Automatic ball mill liner replacement device

Abstract

The application provides a ball mill lining plate automatic replacement device, belonging to the technical field of ball mill lining replacement, comprising a lifting mobile vehicle, a translation support device, a lining plate conveying device, a lining replacement manipulator and a receiving assembly, the lifting mobile vehicle can be adjusted in height, the translation support device is arranged on the upper end of the lifting mobile vehicle and extends into the inside of the ball mill cylinder at one end, the lining plate conveying device is connected to the translation support device and is used for conveying the lining plate between the outside and the inside of the ball mill, the lining replacement manipulator is connected to the one end of the translation support device arranged in the inside of the ball mill and is suitable for extending into the inside of the ball mill cylinder and replacing the lining plate of the inner wall of the ball mill cylinder, the lining replacement manipulator can take and place the lining plate from the lining plate conveying device, and the receiving assembly is used for receiving the old lining plate. The ball mill lining plate automatic replacement device has the technical effect that the automatic lining replacement operation can be realized, the worker does not need to enter the cylinder, the physical harm is avoided, and the automatic lining replacement level is improved.

Description

Technical Field

[0001] This invention belongs to the field of ball mill liner replacement technology, and more specifically, relates to an automatic ball mill liner replacement device. Background Technology

[0002] Ball mills are suitable for grinding various ores and other materials, and are widely used in mineral processing, building materials, and chemical industries. Depending on the grinding method, they are divided into dry and wet types; and depending on the discharge method, they are divided into grate type and overflow type. Ball mill liners are mainly used to protect the mill cylinder from direct impact and grinding by the grinding media and materials. Different types of liners can also be used to adjust the movement of the grinding media in each chamber. Liners are the main wear-prone parts in ball mills, with extremely high consumption, and are frequently replaced spare parts. During ball mill operation, the liners prevent the cylinder from being impacted and worn by steel balls and materials. Repeated impacts and wear from steel balls and materials, as well as corrosion from the slurry, cause continuous migration of material from the liner surface. Widely used liners include metal liners, magnetic liners, rubber liners, and ceramic liners.

[0003] Typically, the lining plate has two through holes. Currently, most lining plate replacements are done manually, which involves working in a confined space and handling heavy objects. The confined space has poor natural ventilation, which can easily lead to the accumulation of toxic and harmful gases or insufficient oxygen content, endangering the lives and safety of workers. The labor intensity during the handling of the lining plate is high, which can easily cause accidents such as squeezing and crushing injuries.

[0004] A small number of liner replacements are performed using auxiliary liner replacement devices. For example, PaR Corporation (USA) and RME Corporation (Australia) are world-renowned manufacturers of liner replacement robots. RME Corporation produces the Ruisu mill liner replacement robot, and PaR Corporation produces the MLH-130 mill liner replacement robot. Domestically, CITIC Heavy Industries has developed a large ball mill liner replacement robot, and Anshan Tianshengxing Heavy Industry Technology Co., Ltd. has designed the MLH3-400 robot. Currently, liner replacement is performed manually or with equipment assistance, primarily using robots to reduce manual handling, alleviate labor intensity, and shorten liner transportation and installation time. However, in actual operation, manual entry into the ball mill is still required, raising concerns about the hazards of working in confined spaces. Therefore, it is crucial to address how to reduce labor intensity while freeing workers from confined space operations. Summary of the Invention

[0005] The purpose of this invention is to provide an automatic ball mill liner replacement device, which aims to solve the technical problem that manual operation is required to enter the ball mill cylinder during liner replacement, which is hazardous in a confined space.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: to provide an automatic ball mill liner replacement device, comprising:

[0007] The lifting mobile vehicle can move in any direction and has the freedom to move vertically.

[0008] The translation support device is connected to the upper end of the lifting and moving vehicle and is set horizontally, with one end for extending into the ball mill cylinder and the other end located outside the ball mill.

[0009] A liner conveying device, connected to the translational support device, and having a degree of freedom to slide along its length on the translational support device, the liner conveying device being used to convey liners between the outside and inside of the ball mill;

[0010] A liner-changing robot is connected to one end of the translation support device located inside the ball mill. It is adapted to extend into the ball mill cylinder and replace the inner wall liner of the ball mill cylinder. The liner conveying device is used to reciprocate to convey the liner between the end of the translation support device away from the liner-changing robot and the end close to the liner-changing robot. The liner-changing robot can pick up and put down the liner from the liner conveying device.

[0011] A receiving component, located outside the ball mill, is adapted to receive used liners conveyed to the outside of the ball mill by the liner conveying device.

[0012] In one possible implementation, the automatic ball mill liner replacement device further includes a control system, which is electrically connected to and controls the operation of the lifting moving vehicle, the liner conveying device, and the liner replacement robot, respectively.

[0013] In one possible implementation, the lifting mobile vehicle includes:

[0014] The main body of the vehicle has multiple omnidirectional wheels at the bottom and a frame at the top, which can be adjusted vertically by raising and lowering.

[0015] Multiple drive devices are connected to the main body of the vehicle, and the power output ends are connected to multiple casters one by one, all of which are used to drive the casters to rotate.

[0016] A positioning protection device, connected to the main body of the vehicle, is used to fix the main body of the vehicle to the ground to prevent tipping; and

[0017] An inclination sensor, connected to the main body of the vehicle, is used to measure the inclination of the bottom plane of the main body of the vehicle relative to the horizontal position. The inclination sensor is electrically connected to the control system and sends signals.

[0018] In one possible implementation, the lifting mobile vehicle further includes a universal adjustment support plate connected to the bottom of the vehicle body and electrically connected to the control system. The control system controls the operation of the universal adjustment support plate according to the tilt angle detected by the tilt sensor, so that the bottom plate of the vehicle body is in a horizontal state.

[0019] In one possible implementation, the positioning protection device includes a vertically adjustable lifting block connected to the main body of the vehicle and a chassis connected to the bottom end of the lifting block. The chassis is used to contact the ground and support the main body of the vehicle, and the height of the chassis is adjusted by means of the lifting block.

[0020] In one possible implementation, the translational support device includes:

[0021] The rectangular beam is made of H-beams and a truss structure.

[0022] Two sets of long racks are respectively set on both sides of the rectangular beam along its length and near the top. The lifting moving vehicle is equipped with a drive gear, which meshes with the long racks and drives the long racks and the rectangular beam to translate horizontally.

[0023] A guide rail is disposed at the middle of the upper end of the rectangular beam, and the length direction of the guide rail is parallel to the length direction of the rectangular beam;

[0024] A truncated cone is located on the rectangular beam near the end where the lining replacement robot is located. This end is defined as the front end. A hydraulic cylinder is also provided at the front end. The power output end of the hydraulic cylinder is connected to the truncated cone and is used to push the truncated cone to move along the length of the rectangular beam. The interior of the truncated cone is made of carbon steel, and the outer surface is lined with polytetrafluoroethylene wear-resistant material to form a flexible support for the inner wall of the ball mill cylinder.

[0025] In one possible implementation, the liner conveying device includes:

[0026] The flat plate has multiple sets of pulleys rotatably connected to its bottom. These pulleys are arranged in a rectangular clamping structure and are used to clamp the guide rail and form a rolling connection with the guide rail.

[0027] An electric motor is connected to the flat plate, and its power output end is connected to at least one set of pulleys and used to drive the pulleys to rotate, thereby driving the flat plate to slide on the guide rail;

[0028] A side-flipping mechanism is rotatably connected to the upper end of the plate and is used to flip towards one side of the plate. It has a stationary state located at the upper end of the plate and a flipped state after flipping towards one side of the plate. When the side-flipping mechanism is in the stationary state, its upper end plane is horizontal. When it is in the flipped state, its upper end plane forms an acute angle with the horizontal plane.

[0029] A rotating platform is connected to the upper end of the tilting mechanism. With the help of the tilting mechanism, it has the two states mentioned above. The liner is located on the upper surface of the rotating platform. The upper surface of the rotating platform can rotate circumferentially in the horizontal plane, thereby adjusting the position of the liner. When the rotating platform is in the tilting state, it is used to remove the liner.

[0030] In one possible implementation, the liner-changing robot includes:

[0031] A translation frame, slidably connected to the guide rail, is fitted onto the rectangular beam to form an enclosure around the translation support device. It can slide and translate along the length of the rectangular beam with the help of the guide rail. The translation frame is provided with a drive roller, which makes rolling contact with the upper end of the translation support device. The drive roller is used to drive the translation frame to slide along the guide rail. The drive roller is electrically connected to the control system and its operation is controlled by the control system.

[0032] Two rotating shafts are vertically arranged and connected to both ends of the translation frame and located on both sides of the translation support device. The upper and lower ends of the rotating shafts are rotatably connected to the translation frame.

[0033] Two half-gears are fixedly connected to the middle of the two rotating shafts, and the half-gears are located on the outside of the rotating shafts;

[0034] Four fixing plates are arranged side by side on both sides of the half gear and fixedly connected to the middle of the rotating shaft at the same end. The fixing plates are arranged horizontally, and a small gear is rotatably connected to the other end of the fixing plate. The small gear meshes with the half gear for transmission.

[0035] The two levers are connected to the side of the pinion at one end and are free at the other end, and have the freedom to swing up and down vertically.

[0036] Two actuators are respectively connected to the fixed plate and their power output ends are connected to the pinion gear, which are used to drive the pinion gear to rotate. The rotation of the pinion gear causes the swing arm to swing. The actuators are electrically connected to the control system and their operation is controlled by the control system.

[0037] Two telescopic rods are slidably connected to the free end of the swing rod, and slide back and forth along the length of the swing rod. A push rod motor is connected to the swing rod, and the power output end of the push rod motor is connected to the telescopic rod and used to push the telescopic rod to move. The telescopic rod is electrically connected to the control system and its operation is controlled by the control system.

[0038] A carrier is connected to the free end of one of the telescopic rods. An electromagnet is installed on the carrier. The carrier is used to attract the liner to be replaced and the existing liner. The side of the carrier near the inner wall of the cylinder is wavy to match and fit the shape of the liner.

[0039] A reverse support block, connected to the free end of another telescopic rod, is used to push against the inner wall of the ball mill cylinder during operation of the carrier; and

[0040] A hydraulic impact hammer is connected to the upper end of the swing arm near the carrier and is used to extend and retract along the length of the swing arm to impact and vibrate the liner to be replaced. The hydraulic impact hammer is electrically connected to the control system and its operation is controlled by the control system.

[0041] In one possible implementation, a monitor is provided at the upper end of the swing arm. The monitor is used to collect video information toward the inner wall of the ball mill cylinder. The monitor is electrically connected to the control system and transmits the video information.

[0042] In one possible implementation, a hydraulic cylinder is provided on the swing arm, a trolley is provided connected to the power output end of the hydraulic cylinder, a slide rail is also provided at the upper end of the swing arm, the lower end of the trolley is slidably connected to the slide rail, and the hydraulic impact hammer is connected to the trolley and impacts the liner along the length of the swing arm by means of the sliding of the trolley.

[0043] The beneficial effects of the automatic ball mill liner replacement device provided by this invention are as follows: Compared with the prior art, the automatic ball mill liner replacement device of this invention includes a lifting and moving trolley, a translational support device, a liner conveying device, a liner replacement robot, and a receiving assembly. The lifting and moving trolley can be raised and lowered for height adjustment. The translational support device is located at the upper end of the lifting and moving trolley, with one end extending into the ball mill cylinder. The liner conveying device is connected to the translational support device and has the freedom to slide along its length on the translational support device. The liner conveying device is used to convey the liner between the outside and inside of the ball mill. The liner replacement robot is connected to the translational support device. The support device is located at one end inside the ball mill, suitable for extending into the ball mill cylinder to replace the inner wall liner. The liner conveying device reciprocates between the end of the support device furthest from the liner-changing robot and the end closest to the robot. The liner-changing robot can pick up and place liners from the conveying device. The receiving component receives the old liner. This design solves the technical problem of requiring manual entry into the ball mill cylinder for liner replacement, which poses a hazard in a confined space. It achieves automated liner replacement without requiring manual entry, thus avoiding health risks and improving the level of automation. This highly automated device eliminates the need for manual assistance inside the ball mill cylinder. It is the first of its kind in China and abroad for automatic ball mill liner replacement, filling a gap in the industry, reducing the probability of workplace injuries, and alleviating labor and equipment maintenance costs for enterprises. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 This is a schematic diagram of an automatic ball mill liner replacement device provided in an embodiment of the present invention;

[0046] Figure 2 This is a schematic diagram of another perspective of an automatic ball mill liner replacement device provided in an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of the lifting and moving vehicle structure of an automatic ball mill liner changing device provided in an embodiment of the present invention;

[0048] Figure 4 for Figure 3 The diagram shows the structure of a lifting vehicle for an automatic ball mill liner changing device after removing the internal lifting mechanism.

[0049] Figure 5A schematic diagram of the drive device and universal wheel structure of an automatic ball mill liner replacement device provided in an embodiment of the present invention;

[0050] Figure 6 This is a schematic diagram of the universal adjustment support plate structure of an automatic ball mill liner replacement device provided in an embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the lifting block and chassis structure of an automatic ball mill liner changing device provided in an embodiment of the present invention;

[0052] Figure 8 A schematic diagram of the translational support device and the liner-changing robot of an automatic ball mill liner-changing device provided in an embodiment of the present invention;

[0053] Figure 9 This is a schematic diagram of the translational support device structure of an automatic ball mill liner replacement device provided in an embodiment of the present invention;

[0054] Figure 10 This is a schematic diagram of the liner-changing robot structure of an automatic liner-changing device for a ball mill provided in an embodiment of the present invention;

[0055] Figure 11 for Figure 10 A schematic diagram of the right side structure of the liner-changing robot in the middle;

[0056] Figure 12 This is a schematic diagram of the structure of an automatic ball mill liner changing device after the carrier and the liner are attached (the liner is located at the upper end of the carrier in the figure);

[0057] Figure 13 This is a schematic diagram of another perspective of the liner-changing robot arm of an automatic ball mill liner-changing device provided in an embodiment of the present invention;

[0058] Figure 14 This is a schematic diagram of the liner conveying device of an automatic liner changing device for a ball mill provided in an embodiment of the present invention;

[0059] Figure 15 A cross-sectional view of the end of a rectangular beam of an automatic ball mill liner replacement device provided in an embodiment of the present invention;

[0060] Figure 16 This is a schematic diagram of the bolt disassembly auxiliary kit structure of an automatic ball mill liner replacement device provided in an embodiment of the present invention;

[0061] Figure 17 for Figure 16 A schematic diagram of the upper structure of the bolt removal auxiliary kit.

[0062] Explanation of reference numerals in the attached figures:

[0063] 1. Lifting mobile trolley; 11. Trolley body; 12. Drive unit; 13. Positioning protection device; 131. Lifting block; 132. Chassis; 14. Tilt sensor; 15. Casters; 16. Frame; 17. Lifting device; 18. Slewing support; 19. Universal adjustment support plate; 191. Hydraulic lifting cylinder; 192. Universal adjustment plate; 110. Drive gear;

[0064] 2. Translation support device; 21. Rectangular beam; 22. Long rack; 23. Guide rail; 24. Frustum; 25. Hydraulic cylinder;

[0065] 3. Liner conveying device; 31. Flat plate; 32. Side tilting mechanism; 33. Rotating platform; 34. Pulley;

[0066] 4. Liner changing robot; 41. Translation frame; 42. Rotating shaft; 43. Half gear; 44. Fixed plate; 45. Swing arm; 46. Telescopic rod; 47. Carrier; 471. Bolt; 48. Reverse support block; 49. Hydraulic impact hammer; 410. Pinion; 411. Hydraulic cylinder; 412. Trolley; 413. Slide rail;

[0067] 5. Receiving component; 6. Control system;

[0068] 7. Bolt removal auxiliary kit; 71. Mobile trolley; 72. Electric rotary table; 73. Lifting device; 74. Automatic bolt removal machine; 75. Lifting support; 76. Lifting column; 77. Drive system;

[0069] 8. Monitor. Detailed Implementation

[0070] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0071] Please refer to the following: Figures 1 to 14The present invention provides an automatic ball mill liner replacement device. This automatic ball mill liner replacement device includes a lifting moving trolley 1, a translational support device 2, a liner conveying device 3, a liner replacement robot 4, and a receiving assembly 5. The lifting moving trolley 1 can move in any direction and has a degree of freedom to move vertically. The translational support device 2 is connected to the upper end of the lifting moving trolley 1 and is horizontally arranged, with one end extending into the ball mill cylinder and the other end located outside the ball mill. The liner conveying device 3 is connected to the translational support device 2 and has a degree of freedom to slide along its length on the translational support device 2. The conveying device 3 is used to convey liners between the outside and inside of the ball mill; the liner-changing robot 4 is connected to one end of the translation support device 2 located inside the ball mill, and is adapted to extend into the inside of the ball mill cylinder to replace the liner on the inner wall of the ball mill cylinder. The liner conveying device 3 is used to reciprocate to convey the liner between the end of the translation support device 2 away from the liner-changing robot 4 and the end near the liner-changing robot 4. The liner-changing robot 4 can pick up and put down the liner from the liner conveying device 3; the receiving assembly 5 is located outside the ball mill and is adapted to receive the old liner conveyed by the liner conveying device 3 to the outside of the ball mill.

[0072] This invention provides an automatic ball mill liner replacement device. Compared with existing technologies, it uses a translational support device 2 to support the liner conveying device 3 and the liner replacement robot 4. The liner conveying device 3 can transport new and old liners between the inside and outside of the ball mill cylinder. The liner replacement robot 4 enables automatic replacement of the old liner, first disassembling the old liner and then installing the new liner. It can transport the new liner to the inside of the cylinder and also transport the old liner to the outside of the cylinder and into the receiving assembly 5. This solves the technical problem that manual operation is required to enter the ball mill cylinder during liner replacement, which is hazardous in a confined space. It achieves automatic liner replacement without requiring manual entry into the cylinder, avoiding physical harm and improving the level of automation in liner replacement. This device has a high degree of automation, requiring no manual assistance inside the ball mill cylinder. This device is the first of its kind in China and abroad for automatic ball mill liner replacement, filling a gap in the industry, reducing the probability of workplace injuries, and alleviating labor and equipment maintenance costs for enterprises.

[0073] In this embodiment, the receiving component 5 is a box for holding old lining boards, with an opening at the top, which can be moved to any location to receive old lining boards.

[0074] In some embodiments, please refer to Figures 1 to 14The automatic ball mill liner changing device also includes a control system 6. The control system 6 is electrically connected to and controls the operation of the lifting trolley 1, the liner conveying device 3, and the liner changing robot 4. The control system 6 includes multiple modules, each electrically connected to the lifting trolley 1, the liner conveying device 3, and the liner changing robot 4, and can control their operation separately. The control system 6 is also equipped with a display screen and control buttons. By operating the multiple control buttons, the operation of each of the above-mentioned actuators (i.e., the aforementioned loads) can be controlled separately.

[0075] In some embodiments, please refer to Figures 1 to 14 The lifting mobile vehicle 1 includes a trolley body 11, multiple drive devices 12, a positioning protection device 13, and a tilt sensor 14. The trolley body 11 has multiple casters 15 at its bottom and a frame 16 at its top, which can be vertically adjusted. The multiple drive devices 12 are all connected to the trolley body 11, and their power output ends are connected to the casters 15 one-to-one, all used to drive the casters 15 to rotate. The positioning protection device 13 is connected to the trolley body 11 to fix the trolley body 11 to the ground to prevent tipping. The tilt sensor 14 is connected to the trolley body 11 to measure the inclination of the trolley body 11's base plane relative to the horizontal position. The tilt sensor 14 is electrically connected to the control system 6 and sends signals. A lifting device 17 is installed inside the trolley body 11. The lifting device 17 uses existing technology and can adjust the height of the frame 16. The lifting device 17 has a lifting end, and the frame 16 is set on the lifting end. The height of the frame 16 can be adjusted by the lifting device 17, and thus the height of the translation support device 2 can be adjusted.

[0076] A slewing support 18 is provided at the bottom of the trolley body 11. The outer circumference of the slewing support 18 is provided with teeth. The upper end of the universal wheel 15 is connected to the slewing support 18. The upper end of the slewing support 18 is rotatably connected to the trolley body 11. The drive device 12 is a hydraulic motor. The power output end is provided with a drive wheel. The outer circumference of the drive wheel is also provided with teeth. These teeth mesh with the outer circumferential teeth of the slewing support 18 to realize power transmission. In this way, the power of the drive device 12 can drive the universal wheel 15 to rotate circumferentially in the horizontal plane, realizing the steering of the universal wheel 15.

[0077] In some embodiments, please refer to Figures 1 to 14The lifting mobile vehicle 1 also includes a universal adjustment support plate 19, connected to the bottom of the vehicle body 11 and electrically connected to the control system 6. The control system 6 controls the universal adjustment support plate 19 to operate based on the tilt angle detected by the tilt sensor 14, so that the bottom plane of the vehicle body 11 is in a horizontal state. The universal adjustment support plate 19 includes a hydraulic lifting cylinder 191 connected at its upper end to the bottom end of the vehicle body 11. The upper end of the hydraulic lifting cylinder 191 is vertically arranged, and its lower end is a telescopic end connected to a universal adjustment plate 192. This universal adjustment plate 192 is a prior art product capable of universal adjustment. By adjusting the extension and retraction of the hydraulic lifting cylinder 191, the height or levelness of the vehicle body 11 can be adjusted. The control system 6 can control the extension and retraction length of the hydraulic lifting cylinder 191, thereby controlling the lifting height of the vehicle body 11.

[0078] In some embodiments, please refer to Figures 1 to 14 The positioning protection device 13 includes a vertically adjustable lifting block 131 connected to the trolley body 11 and a chassis 132 connected to the bottom of the lifting block 131. The chassis 132 is used to contact the ground and support the trolley body 11. The height of the chassis 132 is adjusted by means of the lifting block 131. The lifting block 131 is a lifting component, such as a lifting column, which can be adjusted vertically to adjust the support height of the trolley body 11. The chassis 132 is a plate, with its upper end hinged to the bottom end of the lifting block 131. When the trolley body 11 is in a moving state, the chassis 132 is in a state of being off the ground. When the trolley body 11 stops, the chassis 132 is brought into contact with the ground by controlling the extension and retraction of the lifting block 131, thus supporting the trolley body 11 or allowing the casters 15 to be off the ground, thereby positioning the trolley body 11.

[0079] In some embodiments, please refer to Figures 1 to 15The translational support device 2 includes a rectangular beam 21, two sets of long racks 22, a guide rail 23, and a frustum 24. The rectangular beam 21 is made of H-beams and a truss structure. The two sets of long racks 22 are respectively arranged on both sides of the rectangular beam 21 along its length and near the top. The lifting moving vehicle 1 is equipped with a drive gear 110, which meshes with the long racks 22 to drive the long racks 22 and the rectangular beam 21 to translate horizontally. Since the two sets of long racks 22 are symmetrically arranged, there are also two sets of drive gears 110, which mesh with the two sets of long racks 22 respectively. The rectangular beam 21 and the long racks 22 are connected by a tight... With the fasteners fixed in place, the drive gear 110 can drive the rectangular beam 21 to move left and right or slide. A guide rail 23 is located at the middle of the upper end of the rectangular beam 21, with its length parallel to the length of the rectangular beam 21. A frustum 24 is located on the rectangular beam 21 near the end where the lining-changing robot 4 is located; this end is defined as the front end. A hydraulic cylinder 25 is also located at the front end. The power output end of the hydraulic cylinder 25 is connected to the frustum 24 and is used to push the frustum 24 to move along the length of the rectangular beam 21. The frustum 24 is made of carbon steel internally and lined with polytetrafluoroethylene (PTFE) wear-resistant material on its outer surface to form flexible support for the inner wall of the ball mill cylinder. The hydraulic cylinder 25 is electrically connected to the control system 6, which controls the extension and retraction of the hydraulic cylinder 25, thereby preventing the end of the rectangular beam 21 from impacting the inner wall of the cylinder. The outer diameter of the end of the frustum 24 furthest from the rectangular beam 21 is smaller than the outer diameter of the end closest to the rectangular beam 21. The guide rail 23 is arranged in two rows, with its two ends aligned with the two ends of the rectangular beam 21.

[0080] In some embodiments, please refer to Figures 1 to 14The liner conveying device 3 includes a plate 31, a motor (not shown in the figure), a side-tilting mechanism 32, and a rotating platform 33. Multiple sets of pulleys 34 are rotatably connected to the bottom of the plate 31. These pulleys 34 are arranged in a rectangular clamping structure and are used to clamp the guide rail 23 and form a rolling connection with the guide rail 23. The motor is connected to the plate 31, and its power output end is connected to at least one set of pulleys 34 to drive the pulleys 34 to rotate, thereby driving the plate 31 to slide on the guide rail 23. The side-tilting mechanism 32 is rotatably connected to the upper end of the plate 31 and is used to tilt the plate towards the guide rail 23. The plate 31 is flipped to one side, having a stationary state located at the upper end of the plate 31 and a flipped state after being flipped to one side of the plate 31. When the side-flipping mechanism 32 is in the stationary state, its upper plane is horizontal. When it is in the flipped state, its upper plane forms an acute angle with the horizontal plane. The rotating platform 33 is connected to the upper end of the side-flipping mechanism 32 and has the above two states with the help of the side-flipping mechanism 32. The liner is located on the upper surface of the rotating platform 33. The upper surface of the rotating platform 33 can rotate circumferentially in the horizontal plane, thereby adjusting the position of the liner. When the rotating platform 33 is in the flipped state, it is used to remove the liner. In this embodiment, both the tilting mechanism 32 and the rotating platform 33 are existing technology products. The tilting mechanism 32 can tilt the plate 31 to one side at an angle of less than 90 degrees. The rotating platform 33 is an electric rotary table with a rotating end at its upper end. The liner is placed on the rotating end, enabling circumferential rotation of the liner in a horizontal plane. When transporting the liner, it is placed on the rotating platform 33. When the liner needs to be rotated, the rotating platform 33 is started. When the liner needs to be unloaded, the tilting mechanism 32 is started. Both the tilting mechanism 32 and the rotating platform 33 are electrically connected to the control system 6, which can control their operation separately. Alternatively, they can be operated in conjunction with the liner-changing robot 4 to exchange old and new liners, thereby completing the liner-changing operation. The motor is also electrically connected to the control system 6, which can control the motor's speed and forward / reverse rotation, and control the movement position of the plate 31 on the guide rail 23.

[0081] In some embodiments, please refer to Figures 1 to 14The liner-changing robot 4 includes a translation frame 41, two rotating shafts 42, two half gears 43, four fixed plates 44, two swing arms 45, two drivers (including motors, etc., not shown in the figure), two telescopic rods 46, a carrier 47, a reverse support block 48, and a hydraulic impact hammer 49. The translation frame 41 is slidably connected to the guide rail 23 and is fitted onto the rectangular beam 21 to form an enclosure around the translation support device 2. It can slide and translate along the length of the rectangular beam 21 with the help of the guide rail 23. The translation frame 41 is equipped with drive rollers (including motors and rollers connected to the motor power output end, etc., not shown in the figure). The drive rollers roll in contact with the upper end of the translation support device 2. The drive roller is used to drive the translation frame 41 to slide along the guide rail 23. The drive roller is electrically connected to the control system 6 and its operation is controlled by the control system 6. Two rotating shafts 42 are vertically arranged, respectively connected to both ends of the translation frame 41 and located on both sides of the translation support device 2. The upper and lower ends of the rotating shafts 42 are rotatably connected to the translation frame 41. Two half gears 43 are respectively fixedly connected to the middle of the two rotating shafts 42, and the half gears 43 are located on the outside of the rotating shafts 42. Four fixing plates 44 are arranged side by side on both sides of each half gear 43 and fixedly connected to the middle of the rotating shaft 42 at the same end. The fixing plates 44 are arranged horizontally. The other end of 4 is rotatably connected to a pinion 410, which meshes with the half gear 43 for transmission. Two swing arms 45 are connected at one end to the side of the pinion 410 and at the other end to be free, possessing the freedom to swing vertically up and down. Two actuators are connected to the fixed plate 44, with their power output ends connected to the pinion 410, for driving the pinion 410 to rotate. The rotation of the pinion 410 causes the swing arms 45 to swing. The actuators are electrically connected to the control system 6 and their operation is controlled by the control system 6. Two telescopic rods 46 are slidably connected to the free ends of the swing arms 45, sliding back and forth along the length of the swing arms 45. A pusher is connected to the swing arm 45. A push rod motor (existing technology, not shown in the figure) is used to push the telescopic rod 46 to move. The telescopic rod 46 is electrically connected to the control system 6 and its operation is controlled by the control system 6. A carrier 47 is connected to the free end of one of the telescopic rods 46. An electromagnet is installed on the carrier 47. The carrier 47 is used to adsorb the liner to be replaced and the existing liner. The side of the carrier 47 near the inner wall of the cylinder is wavy to match the shape of the liner. A reverse support block 48 is connected to the free end of the other telescopic rod 46. When the carrier 47 is running, the reverse support block 48 is used to push against the inner wall of the ball mill cylinder.A hydraulic impact hammer 49 is connected to the upper end of the swing arm 45 near the carrier 47. It is used to extend and retract along the length of the swing arm 45 to impact and vibrate the liner to be replaced. The hydraulic impact hammer 49 is electrically connected to the control system 6 and its operation is controlled by the control system 6. Except for the carrier 47 and hydraulic impact hammer 49 on one side of the rectangular beam 21 and the reverse support block 48 on the other side, the other structures are symmetrically arranged with the rectangular beam 21 as the axis of symmetry. That is, the end with the reverse support block 48 provides support or reverse force to prevent the hydraulic impact hammer 49 from retracting or moving in the opposite direction during operation, thus ensuring the effectiveness of the liner replacement. In this embodiment, the liner replacement robot 4 can move in multiple directions to complete the liner replacement operation. Movement in each direction is controlled by the control system 6, which has a built-in PLC controller, allowing for automatic liner replacement through programming. Because each liner is located in a different position, the liner replacement action and the location of each liner by the liner replacement robot 4 are implemented through programming.

[0082] Preferably, since the liner has two through holes, to improve the accuracy of the liner connection on the carrier 47, two bolts 471 are provided on the carrier 47. The bolts 471 are positioned aligned with the through holes and can be inserted into the through holes to remove the liner. The bolts 471 can be regarded as a kind of tapered locating pin, thereby ensuring the positioning of the liner. The attraction force on the liner is controlled by controlling whether the electromagnet has magnetic attraction (controlled by the control system 6).

[0083] When bolts 471 are installed on the carrier 47, bolt removal auxiliary kit 7 is used to install and remove bolts 471, enabling automatic replacement of the liner. To attract the liner, the electromagnet is activated, causing the liner to adhere to the carrier 47, and bolts 471 are inserted into the through holes. When the liner needs to be removed, bolts 471 are first removed using bolt removal auxiliary kit 7, the new liner is brought close to the position to be replaced, and then the electromagnet's attraction is stopped, allowing the new liner to be installed in the position of the old liner.

[0084] Please see Figures 16-17The bolt removal auxiliary kit 7 includes a mobile trolley 71, an electric rotary table 72 mounted on the upper part of the mobile trolley 71, a lifter 73 mounted on the upper part of the electric rotary table 72, and an automatic bolt removal machine 74 mounted on the upper part of the lifter 73. A lifting bracket 75 is also mounted on the upper part of the mobile trolley 71, and multiple lifting columns 76 are mounted on the upper part of the lifting columns 76. The automatic bolt removal machine 74 is connected to the upper part of the lifting columns 76. The height of the automatic bolt removal machine 74 can be adjusted by the lifting columns 76, the lifter 73, and the lifting bracket 75. Its bolt removal direction on the horizontal plane can be adjusted by rotating the electric rotary table 72. A drive system 77 is installed inside the mobile trolley 71 to drive its movement. This drive system 77 can adopt existing technology and will not be described in detail here. The electric rotary table 72, lifting device 73, automatic bolt removal machine 74, lifting bracket 75, and lifting column 76 are all electrically connected to the control system 6 in this embodiment. The control system 6 can control the operation of each of these components, thereby realizing the automatic disassembly and installation of bolts. The automatic bolt removal machine 74 can be a product of existing technology.

[0085] In some embodiments, please refer to Figures 1 to 14 A monitor 8 is installed at the upper end of the swing arm 45. The monitor 8 is used to collect video information facing the inner wall of the ball mill cylinder. The monitor 8 is electrically connected to the control system 6 and transmits video information. The monitor 8 is a camera that can collect video information, and the current lining replacement action can be seen on the control system 6, which is beneficial for inspection and real-time monitoring of the lining replacement action.

[0086] To achieve adjustment of the position of the hydraulic impact hammer 49, in some embodiments, please refer to... Figures 1 to 14 A hydraulic cylinder 411 is mounted on the swing arm 45, and a trolley 412 is connected to the power output end of the hydraulic cylinder 411. A slide rail 413 is also provided at the upper end of the swing arm 45, and the lower end of the trolley 412 is slidably connected to the slide rail 413. The hydraulic impact hammer 49 is connected to the trolley 412 and impacts the liner plate along the length of the swing arm 45 by means of the sliding of the trolley 412. The hydraulic cylinder 411 is connected to the control system 6, which can control its extension and retraction length, thereby controlling the impact position of the hydraulic hammer 49. After impacting and vibrating the liner plate, the liner plate loosens, making it easy to disassemble and replace.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automatic ball mill liner replacement device, characterized by, The application relates to a liner replacement device for a ball mill, comprising: a lifting and moving vehicle capable of moving in any direction and having the freedom of lifting and moving vertically; a translation support device connected to the upper end of the lifting and moving vehicle and arranged horizontally, one end of the translation support device extending into the interior of a ball mill cylinder and the other end being located outside the ball mill; a liner conveying device connected to the translation support device and having the freedom of translating and sliding along the length direction of the translation support device, the liner conveying device being used for conveying liners between the interior and the exterior of the ball mill; a liner replacement manipulator connected to the end of the translation support device located in the interior of the ball mill and adapted to extend into the interior of the ball mill cylinder and replace the liners on the inner wall of the ball mill cylinder, the liner conveying device being used for reciprocally conveying liners between the end of the translation support device far away from the liner replacement manipulator and the end of the translation support device close to the liner replacement manipulator, and the liner replacement manipulator being capable of taking and placing liners from the liner conveying device; a receiving assembly arranged outside the ball mill and adapted to receive old liners conveyed by the liner conveying device to the exterior of the ball mill; the liner replacement manipulator comprises a carrier used for adsorbing liners to be replaced and old liners, the carrier being provided with bolts aligned with through holes of the liners, and the bolts are disassembled and assembled by using a bolt disassembling and assembling auxiliary kit; the liner replacement manipulator comprises: a translation frame slidingly connected to a guide rail, sleeved on a rectangular beam to form a surrounding state of the translation support device, and capable of sliding and translating along the length direction of the rectangular beam by means of the guide rail, the translation frame being provided with driving rollers, the driving rollers being in rolling contact with the upper end of the translation support device, the driving rollers being used for driving the translation frame to slide along the guide rail, and the driving rollers being electrically connected with a control system and running under the control of the control system; two rotating shafts vertically arranged and respectively connected to the two ends of the translation frame and located on the two sides of the translation support device, the upper end and the lower end of the rotating shaft being rotationally connected with the translation frame; two half gears fixedly connected to the middle parts of the two rotating shafts, the half gears being located on the outer sides of the rotating shafts; four fixed plates, each two of the fixed plates being arranged side by side on the two sides of the half gears and fixedly connected with the middle parts of the rotating shafts at the same end, the fixed plates being arranged horizontally, and the other end of the fixed plate being rotationally connected with a pinion, the pinion being in meshing transmission connection with the half gear; two swing rods, one end of each of the swing rods being connected with the side of the pinion and the other end being a free end, the swing rods having the freedom of vertically swinging up and down; two drivers respectively connected with the fixed plates and having power output ends connected with the pinions, the drivers being used for driving the pinions to rotate, the pinions driving the swing rods to swing, the drivers being electrically connected with the control system and running under the control of the control system; two telescopic rods respectively slidingly connected with the free ends of the swing rods and reciprocally sliding along the length direction of the swing rods, the swing rods being connected with push rod motors, power output ends of the push rod motors being connected with the telescopic rods and being used for pushing the telescopic rods to move, and the telescopic rods being electrically connected with the control system and running under the control of the control system. A carrier is connected to the free end of the telescopic rod, and an electromagnet is installed on the carrier. The carrier is used to adsorb the liner to be replaced and the old liner. The side of the carrier close to the inner wall of the cylinder is arranged in a wave shape to match the shape of the liner. A reverse support block is connected to the free end of the other telescopic rod. When the carrier is in operation, the reverse support block is used to push against the inner wall of the cylinder of the ball mill. A hydraulic impact hammer is connected to the upper end of the swing rod close to the carrier. The hydraulic impact hammer is used to push and impact the liner to be replaced in the length direction of the swing rod. The hydraulic impact hammer is electrically connected to the control system and is controlled by the control system.

2. A ball mill liner automatic replacement device according to claim 1, characterized in that, A control system is also included. The control system is electrically connected to and controls the operation of the lifting and moving vehicle, the liner conveying device, and the liner replacement manipulator, respectively.

3. A ball mill liner automatic replacement device according to claim 2, characterized in that, The lifting and moving vehicle includes: The trolley body has multiple universal wheels at the bottom and a frame at the upper part. The frame can be vertically adjusted. Multiple driving devices are connected to the trolley body. The power output ends of the driving devices are connected to the universal wheels one by one. The driving devices are used to drive the rotation of the universal wheels. A positioning protection device is connected to the trolley body. The positioning protection device is used to fix the trolley body to the ground to prevent tilting. An inclination sensor is connected to the trolley body. The inclination sensor is used to measure the inclination of the bottom plate of the trolley body relative to the horizontal position. The inclination sensor is electrically connected to the control system and sends signals.

4. A ball mill liner automatic replacement device according to claim 3, characterized in that, A universal adjustment support disc is connected to the bottom of the trolley body. The universal adjustment support disc is electrically connected to the control system. The control system controls the operation of the universal adjustment support disc according to the inclination detected by the inclination sensor to keep the bottom plate of the trolley body in a horizontal state.

5. A ball mill liner automatic replacement device according to claim 3, characterized in that, The positioning protection device includes a lifting block that can be vertically adjusted and a bottom disc connected to the bottom end of the lifting block. The bottom disc is used to contact the ground and support the trolley body. The height of the bottom disc is adjusted by the lifting block.

6. A ball mill liner automatic replacement device according to claim 2, characterized in that, The translation support device includes: A rectangular beam is made of H-shaped steel and truss structure. Two groups of long racks are arranged on both sides of the length direction of the rectangular beam close to the upper part. A driving gear is arranged on the lifting and moving vehicle. The driving gear is meshed and transmission connected with the long racks to drive the long racks and the rectangular beam to move horizontally. A guide rail is arranged on the upper middle part of the rectangular beam. The length direction of the guide rail is parallel to the length direction of the rectangular beam. A circular table is arranged on one end of the rectangular beam close to the liner replacement manipulator. This end is defined as the front end. A hydraulic oil cylinder is arranged on the front end. The power output end of the hydraulic oil cylinder is connected to the circular table and is used to push the circular table to move along the length direction of the rectangular beam. The inside of the circular table is made of carbon steel, and the outer surface is lined with polytetrafluoroethylene wear-resistant material to form a flexible support for the inner wall of the cylinder of the ball mill.

7. A ball mill liner automatic replacement device according to claim 6, characterized in that, The liner conveying device includes: The flat plate is rotationally connected with a plurality of groups of pulleys, the plurality of groups of pulleys are arranged in a rectangular clamping structure and are used for clamping the guide rails and forming a rolling connection relationship with the guide rails; The motor is connected to the flat plate, a power output end of the motor is connected with at least one group of the pulleys and is used for driving the pulleys to rotate, thereby driving the flat plate to slide on the guide rails; The side turning mechanism is rotationally connected to the upper end of the flat plate and is used for turning to one side of the flat plate, has a static state of being located at the upper end of the flat plate and a turning state of being turned to one side of the flat plate, the upper end plane of the side turning mechanism is horizontal when the side turning mechanism is in the static state, and the upper end plane of the side turning mechanism forms an acute angle with the horizontal plane when the side turning mechanism is in the turning state; The rotating platform is connected to the upper end of the side turning mechanism and has the above two states by means of the side turning mechanism, the lining plate is located on the upper end surface of the rotating platform, the upper end surface of the rotating platform can rotate in the horizontal plane, thereby adjusting the position of the lining plate, and the rotating platform is used for unloading the lining plate when the rotating platform is in the turning state.

8. A ball mill liner automatic replacement device according to claim 1, characterized in that, The upper end of the swing rod is provided with a monitor, the monitor is used for collecting video information towards the inner wall of the ball mill cylinder, and the monitor is electrically connected with the control system and sends the video information.

9. A ball mill liner automatic replacement device according to claim 1, characterized in that, The swing rod is provided with a hydraulic cylinder, a trolley is connected to the power output end of the hydraulic cylinder, the upper end of the swing rod is further provided with a slide rail, the lower end of the trolley is slidably connected with the slide rail, and the hydraulic impact hammer is connected to the trolley and impacts the lining plate along the length direction of the swing rod by sliding of the trolley.

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