to the technical field of mill liner maintenance equipment, in particular to a design method for a manipulator for installing a mill liner. Background technique

[0002] The mill is divided into a ball mill or a semi-autogenous mill, which is the main equipment for mine grinding. In order to ensure the long-term continuous operation of the mill, liners are installed in the cylinder of the mill to prevent the cylinder from being worn out. Usually, the liner is divided into several pieces. These liners are often worn during use, and the liner needs to be worn Remove and replace the new liner in time. The size of the large horizontal mill liner is different. The weight of each liner is generally between 1000 and 5000kg. It needs to be grasped, removed and replaced. It is extremely inconvenient to replace and install on site.

[0003] Large-scale horizontal mills replace the liners manually. Workers remove the worn liners by making ...

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