Small light-weight long cantilever type mill lining plate replacing manipulator

Abstract

The invention belongs to the technical field of mill auxiliary equipment, and particularly discloses a small light-weight long cantilever type mill lining plate replacing manipulator which comprises a front arm and a large arm, the large arm comprises an inner arm and an outer arm which are movably arranged in a sleeved mode, the inner arm and the outer arm each comprise a body of a rectangular steel structure, and the rear end of the body of the outer arm is movably connected with a base. The outer arm body can move front and back relative to the base, a lining plate trolley is movably connected to the top of the outer arm body and can move front and back relative to the outer arm body, the rear end of the inner arm body is slidably connected with the outer arm body, and the front end of the inner arm body is rotatably connected with the rear end of the front arm through a rotation assembly. The inner arm body can drive the front arm to stretch and retract back and forth in the axial direction of the outer arm body, the front arm can rotate by 360 degrees on the horizontal plane relative to the inner arm body, the weight is light, the structure is compact, the machining amount is small, the device can penetrate through a mill opening with the diameter being 860 mm, and the device is suitable for a small-caliber mill.

Description

Technical Field

[0001] The invention belongs to the technical field of mill auxiliary equipment, and specifically discloses a small, lightweight, long-cantilever mill liner changing manipulator. Background Art

[0002] Currently, the main domestic manufacturers of mill relining robots include Nanchang Xintie Industrial, Anshan Tianshengxing, Hefei Chunhua, and Luoyang Zhongzhong Automation. International manufacturers include Mcellelan from the United States, RME from Australia, and Metso Outotec. Existing mill relining robots are designed to fit through mill openings with a diameter of 1200mm, but are not suitable for smaller mills. Furthermore, the arm assembly of existing mill relining robots is typically welded from four steel plates, resulting in heavy weight, high processing load, and a non-compact structure. Summary of the Invention

[0003] In order to solve the problems in the background technology, the present invention discloses a small, lightweight, long-cantilever mill liner changing robot, which includes a forearm and a large arm. It is light in weight, compact in structure, and has a small processing volume. It can pass through a mill mouth with a diameter of 860 mm and is suitable for small-diameter mills.

[0004] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: A small, lightweight, long-cantilever mill liner changing robot comprises a forearm and a large arm, the large arm comprising an inner arm and an outer arm movably mounted, the inner arm and the outer arm respectively comprising a main body of a rectangular steel structure, the outer arm main body being mounted outside the inner arm main body, the rear end of the outer arm main body being movably connected to the base, the outer arm main body being able to move forward and backward relative to the base, a lining trolley being movably connected to the top of the outer arm main body, the lining trolley being able to move forward and backward relative to the outer arm main body, the rear end of the inner arm main body being slidingly connected to the outer arm main body, the front end of the inner arm main body being rotatably connected to the rear end of the forearm via a slewing assembly, under the action of a driving mechanism, the inner arm main body can drive the forearm to extend and retract forward and backward along the axis of the outer arm main body, and the forearm can rotate 360 ​​degrees in a horizontal plane relative to the inner arm main body.

[0005] Furthermore, the small, lightweight, long-cantilever mill liner changing robot is provided with upper guide rails extending axially along the outer arm body on the left and right sides of the outer arm body, and wheels and guide rail limit blocks matching the upper guide rails are provided on both sides of the bottom of the liner vehicle. The wheels are in rolling contact with the top surface of the upper guide rails, and the guide rail limit blocks are in sliding contact with the bottom surface of the upper guide rails. Driven wheels and driving wheels are respectively provided at the front and rear ends of the left and right sides of the outer arm body, and a wire rope is sleeved between the driving wheel and the driven wheel. The head and tail ends of the wire rope are fixedly connected to the bottom of the liner vehicle, and the drive motor or hydraulic motor can control the liner vehicle to move back and forth along the upper guide rail by controlling the rotation direction of the wire rope.

[0006] Furthermore, the small, lightweight, long cantilever mill liner changing robot is provided with a telescopic cylinder at the rear end of the inner arm body, the end of the piston rod of the telescopic cylinder is fixedly connected to the rear cover plate provided at the rear end of the outer arm body, the front end of the cylinder body of the telescopic cylinder is fixedly connected to the inner arm body, and rear slides are respectively provided on the left and right side walls of the rear end of the inner arm body, and the left and right rear slides are movably connected to the inner arm body by a connecting shaft passing through the rear end of the inner arm body. Since the inner surface of the outer arm is a non-machined surface, the angle of the rear slide can be fine-tuned by about 0°-5° during the relative movement of the inner arm and the outer arm to prevent jamming. A number of second sliders are arranged at intervals on the rear slide, and a number of first sliders are arranged at intervals on the inner arm at the front end of the outer arm body. The first slider and the second slider extend along the axial direction of the inner arm body respectively.

[0007] Furthermore, the small, lightweight, long cantilever mill liner changing robot is provided with lower guide rails parallel to the upper guide rails on the left and right sides of the outer arm body, and a guide groove matching the lower guide rails is provided on the base. A drag chain is also provided between the bottom of the outer arm body and the base, and the driving motor or linear cylinder can control the outer arm body to move back and forth along the guide groove relative to the base through the release amount of the drag chain.

[0008] Furthermore, the small, lightweight, long-cantilever mill liner changing robot is provided with a turntable at the bottom of the rear end of the forearm, and a vertically arranged turntable is provided on the turntable. The turntable is rotatably connected to the turntable head bracket provided at the front end of the inner arm body, and a first section arm is hingedly connected to the front end of the turntable. A pitch cylinder is provided between the turntable and the front end of the first section arm. When the pitch cylinder is extended or retracted, it can drive the first section arm to rotate in the vertical plane to adjust its pitch angle relative to the turntable.

[0009] Furthermore, the small, lightweight, long-cantilever mill liner changing robot has limit blocks set at the front and rear ends of the upper guide rail through supports, and the limit blocks are used to limit the end points of the liner vehicle's moving stroke along the upper guide rail.

[0010] Furthermore, the small, lightweight, long cantilever mill liner changing robot is provided with a dustproof plate and a sealing gasket at the front end of the outer arm body, and the dustproof plate and the sealing gasket are used to prevent dust from entering the inner cavity of the outer arm body.

[0011] Furthermore, the small, lightweight, long cantilever mill liner changing robot is provided with an emergency stop box at the front end of the inner arm body, and the start and stop of the small, lightweight, long cantilever mill liner changing robot can be controlled by the emergency stop box.

[0012] Furthermore, the small, lightweight, long-cantilever mill liner changing robot is provided with an electric control box, an operating box and a driving position at intervals on the turntable. The electric control box is used to control the control system of the small, lightweight, long-cantilever mill liner changing robot, and the operating box is used to manually control the small, lightweight, long-cantilever mill liner changing robot to perform actions.

[0013] Furthermore, the small, lightweight, long cantilever mill liner changing robot is provided with a second arm and a third arm at the front end of the first arm in a grading sleeve. The second arm can be extended and retracted relative to the first arm, and the third arm can be extended and retracted relative to the second arm. A hook or clamp for transporting the liner is provided at the front end of the third arm.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The small, lightweight, long-cantilever mill liner changing robot of the present invention comprises a forearm and a large arm, wherein the large arm comprises an inner arm and an outer arm which are movably mounted, and the inner arm and the outer arm respectively comprise a main body of a rectangular steel structure, the rear end of the outer arm main body is movably connected to the base, and the outer arm main body can move forward and backward relative to the base, and a lining car is movably connected to the top of the outer arm main body, and the lining car can move forward and backward relative to the outer arm main body, the rear end of the inner arm main body is slidingly connected to the outer arm main body, and the front end of the inner arm main body is rotatably connected to the rear end of the forearm through a rotary assembly, and under the action of the driving mechanism, the inner arm main body can drive the forearm to extend and retract forward and backward along the axis of the outer arm main body, and the forearm can rotate 360 ​​degrees in the horizontal plane relative to the inner arm main body, and it has light weight, compact structure, small processing amount, can pass through the mill mouth with a diameter of 860 mm, and is suitable for small-diameter mills. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a schematic diagram of the extended state of the small, lightweight, long-cantilever mill liner changing manipulator of the present invention; Figure 2 This is a schematic diagram of the retracted state of the small, lightweight, long-cantilever mill liner changing manipulator of the present invention; Figure 3 yes Figure 2 Schematic diagram of the enlarged structure of the part A in the middle; Figure 4 yes Figure 2 Schematic diagram of the enlarged structure of the part B in the middle; Figure 5It is a schematic diagram of the three-dimensional structure of the outer arm in the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the inner arm in the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the forearm in the present invention; Figure 8 It is a schematic diagram of the three-dimensional structure of the lining vehicle in the present invention; Figure 9 This is a schematic diagram of the working state of the small, lightweight, long-cantilever mill liner changing manipulator of the present invention; In the above figure: 1- Liner car; 1.1- Liner car body; 1.2- Wheel axle; 1.3- Wire rope pressure plate; 1.4- Dust shield; 1.5- Guide rail limit block; 1.6- Wheel; 2 - Outer arm; 2.1 - Rear cover; 2.2 - Rear limit block support; 2.3 - Rear limit block; 2.4 - Driving wheel assembly; 2.5 - Steel wire rope; 2.6 - Guard plate; 2.7 - Telescopic chain sheet metal; 2.8 - Telescopic chain; 2.9 - Lower guide rail; 2.10 - Upper guide rail; 2.11 - Outer arm body; 2.12 - Front limit block; 2.13 - Front limit block support; 2.14 - Connecting rod; 2.15 - Guide wheel; 2.16 - Driven wheel protective cover; 2.17 - Dustproof plate; 2.18 - First slider; 3-Inner arm; 3.1-Telescopic cylinder; 3.2-Telescopic chain fixing plate; 3.3-Rear slide; 3.4-Second slide; 3.5-Inner arm body; 3.6-Turn head bracket; 3.7-Emergency stop box; 4-forearm; 4.1-electrical control box; 4.2-swivel head; 4.3-operation box; 4.4-first boom section; 4.5-second boom section; 4.6-third boom section; 4.7-swivel platform; 4.8-driver's seat; 4.9-pitch cylinder; 5- Base. DETAILED DESCRIPTION

[0017] To better understand the present invention, the following examples further illustrate the present invention. However, the scope of protection of the present invention is not limited to the following examples. In the following description, a large number of specific details are given to provide a more thorough understanding of the present invention. However, it is obvious to those skilled in the art that the present invention can be implemented without one or more of these details. It should be noted that the mechanical structure of the small, lightweight, long-cantilever mill liner changing robot of the present invention is the innovative point of the present invention. Its control system and power system are not the innovative points of the present invention and are therefore not described in detail in the present invention.

[0018] Combined with attachment Figure 1-9, the present invention is described in detail. A small, lightweight, long cantilever mill liner changing robot comprises a forearm 4 and a large arm, the large arm comprising an inner arm 3 and an outer arm 2 which are movably sleeved, the inner arm 3 and the outer arm 2 respectively comprising a body of a rectangular steel structure, the outer arm body 2.11 being sleeved outside the inner arm body 3.5, the rear end of the outer arm body 2.11 being movably connected to the base 5, the outer arm body 2.11 being able to move forward and backward relative to the base 5, a lining vehicle 1 being movably connected to the top of the outer arm body 2.11, the lining vehicle 1 being able to move forward and backward relative to the outer arm body 2.11, the rear end of the inner arm body 3.5 being slidingly connected to the outer arm body 2.11, the front end of the inner arm body 3.5 being rotatably connected to the rear end of the forearm 4 via a rotary assembly, and under the action of the driving mechanism, the inner arm body 3.5 can drive the forearm 4 to extend forward and backward along the axial direction of the outer arm body 2.11 The forearm 4 can be retracted and rotated 360 degrees in the horizontal plane relative to the inner arm body 3.5. The small, lightweight, long cantilever mill liner changing robot of the present invention is light in weight, compact in structure, and has a small processing volume. It can pass through the mill mouth with a diameter of 860 mm and is suitable for small-diameter mills. When working, the forearm 4 and the upper arm are extended into the mill cylinder, and the outer arm body 2.11 and / or the inner arm body 3.5 slide back and forth to adjust the upper arm to an appropriate length. The forearm 4 rotates to place the removed liner on the liner cart 1 and transfer it to the outside of the mill cylinder. The new liner is then transported to the front end of the outer arm body 2.11 via the liner cart 1. The forearm 4 rotates to transfer the new liner to the position to be installed. The small, lightweight, long cantilever mill liner changing robot of the present invention is suitable for small-diameter mills and has a high degree of automation, which solves the problem of disassembling the liners of small-diameter mills.

[0019] As an optional design, the small, lightweight, long cantilever mill liner changing manipulator is preferably provided with upper guide rails 2.10 extending axially along the outer arm body 2.11 on the left and right sides of the outer arm body 2.11, the liner vehicle 1 comprises a liner vehicle body 1.1, the liner vehicle body 1.1 is a U-shaped structure with an opening facing the outside, and wheels 1.6 and guide rail limit blocks 1.5 are provided on both sides of the bottom of the liner vehicle body 1.1 to match the upper guide rails 2.10, the wheels 1.6 are rotatably connected to the liner vehicle body 1.1 through wheel axles 1.2, and the wheels 1.6 are respectively connected to the upper guide rails 2. 10 is in rolling contact with the top surface, the guide rail limit block 1.5 is an L-shaped structure, the horizontal sections of the guide rail limit block 1.5 are in sliding contact with the bottom surface of the upper guide rail 2.10, and the guide rail limit block 1.5 is provided to prevent the liner vehicle 1 from overturning. The front and rear ends of the left and right sides of the outer arm body 2.11 are respectively provided with a driven wheel assembly and a driving wheel assembly 2.4. The driving wheel assembly 2.4 includes a guide wheel 2.15 and a driving wheel (not shown in the figure), and the driven wheel assembly includes a guide wheel 2.15 and a driven wheel (not shown in the figure). The driven wheel assembly and the driving wheel assembly 2.4 are respectively covered with a protective cover The driving wheel protection cover and the driven wheel protection cover 2.16 are respectively connected to the outer arm body 2.11. A steel wire rope 2.5 is sleeved between the driving wheel and the driven wheel 2.15. A guard plate 2.6 is provided on the outside of the steel wire rope 2.5. The guard plate 2.6 is connected to the outer arm body 2.11 through a connecting rod 2.14. The guard plate 2.6 is used to protect the safety of the steel wire rope 2.5 and the on-site staff. The head and tail ends of the steel wire rope 2.5 are fixedly connected to the bottom of the lining vehicle body 1.1. A through hole for passing the steel wire rope 2.5 is provided at the bottom of the lining vehicle body 1.1. A through hole for passing the steel wire rope 2.5 is also provided at the bottom of the lining vehicle body 1.1. A wire rope pressure plate 1.3 is provided. The wire rope pressure plate 1.3 is arranged above the wire rope to press the wire rope to prevent the wire rope 2.5 from interfering with the wheel 1.6. Dust guards 1.4 are also provided at both ends of the lining vehicle body 1.1. When the lining vehicle body 1.1 moves along the outer arm body 2.11, the dust guard 1.4 can clear the dust on the outer arm body 2.11. The driven wheel assembly, the driving wheel assembly 2.4, the wire rope 2.5 and the driving motor of the driving wheel together constitute the driving part of the lining vehicle 1. The driving motor controls the lining vehicle 1 to move back and forth along the upper guide rail 2.10 by controlling the rotation direction of the wire rope 2.5.

[0020] As an optional design, the small, lightweight, long cantilever mill liner changing manipulator is preferably provided with a telescopic oil cylinder 3.1 and a telescopic chain fixing plate 3.2 at the rear end of the inner arm body 3.5, the telescopic chain fixing plate 3.2 is connected to one end of the telescopic chain 2.8, and the other end of the telescopic chain 2.8 is connected to the telescopic chain sheet metal 2.7 arranged below the rear end of the inner arm body 3.5, and the linear cylinder controls the release amount of the telescopic chain by controlling the telescopic direction of the inner arm body 3.5, the piston rod of the telescopic oil cylinder 3.1 is fixedly connected to the rear cover plate 2.1 arranged at the rear end of the outer arm body 2.11, and the front end of the cylinder body of the telescopic oil cylinder 3.1 is fixedly connected to the inner arm body 3.5, the telescopic oil cylinder 3.1 and the telescopic chain jointly control the sliding of the inner arm body 3.5 relative to the outer arm body 2.11, and the rear slide seat 3.3 is respectively provided on the left and right side walls of the rear end of the inner arm body 3.5, the left The two right rear slides 3.3 are movably connected to the inner arm body 3.5 by passing through the central axis of the inner arm body 3.5. Since the inner surface of the outer arm is a non-machined surface, the angle of the rear slide can be fine-tuned at a small angle (about 0°-5°) during the relative movement of the inner arm and the outer arm to prevent jamming. A number of second slides 3.4 are respectively arranged at intervals on the side, top and bottom of the rear slide 3.3, and a number of first slides 2.18 are respectively arranged on the inner arm at the front end of the outer arm body 2.11. The first slide 2.18 and the second slide 3.4 extend along the axial direction of the inner arm body 3.5. When the inner arm body 3.5 is extended or retracted relative to the outer arm body 2.11, the first slide 2.18 contacts the outer side wall of the inner arm body 3.5, and the second slide 3.4 contacts the inner side wall of the outer arm body 2.11, thereby improving the stability of the structure between the inner arm body 3.5 and the outer arm body 2.11.

[0021] As an optional design, the small, lightweight, long cantilever mill liner changing robot is preferably provided with lower guide rails 2.9 arranged parallel to the upper guide rail 2.10 on the left and right sides of the outer arm body 2.11, and a guide groove matching the lower guide rail 2.9 is provided on the base 5. A drag chain (not shown in the figure) is further provided between the bottom of the outer arm body 2.11 and the base 5. The drive motor or hydraulic motor can control the outer arm body 2.11 to move back and forth along the guide groove relative to the base 5 by adjusting the release amount of the drag chain.

[0022] As an optional design, the small, lightweight, long cantilever mill liner changing robot is preferably provided with a turntable 4.7 at the bottom of the rear end of the forearm 4, and a vertically arranged turntable head 4.2 is provided on the turntable 4.7. The turntable head 4.2 is rotatably connected to the turntable head bracket 3.6 arranged at the front end of the inner arm body 3.5, and the first section arm 4.4 is hingedly connected to the front end of the turntable 4.7. A pitch cylinder 4.9 is provided between the turntable 4.7 and the front end of the first section arm 4.4. When the pitch cylinder 4.9 is extended or retracted, it can drive the first section arm 4.4 to rotate in the vertical plane to adjust its pitch angle relative to the turntable 4.7.

[0023] As an optional design, the small, lightweight, long cantilever mill liner changing robot is preferably provided with a front limit block 2.12 at the front end of the upper guide rail 2.10 through a front limit block support 2.13, and a rear limit block 2.3 is provided at the rear end of the upper guide rail 2.10 through a rear limit block support 2.2. The front limit block 2.12 and the rear limit block 2.3 are jointly used to limit the end point of the moving stroke of the liner vehicle 1 along the upper guide rail 2.10.

[0024] As an optional design, the small, lightweight, long cantilever mill liner changing robot is preferably provided with a dustproof plate 2.17 and a sealing gasket at the front end of the outer arm body 2.11, and the dustproof plate 2.17 and the sealing gasket are used to prevent dust from entering the inner cavity of the outer arm body 2.11.

[0025] As an optional design, the small, lightweight, long cantilever mill liner changing robot is preferably provided with an emergency stop box 3.7 at the front end of the inner arm body 3.5, and the emergency stop box 3.7 can be used to control the start and stop of the small, lightweight, long cantilever mill liner changing robot to deal with emergencies.

[0026] As an optional design, the small, lightweight, long cantilever mill liner changing robot is preferably provided with an electric control box 4.1, an operating box 4.3 and a driving position 4.8 at intervals on the turntable 4.7, the electric control box 4.1 is used to control the control system of the small, lightweight, long cantilever mill liner changing robot, and the operating box 4.3 is used to manually control the small, lightweight, long cantilever mill liner changing robot to perform actions.

[0027] As an optional design, the small, lightweight, long cantilever mill liner changing robot is preferably provided with a second arm 4.5 and a third arm 4.6 at the front end of the first arm 4.4. The second arm 4.5 can be extended and retracted relative to the first arm 4.4, and the third arm 4.6 can be extended and retracted relative to the second arm 4.5. The extension and retraction of the second arm 4.5 and the third arm 4.6 are jointly controlled by a linear cylinder and a wire rope control. A hook or clamp for transporting the liner is provided at the front end of the third arm 4.6. When the third arm 4.6 is extended and retracted relative to the second arm 4.5 and the second arm 4.5 is extended and retracted relative to the first arm 4.4, the position of the hook or clamp can be fine-tuned to adjust the distance between it and the inner wall of the mill cylinder.

[0028] The working process of the present invention is as follows: like Figure 9As shown, when working, the forearm 4 and the upper arm are extended into the mill cylinder, the outer arm body 2.11 and / or the inner arm body 3.5 slide back and forth to adjust the upper arm to an appropriate length, the forearm 4 telescopes and rotates to adjust the distance and angle between it and the inner wall of the mill cylinder, the forearm 4 places the removed liner on the liner cart 1, the liner cart 1 transfers the liner to the outside of the mill cylinder, and then transports the new liner to the front end of the outer arm body 2.11 through the liner cart 1, the forearm 4 telescopes and rotates to transfer the new liner to the position to be installed. The small, lightweight, long cantilever mill liner changing robot of the present invention is suitable for small-diameter mills, has a high degree of automation, and solves the problem of disassembling the liners of small-diameter mills.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention and are not limiting. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A small, lightweight, long cantilever mill liner changing manipulator, characterized by: It includes a forearm and a large arm, and the large arm includes an inner arm and an outer arm that are movably mounted. The inner arm and the outer arm respectively include a main body of a rectangular steel structure. The outer arm main body is mounted outside the inner arm main body, and the rear end of the outer arm main body is movably connected to a base, and the outer arm main body can move forward and backward relative to the base. A lining car is movably connected to the top of the outer arm main body, and the lining car can move forward and backward relative to the outer arm main body. The rear end of the inner arm main body is slidingly connected to the outer arm main body, and the front end of the inner arm main body is rotatably connected to the rear end of the forearm through a slewing assembly. Under the action of the driving mechanism, the inner arm main body can drive the forearm to extend and retract forward and backward along the axial direction of the outer arm main body, and the forearm can rotate 360 ​​degrees in the horizontal plane relative to the inner arm main body.

2. The small, lightweight, long cantilever mill liner changing manipulator according to claim 1 is characterized by: Upper guide rails extending axially along the outer arm body are respectively arranged on the left and right sides of the outer arm body, and wheels and guide rail limit blocks matching the upper guide rails are respectively arranged on both sides of the bottom of the lining vehicle, the wheels are respectively in rolling contact with the top surface of the upper guide rails, and the guide rail limit blocks are respectively in sliding contact with the bottom surface of the upper guide rails, and driven wheels and driving wheels are respectively correspondingly arranged on the front and rear ends of the left and right sides of the outer arm body, a steel wire rope is sleeved between the driving wheel and the driven wheel, and the head and tail ends of the steel wire rope are fixedly connected to the bottom of the lining vehicle, and the driving motor or hydraulic motor can control the lining vehicle to move back and forth along the upper guide rail by controlling the rotation direction of the steel wire rope.

3. The small, lightweight, long cantilever mill liner changing manipulator according to claim 1 or 2 is characterized by: A telescopic cylinder is arranged at the rear end of the inner arm body, the end of the piston rod of the telescopic cylinder is fixedly connected to the rear cover plate arranged at the rear end of the outer arm body, the front end of the cylinder body of the telescopic cylinder is fixedly connected to the inner arm body, and rear slide seats are respectively arranged on the left and right side surfaces of the rear end of the inner arm body, the rear slide seat is movably connected to the inner arm body through a connecting shaft penetrating through the rear end of the inner arm body, a plurality of second slide blocks are arranged at intervals on the rear slide seat, and a plurality of first slide blocks are arranged at intervals on the inner arm at the front end of the outer arm body, and the first slide block and the second slide block respectively extend along the axial direction of the inner arm body.

4. The small, lightweight, long cantilever mill liner changing manipulator according to claim 3 is characterized by: Lower guide rails parallel to the upper guide rails are provided on the left and right sides of the outer arm body, guide grooves matching the lower guide rails are provided on the base, and a drag chain is also provided between the bottom of the outer arm body and the base. The driving motor or linear cylinder can control the outer arm body to move back and forth along the guide groove relative to the base through the release amount of the drag chain.

5. The small, lightweight, long cantilever mill liner changing manipulator according to claim 3 is characterized by: A turntable is arranged at the bottom of the rear end of the forearm, and a vertically arranged turntable is provided on the turntable. The turntable is rotatably connected to a turntable bracket arranged at the front end of the inner arm body. A first arm section is hingedly connected to the front end of the turntable, and a pitch cylinder is arranged between the turntable and the front end of the first arm section. When the pitch cylinder is extended or retracted, it can drive the first arm section to rotate in a vertical plane to adjust its pitch angle relative to the turntable.

6. The small, lightweight, long cantilever mill liner changing manipulator according to claim 3 is characterized in that: The front and rear ends of the upper guide rail are respectively provided with limit blocks through supports, and the limit blocks are used to limit the end points of the movement stroke of the lining vehicle along the upper guide rail.

7. The small, lightweight, long cantilever mill liner changing manipulator according to claim 3 is characterized by: A dustproof plate and a sealing gasket are arranged at the front end portion of the outer arm body, and the dustproof plate and the sealing gasket are used to prevent dust from entering the inner cavity of the outer arm body.

8. The small, lightweight, long cantilever mill liner changing manipulator according to claim 3 is characterized by: An emergency stop box is arranged at the front end of the inner arm body, and the start and stop of the small, lightweight, long cantilever mill liner changing manipulator can be controlled by the emergency stop box.

9. The small, lightweight, long cantilever mill liner changing manipulator according to claim 5 is characterized by: An electric control box, an operating box and a driving position are arranged at intervals on the turntable. The electric control box is used to control the control system of the small, lightweight, long cantilever mill liner changing robot, and the operating box is used to manually control the small, lightweight, long cantilever mill liner changing robot to perform actions.

10. The small, lightweight, long cantilever mill liner changing manipulator according to claim 5 is characterized by: The second and third booms are arranged at the front end of the first boom in a graded manner. The second boom can be extended and retracted relative to the first boom, and the third boom can be extended and retracted relative to the second boom. A hook or clamp for transporting the liner is arranged at the front end of the third boom.

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