Convenient lining replacing mechanical arm for replacing lining plate of ball mill

Abstract

The invention discloses a convenient lining changing mechanical arm for a lining changing plate of a ball mill, and relates to the technical field of mechanical arms. The convenient lining changing mechanical arm comprises a supporting column, a first hinged support is fixedly arranged at the top end of the supporting column, a suspension arm telescopic mechanism is hinged to the inner side of the first hinged support, and a supporting mechanism is arranged on the outer side of the suspension arm telescopic mechanism in a matched mode and comprises a rotating disc; a first motor is fixedly arranged on the outer side of the first hinged support, the output end of the first motor and a rotating pin of the first hinged support are coaxially arranged, the output end of the first motor is fixedly connected with a rotating disc, the rotating disc is fixedly connected with two fixing blocks and a fixing piece in the circumferential direction, and the side face, close to the fixing piece, of the suspension arm telescopic mechanism is fixedly connected with a positioning column; the problems that in the prior art, if the motor control is not accurate enough, the included angle can be adjusted inaccurately, and if the contact force between the second protection base body and the inner wall of the ball mill is too large, the inner wall can be scratched or indented are solved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical arms, in particular to a convenient lining-changing mechanical arm for changing lining plates of a ball mill. Background Art

[0002] The ball mill liner is used to protect the ball mill cylinder from direct impact and friction between the grinding body and the material. At the same time, different forms of liners can be used to adjust the movement of the grinding body to enhance the grinding effect of the grinding body on the material. The convenient liner replacement robot for ball mill replacement is an automated device specially designed for replacing the internal liner of the ball mill.

[0003] The Chinese invention with publication number CN114985065A proposes a ball mill liner changing mechanical arm device: the angle between the two first hydraulic rods is a fixed angle, and the rotating disk is driven to rotate by controlling the rotation of the motor so that the same angle is formed between the two first hydraulic rods and the boom telescopic mechanism; a sliding assembly is provided between the sliding support rod and the first protective base, and the sliding assembly includes a sliding block located in an auxiliary slide groove, the sliding block is hingedly provided with a first connecting head, the sliding support rod is fixed with a connecting base plate, and second connecting heads are hingedly provided on both sides of the connecting base plate, and a protective spring is connected between the first connecting head and the second connecting head on the same side, and the relative position and distance relationship between the second protective base and the inner wall of the ball mill are judged by the data detected by two distance sensors, which is convenient for quickly adjusting the inclination degree of the second protective base to abut against the inner wall of the ball mill.

[0004] The prior art has the following defects:

[0005] 1. The rotation accuracy of the motor directly affects the rotation angle of the rotating disk, and further affects the angle accuracy between the two first hydraulic rods and the boom telescopic mechanism. If the motor control is not precise enough, it may lead to inaccurate angle adjustment, affecting the stability and work efficiency of the overall equipment.

[0006] 2. During the process of adjusting the tilt angle, if the contact force between the second protective substrate and the inner wall of the ball mill is too large, it may cause scratches or indentations on the inner wall, especially when the inner wall material is soft or uneven. Summary of the invention

[0007] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a convenient lining replacement robot arm for ball mill lining replacement, which solves the problem in the prior art that if the motor control is not precise enough, the angle adjustment may be inaccurate, and if the contact force between the second protective substrate and the inner wall of the ball mill is too large, the inner wall may be scratched or indented.

[0008] To achieve the above-mentioned purpose, according to an embodiment of the first aspect of the present invention, a convenient lining-changing mechanical arm for lining-changing of a ball mill is provided, comprising: a support column, a first hinge seat is fixedly provided at the top end of the support column, a boom telescopic mechanism is hingedly provided on the inner side of the first hinge seat, a support mechanism is provided on the outer side of the boom telescopic mechanism, the support mechanism comprises a rotating disk, a first motor is fixedly provided on the outer side of the first hinge seat, an output end of the first motor is coaxially provided with a rotating pin of the first hinge seat, an output end of the first motor is fixedly connected to the rotating disk, two fixed blocks and a fixed sheet are fixedly connected to the circumference of the rotating disk, a positioning column is fixedly connected to the side of the boom telescopic mechanism close to the fixed sheet, an arc-shaped opening is provided on the fixed sheet at a position corresponding to the positioning column, and a protective mechanism is provided on the fixed sheet;

[0009] The supporting mechanism also includes a cylinder fixedly connected to the fixed block, a protective base is hinged at the end of the cylinder, a disc is fixedly sleeved on the outer side of the output end of the cylinder, an electric push rod and a spring are fixedly provided on the side of the protective base close to the disc, the protective base is cooperatively connected to the spring, and an elastic block is fixedly connected to the side of the protective base away from the cylinder.

[0010] As a further solution of the present invention: the boom telescopic mechanism includes an outer cylinder and an inner cylinder, a manipulator is installed on the outer end of the inner cylinder, and a lifting mechanism is arranged between the support column and the boom telescopic mechanism, and the lifting mechanism is used to lift the boom telescopic mechanism.

[0011] As a further solution of the present invention: the lifting mechanism includes a cylinder hinged on the outside of the support column, and the output end of the cylinder is hinged to the bottom end of the boom telescopic mechanism.

[0012] As a further solution of the present invention: the fixing plate is arranged in parallel with the boom telescopic mechanism, and the arc-shaped opening is adapted to the positioning column.

[0013] As a further solution of the present invention: the protective mechanism includes a second motor fixedly arranged on the side of the fixing plate, the output end of the second motor passes through the fixing plate and is fixedly connected with a connecting rod, the connecting rod is "L"-shaped, and the end of the connecting rod away from the second motor is fixedly connected with a sealing block, the shape of the sealing block is adapted to the arc-shaped opening of the fixing plate, the bottom end of the sealing block is provided with an arc-shaped groove adapted to the positioning column, and the sealing block is made of elastic material.

[0014] As a further solution of the present invention: the electric push rod and the spring are symmetrically arranged.

[0015] As a further solution of the present invention: a sliding groove is opened on the side of the protective base near the third hinge seat, a slider is slidably connected inside the sliding groove, the slider is hinged to the end of the spring, a second hinge seat is fixedly arranged on the bottom of the slider, a circular plate is fixedly connected to the end of the spring near the slider, a rotating plate is fixedly connected to the side of the circular plate near the slider, and a rotating pin on the inner side of the second hinge seat passes through the rotating plate.

[0016] As a further solution of the present invention: the elastic block is made of elastic material, and the elastic block is matched with the spherical curved inner wall of the ball mill.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. When the boom telescopic mechanism is lifted with the positioning column, the positioning column is separated from the arc-shaped opening of the fixing plate until the position of the boom telescopic mechanism is determined, and then the first motor is started. The output end of the first motor drives the rotating disk and the fixing plate to rotate upward as a whole until the positioning column follows the inner walls on both sides of the arc-shaped opening and collides with the bottom inner wall of the arc-shaped opening, thereby ensuring the accuracy of the angle.

[0019] 2. By introducing the elastic block as a direct contact component with the inner wall of the ball mill, the elastic block can absorb and disperse the impact force generated during contact, thereby reducing direct hard contact with the inner wall. This design can effectively avoid scratches or indentations even when the inner wall material is soft or uneven. The protective base is connected to the fixed structure through a spring. This design allows the protective base to have a certain amount of movement when subjected to external force. When the telescopic end of the electric push rod extends and contacts the protective base, the protective base will be fine-tuned under the action of the spring to adapt to the inner wall surface of different shapes and hardness. This fine-tuning mechanism helps to ensure that the contact force between the elastic block and the inner wall is always kept within a safe range.

[0020] 3. In the design of the boom telescopic mechanism, a special locking mechanism is adopted to prevent the vibration generated by the manipulator at its end during operations such as replacing the liner from affecting the positioning column, thereby ensuring the stability and safety of the entire device. Specifically, when the positioning column is fully docked with the arc-shaped opening, the second motor needs to be started. The bottom of the sealing block is designed with an arc-shaped groove that matches the shape of the positioning column. When the sealing block rotates to a specific position, the arc-shaped groove at its bottom will tightly contact the positioning column, forming a locked state. This locked state can not only effectively prevent the vibration generated by the manipulator during operation from impacting the positioning column, but also ensure that the connection between the positioning column and the arc-shaped opening is more stable, thereby increasing the stability of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural schematic diagram of the present invention;

[0022] Figure 2 It is a partial structural schematic diagram of the present invention;

[0023] Figure 3 This is an enlarged view of the A part of the present invention;

[0024] Figure 4 It is a partial structural schematic diagram of the present invention;

[0025] Figure 5 It is an enlarged view of part B of the present invention.

[0026] In the figure: 1. support column; 2. first hinge seat; 3. boom telescopic mechanism; 4. first motor; 5. rotating disk; 6. fixed block; 7. cylinder; 8. fixed plate; 9. positioning column; 10. connecting rod; 11. second motor; 12. sealing block; 13. disc; 14. electric push rod; 15. protective base; 151. slide groove; 16. elastic block; 17. third hinge seat; 18. spring; 19. slider; 20. second hinge seat; 21. rotating plate. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] like Figure 1-5 As shown, a convenient lining changing robot arm for ball mill lining changing comprises: a support column 1, the bottom end of the support column 1 is rotatably connected to the inside of a movable vehicle, and the support column 1 is driven by a servo motor to rotate.

[0029] A first hinge seat 2 is fixedly provided at the top of the support column 1, and a boom telescopic mechanism 3 is hinged on the inner side of the first hinge seat 2. The boom telescopic mechanism 3 includes an outer cylinder and an inner cylinder. A manipulator (not shown in the figure) is installed on the outer end of the inner cylinder. The manipulator has been disclosed in the prior art (publication number CN114985065A, which will not be repeated here). The boom telescopic mechanism 3 is driven to telescope by a hydraulic cylinder, and a lifting mechanism is provided between the support column 1 and the boom telescopic mechanism 3. The lifting mechanism is used to lift the boom telescopic mechanism 3.

[0030] The lifting mechanism includes an oil cylinder hinged on the outside of the support column 1, and the output end of the oil cylinder is hinged to the bottom end of the boom telescopic mechanism 3. By arranging the lifting mechanism at the bottom of the boom telescopic mechanism 3, the lifting mechanism can effectively support the bottom end of the boom telescopic mechanism 3, thereby increasing the stability of the entire device.

[0031] Start the oil cylinder, the output end of the oil cylinder extends, and applies an upward thrust to the bottom end of the boom telescopic mechanism 3, so that the boom telescopic mechanism 3 rotates upward around the hinge with the first hinge seat 2, achieving a lifting effect. Then, in conjunction with the extension and contraction of the inner cylinder of the boom telescopic mechanism 3, the manipulator can adjust the height position in the ball mill, thereby replacing the liner. The above method for replacing the liner has been disclosed in the comparative documents and will not be described in detail here.

[0032] A supporting mechanism is provided on the outer side of the boom telescopic mechanism 3, and the supporting mechanism includes a rotating disk 5. A first motor 4 is fixedly provided on the outer side of the first hinge seat 2, and the output end of the first motor 4 is coaxially arranged with the rotating pin of the first hinge seat 2, and the output end of the first motor 4 is fixedly connected to the rotating disk 5.

[0033] The support mechanism and the boom telescopic mechanism 3 cooperate with each other to form a triangular stabilizing mechanism inside the ball mill. The triangle is a geometric shape with extremely high stability. Its three sides and three angles support each other and can resist forces and moments from all directions. Inside the ball mill, when the support mechanism and the boom telescopic mechanism 3 form a triangular stabilizing mechanism, the stability of the entire device during operation can be significantly enhanced, reducing the risk of shaking and tilting.

[0034] The rotating disk 5 is circumferentially fixedly connected with two fixed blocks 6 and a fixed sheet 8. The angle between the two fixed blocks 6 is 120°, and the angle between the fixed sheet 8 and the two fixed blocks 6 is 120°. The three points with an angle of 120° support the two fixed blocks 6 and one fixed sheet 8 to form a stable triangular structure. The fixed sheet 8 is arranged parallel to the boom telescopic mechanism 3. The side of the boom telescopic mechanism 3 close to the fixed sheet 8 is fixedly connected with a positioning column 9. The fixed sheet 8 is provided with an arc-shaped opening at the position corresponding to the positioning column 9, and the arc-shaped opening is adapted to the positioning column 9. When the bottom inner wall of the arc-shaped opening is completely fitted with the bottom of the positioning column 9, as shown in FIG. Figure 2 As shown, it is explained that the fixing piece 8 is parallel to the boom telescopic mechanism 3 and is on the same horizontal plane.

[0035] The output end of the first motor 4 is coaxially arranged with the rotating pin of the first hinge seat 2, so as to ensure that the positioning column 9 and the fixing plate 8 rotate around an axis.

[0036] A protective mechanism for elastically limiting the positioning column 9 is provided on the fixing plate 8, and the protective mechanism includes a second motor 11 fixedly arranged on the side of the fixing plate 8. The output end of the second motor 11 passes through the fixing plate 8 and is fixedly connected to a connecting rod 10. The connecting rod 10 is "L"-shaped, and a sealing block 12 is fixedly connected to the end of the connecting rod 10 away from the second motor 11. The shape of the sealing block 12 is adapted to the arc-shaped opening of the fixing plate 8. The bottom end of the sealing block 12 is provided with an arc-shaped groove adapted to the positioning column 9, and the sealing block 12 is made of elastic material.

[0037] When the boom telescopic mechanism 3 is lifted with the positioning column 9, the positioning column 9 is separated from the arc-shaped opening of the fixing plate 8 until the position of the boom telescopic mechanism 3 is determined, and then the first motor 4 is started, and the output end of the first motor 4 drives the rotating disk 5 and the fixing plate 8 to rotate upward as a whole, until the positioning column 9 touches the bottom inner wall of the arc-shaped opening along the inner walls on both sides of the arc-shaped opening, and the operation of the first motor 4 is immediately stopped. In order to prevent the vibration generated by the manipulator at the end of the boom telescopic mechanism 3 when replacing the liner from affecting the positioning column 9, the second motor 11 needs to be started after the positioning column 9 is completely docked with the arc-shaped opening, and the output end of the second motor 11 drives the connecting rod 10 and the sealing block 12 to rotate as a whole, so that the arc-shaped groove at the bottom of the sealing block 12 touches the positioning column 9.

[0038] The supporting mechanism also includes a cylinder 7 fixedly connected to the fixed block 6, the end of the cylinder 7 is hinged to a protective base 15 through a third hinge seat 17, a disc 13 is fixedly sleeved on the outer side of the output end of the cylinder 7, and an electric push rod 14 and a spring 18 are fixedly arranged on the side of the protective base 15 close to the disc 13, and the electric push rod 14 and the spring 18 are symmetrically arranged.

[0039] A slide groove 151 is provided on the side of the protective base 15 near the third hinge seat 17, and a slider 19 is slidably connected inside the slide groove 151, and the slider 19 is hinged to the end of the spring 18. Specifically, a second hinge seat 20 is fixedly provided at the bottom of the slider 19, a circular plate is fixedly connected to the end of the spring 18 near the slider 19, and a rotating plate 21 is fixedly connected to the side of the circular plate near the slider 19, and a rotating pin on the inner side of the second hinge seat 20 penetrates the rotating plate 21. In default case, the spring 18 is in a compressed state, and the protective base 15 will tilt downward in the direction of the electric push rod 14 under the action of the rebound force of the spring 18.

[0040] An elastic block 16 is fixedly connected to the side of the protective base 15 away from the cylinder 7. The elastic block 16 is made of elastic material and is adapted to the spherical curved inner wall of the ball mill.

[0041] Start the cylinder 7, and the output end of the cylinder 7 drives the protective base 15 and the elastic block 16 to move toward the inner wall of the ball mill as a whole. When the elastic block 16 contacts the inner wall of the ball mill, there will be a certain gap between the outer surface of the elastic block 16 and the inner wall of the ball mill. In order to make the elastic block 16 better fit the inner wall of the ball mill, start the electric push rod 14, and the telescopic end of the electric push rod 14 extends toward the corresponding protective base 15, thereby contacting the protective base 15, so that the protective base 15 rotates in the direction of the spring 18. Under the joint action of the spring 18 and the electric push rod 14, the elastic block 16 better fits the inner wall of the ball mill.

[0042] Working principle:

[0043] During operation, the boom telescopic mechanism 3 is lifted with the positioning column 9, and the positioning column 9 is separated from the arc-shaped opening of the fixing plate 8, until the position of the boom telescopic mechanism 3 is determined, and then the first motor 4 is started, and the output end of the first motor 4 drives the rotating disk 5 and the fixing plate 8 to rotate upward as a whole, until the positioning column 9 along the inner walls on both sides of the arc-shaped opening contacts with the inner wall at the bottom of the arc-shaped opening, and the operation of the first motor 4 is immediately stopped; then the second motor 11 is started, and the output end of the second motor 11 drives the connecting rod 10 and the sealing block 12 to rotate as a whole, so that the arc-shaped groove at the bottom of the sealing block 12 contacts with the positioning column 9;

[0044] Start the cylinder 7, and the output end of the cylinder 7 drives the protective base 15 and the elastic block 16 to move toward the inner wall of the ball mill as a whole. When the elastic block 16 contacts the inner wall of the ball mill, start the electric push rod 14, and the telescopic end of the electric push rod 14 extends toward the corresponding protective base 15, thereby contacting the protective base 15, so that the protective base 15 rotates toward the direction of the spring 18. Under the joint action of the spring 18 and the electric push rod 14, the elastic block 16 is better fitted to the inner wall of the ball mill;

[0045] Finally, the inner tube of the boom telescopic mechanism 3 is extended and retracted to achieve height adjustment of the manipulator in the ball mill, thereby replacing the liner.

[0046] The above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. A convenient lining changing robot arm for ball mill lining changing, characterized in that: include: A support column (1), a first hinge seat (2) is fixedly provided at the top end of the support column (1), a boom telescopic mechanism (3) is hingedly connected to the inner side of the first hinge seat (2), a support mechanism is provided on the outer side of the boom telescopic mechanism (3), the support mechanism comprises a rotating disk (5), a first motor (4) is fixedly provided on the outer side of the first hinge seat (2), the output end of the first motor (4) is coaxially arranged with the rotating pin of the first hinge seat (2), the output end of the first motor (4) is fixedly connected to the rotating disk (5), two fixed blocks (6) and a fixed plate (8) are fixedly connected to the circumference of the rotating disk (5), a positioning column (9) is fixedly connected to the side of the boom telescopic mechanism (3) close to the fixed plate (8), an arc-shaped opening is provided on the fixed plate (8) at a position corresponding to the positioning column (9), and a protective mechanism is provided on the fixed plate (8); The support mechanism also includes a cylinder (7) fixedly connected to the fixed block (6); a protective base (15) is hingedly connected to the end of the cylinder (7); a disc (13) is fixedly sleeved on the outer side of the output end of the cylinder (7); an electric push rod (14) and a spring (18) are fixedly arranged on the side of the disc (13) close to the protective base (15); the protective base (15) is cooperatively connected to the spring (18); and an elastic block (16) is fixedly connected to the side of the protective base (15) away from the cylinder (7).

2. The convenient relining robot arm for ball mill relining according to claim 1 is characterized in that: The boom telescopic mechanism (3) comprises an outer cylinder and an inner cylinder, a manipulator is installed on the outer end of the inner cylinder, and a lifting mechanism is arranged between the support column (1) and the boom telescopic mechanism (3), and the lifting mechanism is used to lift the boom telescopic mechanism (3).

3. The convenient lining changing robot arm for ball mill lining changing according to claim 2 is characterized in that: The lifting mechanism comprises an oil cylinder hinged on the outside of the support column (1), and the output end of the oil cylinder is hinged to the bottom end of the boom telescopic mechanism (3).

4. The convenient lining changing robot arm for ball mill lining changing according to claim 1 is characterized in that: The fixing plate (8) is arranged in parallel with the boom telescopic mechanism (3), and the arc-shaped opening is adapted to the positioning column (9).

5. The convenient lining changing robot arm for ball mill lining changing according to claim 1 is characterized in that: The protection mechanism comprises a second motor (11) fixedly arranged on the side of the fixing plate (8), the output end of the second motor (11) passes through the fixing plate (8) and is fixedly connected to a connecting rod (10), the connecting rod (10) is in an "L" shape, and the end of the connecting rod (10) away from the second motor (11) is fixedly connected to a sealing block (12), the shape of the sealing block (12) is adapted to the arc-shaped opening of the fixing plate (8), the bottom end of the sealing block (12) is provided with an arc-shaped groove adapted to the positioning column (9), and the sealing block (12) is made of elastic material.

6. The convenient lining changing robot arm for ball mill lining changing according to claim 1 is characterized in that: The electric push rod (14) and the spring (18) are symmetrically arranged.

7. The convenient lining changing robot arm for ball mill lining changing according to claim 1 is characterized in that: A slide groove (151) is provided on the side of the protective base (15) near the third hinge seat (17), a slider (19) is slidably connected inside the slide groove (151), the slider (19) is hinged to the end of the spring (18), a second hinge seat (20) is fixedly arranged at the bottom of the slider (19), a circular plate is fixedly connected to the end of the spring (18) near the slider (19), a rotating plate (21) is fixedly connected to the side of the circular plate near the slider (19), and a rotating pin on the inner side of the second hinge seat (20) passes through the rotating plate (21).

8. The convenient lining changing robot arm for ball mill lining changing according to claim 1, characterized in that: The elastic block (16) is made of elastic material and is adapted to the spherical curved inner wall of the ball mill.

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