Four-mechanism hydraulic manipulator for installing mill liners

Abstract

The application provides a four-mechanism hydraulic manipulator for installing mill lining plates, which comprises a horizontal swing mechanism, a rolling swing mechanism, a pitching swing mechanism and a counter-holding mechanism driven by an oil cylinder; the horizontal swing mechanism, the rolling swing mechanism and the pitching swing mechanism are connected through a wrist movement connecting arm; the front end of the pitching swing mechanism is connected with the counter-holding mechanism through a pitching swing rod welding piece. The four-mechanism hydraulic manipulator for installing mill lining plates has the advantages of scientific design, simple operation, small size and light weight, and can perform horizontal swing, rolling swing, pitching swing and counter-holding movement, thereby facilitating the installation of the mill lining plates.

Description

Technical Field

[0001] This invention relates to a mill liner installation device, specifically, to a four-mechanism hydraulic manipulator for installing mill liners. Background Technology

[0002] The grinding process utilizes energy in a mill to compress, roll, impact, and grind ore, causing the valuable minerals in the ore to cleave (separate), facilitating the subsequent beneficiation stage. Depending on the grinding media and materials used, mills can be classified as: ball mills, disc mills, rod mills, tube mills, autogenous mills, vortex roller mills, vertical mills, multi-layer vertical mills, vertical roller mills, DMC mills, etc.

[0003] To extend the service life of a mill, liners are typically installed inside the mill cylinder to protect it and reduce wear. Currently, mechanical equipment is usually required to assist in the installation of mill liners. For example, Chinese Patent CN106737617A discloses a robotic arm design for installing mill liners. This design uses four sets of hydraulic cylinders and a swing cylinder in conjunction. The first two cylinders function as a rolling joint in the rolling and swinging device, the second cylinder as a forward and backward movement joint, the third cylinder as a pitching joint, and the fourth cylinder as a gripping joint in the gripping device. The swing cylinder is connected to other robotic arms via flanges. During use, the robotic arm swings using the swing cylinder. However, this design using swing cylinders results in a relatively large overall weight and size for the robotic arm, and the output end of the swing cylinder bears a heavy load, making it prone to damage.

[0004] In order to solve the above problems, people have been seeking an ideal technological solution. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by providing a four-mechanism hydraulic manipulator for installing mill liners.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A four-mechanism hydraulic manipulator for installing mill liners includes a horizontal swing mechanism, a rolling swing mechanism, a pitch swing mechanism, and an opposing clamping mechanism, all driven by hydraulic cylinders. The horizontal swing mechanism, the rolling swing mechanism, and the pitch swing mechanism are connected by a wrist motion connecting arm. The front end of the pitch swing mechanism is connected to the opposing clamping mechanism via a pitch swing arm welded joint.

[0008] The wrist motion connecting arm includes a horizontal swing connecting plate and a rolling swing connecting plate at the top, a rolling swing connecting arm at the bottom, and a horizontal swing connecting arm in the middle. The horizontal swing connecting plate is connected to the telescopic end of the horizontal swing cylinder via a horizontal swing cylinder pin. The horizontal swing connecting arm is connected to the horizontal swing mechanism via a horizontal swing shaft. Under the telescopic action of the horizontal swing cylinder, the rolling swing mechanism, the pitch swing mechanism, and the opposing clamping mechanism swing horizontally around the horizontal swing shaft as the central axis. The rolling swing connecting plate is connected to the fixed end of the rolling swing cylinder via a rolling swing cylinder pin. The rolling swing connecting arm is connected to the pitch swing mechanism via a rolling swing connecting shaft. The telescopic end of the rolling swing cylinder is connected to the pitch swing mechanism. Under the telescopic action of the rolling swing cylinder, the pitch swing mechanism swings around the rolling swing connecting shaft as the central axis.

[0009] The pitch lever welded assembly includes a pitch swing connecting plate, an arc swing plate, and an opposing clamping connecting plate. The pitch swing connecting plate is connected to the pitch swing mechanism via a pitch swing shaft, and the opposing clamping connecting plate is connected to the opposing clamping mechanism. The lower end of the arc swing plate is connected to the extension end of the pitch swing cylinder. Under the extension and retraction action of the pitch swing cylinder, the pitch lever welded assembly rotates around the pitch swing shaft as the central axis, driving the opposing clamping mechanism to pitch swing.

[0010] The horizontal swing mechanism includes a fixed housing, which is wider at the front and narrower at the back. Two horizontal swing cylinders are installed inside the fixed housing. The front end of the fixed housing is open, and the telescopic ends of the two horizontal swing cylinders extend out from the open. The side plates on both sides of the open are bent downward, and the bent parts are connected by vertical connecting plates. Several horizontal connecting plates are installed on the front side of the vertical connecting plates, and the horizontal connecting plates are connected to the horizontal swing connecting arms through a horizontal swing shaft.

[0011] The rolling swing mechanism includes two rolling swing cylinders, a cylinder guard plate located in front of the rolling swing cylinders, and a support plate located in front of the horizontal swing connecting arm, which is connected to the cylinder guard plate.

[0012] The pitch and swing mechanism includes a swing box with an open front end. Two pitch and swing cylinders are installed inside the swing box. The telescopic ends of the pitch and swing cylinders extend from the front end of the swing box. The top plate and bottom plate of the swing box have notches at the open front end. The side plates of the swing box and the pitch and swing connecting plate are connected by a pitch and swing shaft.

[0013] The top plate of the swing box is equipped with a front mounting plate and a rear mounting plate, which are connected to the front end and rear end of the rolling swing connecting arm, respectively; the two sides of the front mounting plate are connected to the telescopic ends of the two rolling swing cylinders.

[0014] The opposing clamping mechanism includes an outer fixed arm assembly of the clamp, an opposing telescopic cylinder is installed inside the outer fixed arm assembly, the opposing telescopic cylinder is connected to the inner telescopic arm assembly of the clamp, and the outer ends of the inner telescopic arm assembly of the clamp are respectively connected to clamp liner pins; a hook is provided on the upper side of the outer fixed arm assembly of the clamp, a push rod fixing plate is connected to the lower side of the outer fixed arm assembly of the clamp, the push rod is installed on the push rod fixing plate, and a support block is provided at the front end of the push rod.

[0015] The horizontal swing connecting plate and the rolling swing connecting plate are connected by a motion connecting arm assembly to form an I-shaped structure. A vertical column is set on the lower side of the motion connecting arm assembly, a horizontal swing connecting arm is set on the rear side of the vertical column, a support plate is set on the front side of the vertical column, the rolling swing connecting arm is connected to the lower end of the vertical column, and horizontal swing limiting blocks are set on both sides of the middle part of the vertical column.

[0016] This invention possesses significant substantive features and substantial advancements compared to existing technologies. Specifically, the four-mechanism hydraulic manipulator for installing mill liners in this invention boasts advantages such as scientific design, ease of operation, small size, and light weight. It is capable of horizontal swinging, rolling swinging, pitching swinging, and opposing clamping movements, facilitating the installation of mill liners. Specifically, the opposing clamping mechanism clamps the liner by retracting the opposing telescopic cylinders; the pitching swinging mechanism's cylinders extend and retract, causing the opposing clamping mechanism and liner to pitch and swing; the two cylinders of the rolling swinging mechanism extend and retract, adjusting the rotation angle of the opposing clamping mechanism, pitching swinging mechanism, and liner; the two cylinders of the horizontal swinging mechanism extend and retract, causing the rolling swinging mechanism, opposing clamping mechanism, pitching swinging mechanism, and liner to swing horizontally; the connection structure between the horizontal swinging mechanism, rolling swinging mechanism, pitching swinging mechanism, and opposing clamping mechanism is concentrated in the wrist motion connecting arm of the pitching swing arm welded joint, making the transmission structure more concise. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the structure of the present invention after the cover plate is removed.

[0019] Figure 3 This is a schematic diagram of the wrist motion connecting arm of the present invention (I).

[0020] Figure 4 This is a schematic diagram (II) of the wrist movement connecting arm of the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of the swing box of the present invention.

[0022] Figure 6 This is a schematic diagram of the opposing clamping mechanism of the present invention.

[0023] Figure 7 This is the present invention. Figure 2 A side view structural diagram.

[0024] In the diagram: 1. Horizontal swing mechanism; 101. Fixed housing; 102. Horizontal swing cylinder; 103. Vertical connecting plate; 104. Horizontal connecting plate; 2. Rolling swing mechanism; 201. Rolling swing cylinder; 202. Cylinder protective plate; 3. Pitch swing mechanism; 301. Swing housing; 302. Pitch swing cylinder; 303. Side plate; 304. Notch; 305. Rear mounting plate; 306. Front mounting plate; 4. Opposing clamping mechanism; 401. Adjusting nut; 402. Connecting arm welded assembly; 403. Clamp liner pin; 404. Hook; 405. Hook fixing pin; 406. Clamp outer layer fixing arm assembly; 407. Cylinder telescopic arm fixing shaft; 408. Opposing telescopic cylinder; 409. Push rod; 410. 411. Top rod fixing plate; 5. Clamp inner telescopic arm assembly; 6. Pitch swing arm welded assembly; 7. Arc-shaped swing plate; 8. Opposing clamping connecting plate; 9. Pitch swing connecting plate; 10. Wrist movement connecting arm; 11. Horizontal swing connecting arm; 12. Rolling swing connecting plate; 13. Horizontal swing connecting plate; 14. Horizontal swing limit block; 15. Rolling swing connecting arm; 16. Support plate; 17. Vertical column; 18. Movement connecting arm assembly; 19. Liner plate. Detailed Implementation

[0025] The technical solution of the present invention will be further described in detail below through specific embodiments.

[0026] like Figure 1-7 As shown, a four-mechanism hydraulic manipulator for installing mill liners 7 includes a horizontal swing mechanism 1, a rolling swing mechanism 2, a pitch swing mechanism 3, and an opposing clamping mechanism 4, all driven by hydraulic cylinders. The horizontal swing mechanism 1, the rolling swing mechanism 2, and the pitch swing mechanism 3 are connected by a wrist motion connecting arm 6. The front end of the pitch swing mechanism 3 is connected to the opposing clamping mechanism 4 via a pitch swing arm welded joint 5.

[0027] The wrist movement connecting arm 6 includes a horizontal swing connecting plate 603 and a rolling swing connecting plate 602 at the top, a rolling swing connecting arm 605 at the bottom, and a horizontal swing connecting arm 601 in the middle. The horizontal swing connecting plate 603 is connected to the telescopic end of the horizontal swing cylinder 102 via a horizontal swing cylinder pin. The horizontal swing connecting arm 601 is connected to the horizontal swing mechanism 1 via a horizontal swing shaft. Under the telescopic action of the horizontal swing cylinder 102, the rolling swing mechanism 2, the pitch swing mechanism 3, and the opposing clamping mechanism 4 swing horizontally around the horizontal swing shaft as the central axis. The rolling swing connecting plate 602 is connected to the fixed end of the rolling swing cylinder 201 via a rolling swing cylinder pin. The rolling swing connecting arm 605 is connected to the pitch swing mechanism 3 via a rolling swing connecting shaft. The telescopic end of the rolling swing cylinder 201 is connected to the pitch swing mechanism 3. Under the telescopic action of the rolling swing cylinder 201, the pitch swing mechanism 3 swings around the rolling swing connecting shaft as the central axis.

[0028] This four-mechanism hydraulic manipulator boasts advantages such as scientific design, ease of operation, small size, and light weight. It is capable of horizontal swinging, rolling swinging, pitching swinging, and opposing clamping movements, facilitating the installation of mill liners. Specifically, the opposing clamping mechanism holds the liner by retracting the opposing telescopic cylinders; the pitching swinging mechanism's cylinders extend and retract, causing the opposing clamping mechanism and liner to pitch and swing; the two cylinders of the rolling swinging mechanism extend and retract, adjusting the symmetrical positive and negative angles of the overall rolling positive and negative angles of the opposing clamping mechanism, pitching swinging mechanism, and liner; the two cylinders of the horizontal swinging mechanism extend and retract, causing the overall horizontal positive and negative angles of the rolling swinging mechanism, opposing clamping mechanism, pitching swinging mechanism, and liner to symmetrically swing; the connection structure between the horizontal swinging mechanism, rolling swinging mechanism, pitching swinging mechanism, and opposing clamping mechanism is concentrated in the wrist motion connecting arm of the pitching swinging rod welded joint, making the transmission structure more concise.

[0029] In one embodiment, the pitch lever welded assembly 5 includes an opposing clamping connecting plate 502, an arc-shaped swing plate 501, and a pitch swing connecting plate 503. The opposing clamping connecting plate 502 is connected to the pitch swing mechanism 3 via a pitch swing shaft, and the opposing clamping connecting plate 502 is connected to the opposing clamping mechanism 4. The lower end of the arc-shaped swing plate 501 is connected to the extension end of the pitch swing cylinder 302. Under the extension and retraction action of the pitch swing cylinder 302, the pitch lever welded assembly 5 rotates around the pitch swing shaft as the central axis, driving the opposing clamping mechanism 4 to pitch swing.

[0030] In one embodiment, the horizontal swing mechanism 1 includes a fixed housing 101, which is wider at the front and narrower at the rear. Two horizontal swing cylinders 102 are disposed inside the fixed housing 101, and are arranged in a V-shape to match the shape of the fixed housing 101. The front end of the fixed housing 101 is open, and the telescopic ends of the two horizontal swing cylinders 102 extend from this opening. The side plates on both sides of the opening are bent downwards, and the bent portions are connected by a vertical connecting plate 103. Several horizontal connecting plates 104 are disposed on the front side of the vertical connecting plate 103, and these horizontal connecting plates 104 are connected to the horizontal swing connecting arm 601 via a horizontal swing shaft. Using the fixed housing as the final load-bearing mechanism reduces the pressure of the equipment weight on the horizontal swing cylinders.

[0031] In one embodiment, the rolling swing mechanism 2 includes two rolling swing cylinders 201, a cylinder guard plate 202 disposed in front of the rolling swing cylinders 201, and a support plate 606 disposed in front of the horizontal swing connecting arm 601, the support plate 606 being connected to the cylinder guard plate 202. Specifically, the cylinder guard plate 202 is a sheet metal bending part, including two side plates, a top plate, and a front plate connecting the side plates and the top plate.

[0032] In one embodiment, the pitch swing mechanism 3 includes a swing housing 301 with an open front end. Two pitch swing cylinders 302 are installed inside the swing housing 301, with their extension ends extending from the front end. The top and bottom plates of the swing housing 301 have notches 304 at the open front end to allow for vertical swinging. Specifically, when swinging downwards, an arc-shaped swing plate can enter. The notch in the bottom plate of the swing housing, the side plates 303 of the swing housing 301, and the opposing clamping connecting plates 502 are connected via a pitch swing shaft. Preferably, the height of the open front end of the swing housing is slightly greater than the height of the rear end of the swing housing to allow for installation and movement space for the pitch swing arm welded components.

[0033] In one embodiment, the top plate of the swing box 301 is provided with a front mounting plate 306 and a rear mounting plate 305, which are respectively connected to the front end and the rear end of the rolling swing connecting arm 605; the two sides of the front mounting plate 306 are connected to the telescopic ends of the two rolling swing cylinders 201.

[0034] In one embodiment, the opposing clamping mechanism 4 includes an outer clamping fixed arm assembly 406, with an opposing telescopic cylinder 408 disposed inside the outer clamping fixed arm assembly 406. The opposing telescopic cylinder 408 is connected to an inner clamping telescopic arm assembly 411, which is slidably connected to the outer clamping fixed arm assembly. When the opposing telescopic cylinder extends or retracts, the inner clamping telescopic arm assembly extends or retracts accordingly. A connecting arm welded member 402 is disposed at the outer end of the inner clamping telescopic arm assembly 411. The connecting arm welded assembly 402 is connected to the clamp liner pin 403. The clamp liner pin is threadedly connected to the connecting arm welded assembly, and an adjusting nut is provided at the outer end of the clamp liner pin. A hook 404 is provided on the upper side of the clamp outer layer fixed arm assembly 406, which is connected by a hook fixing pin 405. A top rod fixing plate 410 is connected to the lower side of the clamp outer layer fixed arm assembly 406. The top rod 409 is bolted to the top rod fixing plate 410, and a support block is provided at the front end of the top rod 409. Specifically, the top rod fixing plate includes several annular plates, through which the top rod passes. A connecting plate is provided on the top rod, and the connecting plate is bolted to the annular plate. During use, the extension length of the top rod is adjusted according to the condition of the liner.

[0035] During use, first adjust the installation position of the top rod according to the condition of the liner, and then perform the clamping operation. The clamping liner pin 403 is inserted into the holes of the two connecting ears of the liner, and the opposing telescopic cylinders retract to clamp it. The support block at the front end of the top rod abuts against the lower side of the liner to form a triangular support structure to prevent the liner from rotating. In addition, for liners without two connecting ears, a hook can be used to lift and position the liner in conjunction with the top rod.

[0036] In one embodiment, the horizontal swing connecting plate 603 and the rolling swing connecting plate 602 are connected by a motion connecting arm assembly 608 to form an I-shaped structure. A vertical column 607 is provided on the lower side of the motion connecting arm assembly 608, a horizontal swing connecting arm 601 is provided on the rear side of the vertical column 607, a support plate 606 is provided on the front side of the vertical column 607, a rolling swing connecting arm 605 is connected to the lower end of the vertical column 607, and horizontal swing limiting blocks 604 are provided on both sides of the middle part of the vertical column 607 to limit the horizontal swing angle.

[0037] It should be noted that, see appendix Figure 1-7In this invention, the direction of the opposing clamping mechanism in the attached drawings is "front", and the opposite direction of "front" is "rear". In order to realize horizontal swing, rolling swing, pitch swing, and opposing clamping movements, a telescopic hydraulic cylinder is used as the power source. The telescopic connection nodes adopt a hinged connection method. For example, the arc-shaped swing plate 501 is hinged to the telescopic end of the pitch swing hydraulic cylinder 302, and the pitch swing connecting plate 503 is hinged to the front end of the side plate 303 of the swing box 301. The remaining structures are all riveted and welded structures such as steel plates, rectangular tubes, and sheet metal. The structural components are connected by shafts and bolts, ultimately realizing the functions of fixing the hydraulic cylinder, moving each axis, external protection, and gripping parts.

[0038] The above embodiments can be combined with each other.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of the present invention or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in the present invention.

Claims

1. A four-mechanism hydraulic manipulator for installing mill liners, characterized in that: It includes a horizontal swing mechanism, a rolling swing mechanism, a pitch swing mechanism, and an opposing clamping mechanism, all driven by hydraulic cylinders; the horizontal swing mechanism, the rolling swing mechanism, and the pitch swing mechanism are connected by a wrist motion connecting arm; the front end of the pitch swing mechanism is connected to the opposing clamping mechanism via a pitch swing arm welded joint. The wrist motion connecting arm includes a horizontal swing connecting plate and a rolling swing connecting plate at the top, a rolling swing connecting arm at the bottom, and a horizontal swing connecting arm in the middle. The horizontal swing connecting plate is connected to the telescopic end of the horizontal swing cylinder via a horizontal swing cylinder pin. The horizontal swing connecting arm is connected to the horizontal swing mechanism via a horizontal swing shaft. Under the telescopic action of the horizontal swing cylinder, the rolling swing mechanism, the pitch swing mechanism, and the opposing clamping mechanism swing horizontally around the horizontal swing shaft as the central axis. The rolling swing connecting plate is connected to the fixed end of the rolling swing cylinder via a rolling swing cylinder pin. The rolling swing connecting arm is connected to the pitch swing mechanism via a rolling swing connecting shaft. The telescopic end of the rolling swing cylinder is connected to the pitch swing mechanism. Under the telescopic action of the rolling swing cylinder, the pitch swing mechanism swings around the rolling swing connecting shaft as the central axis. Two sets of horizontal swing cylinders, rolling swing cylinders, and pitch swing cylinders are provided and are symmetrical to each other.

2. The four-mechanism hydraulic manipulator for installing mill liners according to claim 1, characterized in that: The pitch lever welded assembly includes a pitch swing connecting plate, an arc swing plate, and an opposing clamping connecting plate. The pitch swing connecting plate is connected to the pitch swing mechanism via a pitch swing shaft, and the opposing clamping connecting plate is connected to the opposing clamping mechanism. The lower end of the arc swing plate is connected to the extension end of the pitch swing cylinder. Under the extension and retraction action of the pitch swing cylinder, the pitch lever welded assembly rotates around the pitch swing shaft as the central axis, driving the opposing clamping mechanism to pitch swing.

3. The four-mechanism hydraulic manipulator for installing mill liners according to claim 2, characterized in that: The horizontal swing mechanism includes a fixed housing, which is wider at the front and narrower at the back. Two horizontal swing cylinders are installed inside the fixed housing. The front end of the fixed housing is open, and the telescopic ends of the two horizontal swing cylinders extend out from the open. The side plates on both sides of the open are bent downward, and the bent parts are connected by vertical connecting plates. Several horizontal connecting plates are installed on the front side of the vertical connecting plates, and the horizontal connecting plates are connected to the horizontal swing connecting arms through a horizontal swing shaft.

4. The four-mechanism hydraulic manipulator for installing mill liners according to claim 3, characterized in that: The rolling swing mechanism includes two rolling swing cylinders, a cylinder guard plate located in front of the rolling swing cylinders, and a support plate located in front of the horizontal swing connecting arm, which is connected to the cylinder guard plate.

5. The four-mechanism hydraulic manipulator for installing mill liners according to claim 4, characterized in that: The pitch and swing mechanism includes a swing box with an open front end. Two pitch and swing cylinders are installed inside the swing box. The telescopic ends of the pitch and swing cylinders extend from the front end of the swing box. The top plate and bottom plate of the swing box have notches at the open front end. The side plates of the swing box and the pitch and swing connecting plate are connected by a pitch and swing shaft.

6. The four-mechanism hydraulic manipulator for installing mill liners according to claim 5, characterized in that: The top plate of the swing box is equipped with a front mounting plate and a rear mounting plate, which are connected to the front end and rear end of the rolling swing connecting arm, respectively; the two sides of the front mounting plate are connected to the telescopic ends of the two rolling swing cylinders.

7. The four-mechanism hydraulic manipulator for installing mill liners according to claim 6, characterized in that: The opposing clamping mechanism includes an outer fixed arm assembly of the clamp, an opposing telescopic cylinder is installed inside the outer fixed arm assembly, the opposing telescopic cylinder is connected to the inner telescopic arm assembly of the clamp, and the outer ends of the inner telescopic arm assembly of the clamp are respectively connected to clamp liner pins; a hook is provided on the upper side of the outer fixed arm assembly of the clamp, a push rod fixing plate is connected to the lower side of the outer fixed arm assembly of the clamp, the push rod is installed on the push rod fixing plate, and a support block is provided at the front end of the push rod.

8. The four-mechanism hydraulic manipulator for installing mill liners according to claim 7, characterized in that: The horizontal swing connecting plate and the rolling swing connecting plate are connected by a motion connecting arm assembly to form an I-shaped structure. A vertical column is set on the lower side of the motion connecting arm assembly, a horizontal swing connecting arm is set on the rear side of the vertical column, a support plate is set on the front side of the vertical column, the rolling swing connecting arm is connected to the lower end of the vertical column, and horizontal swing limiting blocks are set on both sides of the middle part of the vertical column.

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