Manipulator and application thereof in production of copper smelting slag collecting agent

Abstract

The invention relates to the technical field of copper smelting slag collecting agent production, in particular to a mechanical arm and application of the mechanical arm to copper smelting slag collecting agent production. The mechanical arm comprises a support, first electric sliding rails are installed on the front side and the rear side of the lower end of the support, and pushing assemblies are fixed to sliding parts of the first electric sliding rails; second electric sliding rails are installed on the left side and the right side of the lower end of the support correspondingly, and clamping units are fixed to sliding parts of the second electric sliding rails correspondingly. When the material box slides downwards between the two clamping units, the transmission belt can rotate, then the material box can move upwards, and the height of the material box in the transferring process can be guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of copper smelting slag collector production, and in particular to a manipulator and its application in the production of copper smelting slag collector. Background Art

[0002] Copper smelting slag collector can change the hydrophobicity of the surface of copper-containing minerals. It is a flotation agent that can make floating mineral particles adhere to bubbles. It is the most important type of flotation agent.

[0003] Caustic soda flakes are needed in the preparation process of copper smelting slag collectors. Caustic soda flakes generally refer to sodium hydroxide, which can be used as a neutralizing agent, complex masking agent, precipitating agent, precipitation masking agent, color developer, saponifying agent, peeling agent, detergent, etc. It has a wide range of uses.

[0004] During the crushing and grinding process of caustic soda flakes, caustic soda flake dust will be generated, which is very harmful to the human body. After the crushed and ground caustic soda flakes enter the material box, a robot is generally used to transfer the material box.

[0005] The patent document with the authorization announcement number CN118990592B discloses an anti-slip mechanical claw for an industrial manipulator, including a connecting head, which is used to connect the mechanical claw to the mechanical arm, and the bottom end of the connecting head is fixedly installed with a support column; a power mechanism, which is used to provide power for the clamping of the mechanical claw, and the power mechanism is fixedly connected to the connecting head through the support column; a clamping mechanism, which is used to clamp an object, and the clamping mechanism is symmetrically installed at the bottom of the power mechanism; a positioning mechanism, which is used to adjust the position of the object to be clamped, the positioning mechanism is symmetrically installed at the bottom of the power mechanism, and the positioning mechanism is located on the adjacent side of the clamping mechanism; wherein the clamping mechanism includes an outer inclined plate, the top of the outer inclined plate is fixedly installed with a connecting block, the outer inclined plate is fixedly installed at the bottom of the power mechanism through the connecting block, the bottom of the outer inclined plate is inclined inwardly, and the The inclined surface block is symmetrically installed along the center position of the axis of the clamping plate, and the side of the inclined surface block close to the outer inclined plate is slidably adapted to the inclined surface of the outer inclined plate. When the clamping plate of this technical solution is transferring an object after clamping it, if the object shows a downward trend, the clamping force of the clamping plate on the object will be automatically increased to limit the sliding of the object and prevent the object from slipping during the transfer process. When the material box is transferred after being clamped, its side has been subjected to a certain squeezing force. Further increasing the clamping force to prevent it from slipping will cause the material box to deform due to the greater squeezing force. Increasing the clamping force to prevent the material box from slipping may cause the material box to be squeezed and damaged, resulting in leakage of materials inside the material box.

[0006] When the robot lifts the material box, it is easy to slide downward due to the inertia of the material box. After the material box slides downward, the robot drives the material box to move to the specified position. Due to the decrease in the height of the material box, it is easy to collide with other objects, especially when stacking the material boxes. The height of the clamped material box is lowered and it is easy to touch the material boxes that have been stacked.

[0007] At the same time, as the crushed and ground caustic soda enters the material box, some of the caustic soda debris will adhere to the outer wall of the material box. When the clamping part of the manipulator clamps the material box, the friction between the clamping part of the manipulator and the outer wall of the material box becomes smaller due to the caustic soda debris adhering to the outer wall of the material box, and the material box will slip during the transfer process. Therefore, a manipulator that can effectively prevent the material box from slipping during the transfer process is needed. Summary of the invention

[0008] The main purpose of the present invention is to provide a manipulator capable of stably transferring a material box. The manipulator is applied to the production of copper smelting slag collectors, can ensure the height of the material box during transfer, and has good stability during the clamping movement of the material box.

[0009] In order to achieve the above object, the technical solution provided by the present invention is: A robot arm comprises a support, a first electric slide rail is installed on the front and rear sides of the lower end of the support, a pushing assembly is fixed on the sliding part of the first electric slide rail, a second electric slide rail is installed on the left and right sides of the lower end of the support, and a clamping unit is fixed on the sliding part of the second electric slide rail; the clamping unit comprises a connecting frame, the connecting frame is fixedly connected to the sliding part of the second electric slide rail, a mounting plate is fixed on the connecting frame, an upper rotating shaft and a lower rotating shaft are respectively rotatably connected in the upper and lower sides of the mounting plate, a transmission belt is rotatably arranged on the outer side of the mounting plate, the upper rotating shaft, the lower rotating shaft and the transmission belt are connected through a transmission assembly, and one end of the mounting plate is fixed There is a fixed shell, one end of the upper rotating shaft extends into the fixed shell, a limit gear is concentrically fixed on one end of the upper rotating shaft in the fixed shell, the fixed shell is elastically slidably connected to a limit pin on the side of the clamped material box, one end of the limit pin is located in the fixed shell, and the other end of the limit pin is located outside the fixed shell, a guide inclined surface is processed on the lower side of one end of the limit pin outside the fixed shell, the other end of the mounting plate is rotatably connected with an upper gear ring, the upper gear ring is concentric with the upper rotating shaft, the upper gear ring is connected to the upper rotating shaft through a coil spring, a brake motor is fixed on the mounting plate below the upper gear ring, a lower gear ring is concentrically fixed on the output shaft of the brake motor, and the upper gear ring is meshed with the lower gear ring.

[0010] Specifically, the transmission assembly includes two upper sprockets concentrically fixed on the upper rotating shaft, and two lower sprockets concentrically fixed on the lower rotating shaft, the upper sprockets and the lower sprockets correspond to each other one by one, and two chains are fixed on the inner side of the transmission belt, and the chains are transmission connected to the upper sprocket and the lower sprocket on one side.

[0011] Specifically, a rubber layer is fixed on the outer side of the transmission belt.

[0012] Specifically, the pushing assembly includes a mounting frame, which is fixed on the sliding part of the first electric slide rail, and a roller is rotatably connected inside the lower end of the mounting frame.

[0013] Specifically, a connector is installed on the upper end of the support, and the connector is fixedly connected to the free end of the robotic arm.

[0014] Specifically, the movement direction of the limit pin is parallel to the movement direction of the sliding part of the second electric slide rail, a slider is fixed on the limit pin, the slider is slidably arranged in the slide groove of the fixed shell, and the slider is connected to the fixed shell through a spring.

[0015] Specifically, one end of the coil spring is fixedly connected to the upper rotating shaft, and the other end of the coil spring is fixedly connected to the upper gear ring.

[0016] A robot is used in the production of copper smelting slag collectors: when clamping a material box, the material box is located between two pushing components under a support, and two first electric slide rails are started at the same time, so that the two pushing components clamp the material box. After the two pushing components clamp the material box, the center of the clamping unit corresponds to the center of the material box; then the two second electric slide rails are started at the same time, so that the two clamping units clamp the material box. After the two clamping units clamp the material box, the material box squeezes the limit pin and limits the limit pin to the limit gear, and the brake motor is started. The brake motor drives the upper gear ring to rotate through the lower gear ring, and the coil spring accumulates force, and then the material box is driven to move through the cooperation of the robot arm and the robot; in the process of the robot clamping the material box upward, when the material box slides down between the two clamping units, the material box loses its resistance to the limit pin. When the gear train is in gear and the gear is in motion, the gear train is moved in a controlled manner, and the gear train is moved in a controlled manner, so that the gear train can be prevented from sliding downwards and the gear train is moved out of the gear train.

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

[0018] 1. When the material box slides downward between the two clamping units, the transmission belt can rotate, so that the material box can move upward, which can ensure the height of the material box during the transfer process.

[0019] 2. After the material box slides down between the two clamping units, the caustic soda chips attached to the outer wall of the material box corresponding to the transmission belt can be wiped off. During the rotation of the transmission belt, the friction between the subsequent transmission belt part in contact with the outer wall of the material box and the outer wall of the material box increases, which can further prevent the material box from slipping.

[0020] 3. The transmission belt can rotate on the outside of the mounting plate. Therefore, during the rotation of the transmission belt, the part of the conveyor belt close to the material box is away from the material box, and the part of the conveyor belt away from the material box is close to the material box. After clamping the material box, the part of the transmission belt in contact with the material box changes, which can avoid a certain part of the transmission belt from being in contact with the material box all the time, and can increase the service life of the transmission belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the robot; Figure 2 A diagram showing the position relationship between the first electric slide rail and the second electric slide rail; Figure 3 is a cross-sectional view of the clamping unit; Figure 4 It is a schematic diagram of the chain in the transmission belt; Figure 5 It is a schematic diagram of the cooperation between the limit pin and the limit gear; Figure 6 It is a schematic diagram of the cooperation between the slider and the slide groove; Figure 7 It is a schematic diagram of the cooperation between the upper gear ring and the lower gear ring.

[0022] The names of the parts in the attached drawings are: 1. Support; 2. Connector; 3. First electric slide rail; 4. Mounting frame; 5. Roller; 6. Second electric slide rail; 7. Connecting frame; 8. Mounting plate; 9. Transmission belt; 10. Chain; 11. Upper rotating shaft; 12. Upper sprocket; 13. Lower rotating shaft; 14. Lower sprocket; 15. Fixed shell; 16. Limit gear; 17. Limit pin; 18. Guide ramp; 19. Slide groove; 20. Slider; 21. Spring; 22. Upper gear ring; 23. Coil spring; 24. Lower gear ring; 25. Brake motor. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0024] like Figure 1-Figure 7As shown, a manipulator comprises a support 1, a connector 2 is mounted on the upper end of the support 1, and the connector 2 is fixedly connected to the free end of the manipulator arm. A first electric slide rail 3 is mounted on the front and rear sides of the lower end of the support 1, and a push assembly is fixed on the sliding part of the first electric slide rail 3.

[0025] The pushing assembly includes a mounting frame 4, which is fixed on the sliding part of the first electric slide rail 3, and a roller 5 is rotatably connected to the lower end of the mounting frame 4.

[0026] Second electric slide rails 6 are installed on both left and right sides of the lower end of the support 1 , and clamping units are fixed on the sliding parts of the second electric slide rails 6 .

[0027] The clamping unit includes a connecting frame 7, which is fixedly connected to the sliding part of the second electric slide rail 6. A mounting plate 8 is fixed on the connecting frame 7. An upper rotating shaft 11 and a lower rotating shaft 13 are rotatably connected on the upper and lower sides of the mounting plate 8 respectively. A transmission belt 9 is rotatably arranged on the outer side of the mounting plate 8. The upper rotating shaft 11, the lower rotating shaft 13 and the transmission belt 9 are connected by a transmission assembly.

[0028] A rubber layer is fixed on the outside of the transmission belt 9 .

[0029] The transmission assembly includes two upper sprocket wheels 12 concentrically fixed on the upper rotating shaft 11, two lower sprocket wheels 14 concentrically fixed on the lower rotating shaft 13, the upper sprocket wheels 12 and the lower sprocket wheels 14 correspond to each other, and two chains 10 are fixed inside the transmission belt 9, and the chain 10 is transmission-connected with the upper sprocket wheels 12 and the lower sprocket wheels 14 on one side thereof. When the upper rotating shaft 11 rotates, the upper sprocket wheels 12 rotate, and when the upper sprocket wheels 12 rotate, the transmission belt 9, the chain 10, the lower sprocket wheels 14 and the lower rotating shaft 13 rotate.

[0030] A fixed shell 15 is fixed at one end of the mounting plate 8, one end of the upper rotating shaft 11 extends into the fixed shell 15, a limit gear 16 is concentrically fixed on one end of the upper rotating shaft 11 in the fixed shell 15, and the fixed shell 15 is elastically slidably connected to a limit pin 17 toward one side of the clamped material box, one end of the limit pin 17 is located in the fixed shell 15, and the other end of the limit pin 17 is located outside the fixed shell 15.

[0031] Specifically, the movement direction of the limit pin 17 is parallel to the movement direction of the sliding part of the second electric slide rail 6 . A slider 20 is fixed to the limit pin 17 . The slider 20 is slidably arranged in the slide groove 19 of the fixed shell 15 . The slider 20 is connected to the fixed shell 15 through a spring 21 .

[0032] A guiding inclined surface 18 is formed on the lower side of one end of the limiting pin 17 outside the fixing shell 15 .

[0033] The other end of the mounting plate 8 is rotatably connected with an upper gear ring 22, which is concentric with the upper rotating shaft 11, and the upper gear ring 22 is connected to the upper rotating shaft 11 through a coil spring 23. Specifically, one end of the coil spring 23 is fixedly connected to the upper rotating shaft 11, and the other end of the coil spring 23 is fixedly connected to the upper gear ring 22.

[0034] A brake motor 25 is fixed on the mounting plate 8 below the upper gear ring 22 , and a lower gear ring 24 is coaxially fixed on the output shaft of the brake motor 25 . The upper gear ring 22 meshes with the lower gear ring 24 .

[0035] When clamping the material box, the material box is located between the two rollers 5 under the support 1, and the two first electric slide rails 3 are started at the same time, so that the two mounting frames 4 move relative to each other at the same time, and the two rollers 5 are used to clamp the material box. After the two rollers 5 clamp the material box, the center of the clamping unit corresponds to the center of the material box.

[0036] Then, the two second electric slide rails 6 are started at the same time, so that the two clamping units move relative to each other and the two transmission belts 9 clamp the material box. After the two clamping units clamp the material box, the material box presses the limit pin 17 and the limit pin 17 limits the limit gear 16. At this time, the spring 21 accumulates force, and the upper shaft 11, the lower shaft 13 and the transmission belt 9 cannot rotate.

[0037] The brake motor 25 is started, and the brake motor 25 drives the upper gear ring 22 to rotate through the lower gear ring 24, and the coil spring 23 stores force. Then, the material box is driven to move through the cooperation of the robot arm and the robot hand.

[0038] In the process of the manipulator clamping the material box upward, when the material box slides down between the two clamping units due to its inertia, the material box loses the resistance to the limit pin 17, and under the elastic force of the spring 21, the limit pin 17 moves toward the outside of the fixed shell 15, and the limit pin 17 loses the limit on the limit gear 16. Under the elastic force of the coil spring 23, the upper shaft 11 rotates. When the upper shaft 11 rotates, the upper sprocket 12 rotates, and when the upper sprocket 12 rotates, the transmission belt 9, the chain 10, the lower sprocket 14 and the lower shaft 13 rotate. The transmission belt 9 moves upward toward one side of the material box. The upward movement of the transmission belt 9 toward one side of the material box can move the material box upward, and can ensure the height of the material box during the transfer process.

[0039] During the upward movement of the material box, the cooperation between the upper end of the material box and the guide slope 18 will cause the limit pin 17 to move in the direction of the limit gear 16 and limit the limit gear 16. At this time, the upper rotating shaft 11 is locked, and the transmission belt 9 cannot rotate, which can effectively prevent the material box from slipping.

[0040] After the material box slides down between the two clamping units, the caustic soda debris attached to the outer wall of the material box corresponding to the transmission belt 9 can be wiped off. During the rotation of the transmission belt 9, the friction between the subsequent part of the transmission belt 9 that contacts the outer wall of the material box and the outer wall of the material box increases, which can further prevent the material box from slipping.

[0041] The transmission belt 9 can rotate outside the mounting plate 8. Therefore, during the rotation of the transmission belt 9, the portion of the transmission belt 9 close to the material box will be away from the material box, and the portion of the transmission belt 9 away from the material box will be close to the material box. After the material box is clamped, the portion of the transmission belt 9 in contact with the material box changes, which can avoid a certain portion of the transmission belt 9 from being in contact with the material box all the time, and can increase the service life of the transmission belt 9.

[0042] 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 in the protection scope of the present invention.

Claims

1. A manipulator, comprising a support (1), wherein first electric slide rails (3) are installed on both front and rear sides of the lower end of the support (1), and a push assembly is fixed on the sliding part of the first electric slide rail (3), characterized in that: The second electric slide rail (6) is installed on both left and right sides of the lower end of the support (1), and a clamping unit is fixed on the sliding part of the second electric slide rail (6); the clamping unit comprises a connecting frame (7), the connecting frame (7) is fixedly connected to the sliding part of the second electric slide rail (6), a mounting plate (8) is fixed on the connecting frame (7), an upper rotating shaft (11) and a lower rotating shaft (13) are rotatably connected in the upper and lower sides of the mounting plate (8), a transmission belt (9) is rotatably arranged on the outer side of the mounting plate (8), the upper rotating shaft (11), the lower rotating shaft (13) and the transmission belt (9) are connected through a transmission assembly, a fixed shell (15) is fixed on one end of the mounting plate (8), one end of the upper rotating shaft (11) extends into the fixed shell (15), and a limited concentric fixed end is provided on one end of the upper rotating shaft (11) in the fixed shell (15). The fixing shell (15) is elastically slidably connected to a limiting pin (17) on one side of the clamped material box, one end of the limiting pin (17) is located inside the fixing shell (15), and the other end of the limiting pin (17) is located outside the fixing shell (15). A guide inclined surface (18) is processed on the lower side of one end of the limiting pin (17) outside the fixing shell (15). The other end of the mounting plate (8) is rotatably connected to an upper gear ring (22), the upper gear ring (22) is concentric with the upper rotating shaft (11), and the upper gear ring (22) is connected to the upper rotating shaft (11) through a coil spring (23). A brake motor (25) is fixed on the mounting plate (8) below the upper gear ring (22), and a lower gear ring (24) is concentrically fixed on the output shaft of the brake motor (25). The upper gear ring (22) meshes with the lower gear ring (24).

2. The robot according to claim 1, characterized in that: The transmission assembly comprises two upper sprockets (12) concentrically fixed on the upper rotating shaft (11), and two lower sprockets (14) concentrically fixed on the lower rotating shaft (13), the upper sprockets (12) and the lower sprockets (14) corresponding to each other one by one, and two chains (10) are fixed on the inner side of the transmission belt (9), and the chain (10) is transmission-connected to the upper sprocket (12) and the lower sprocket (14) on one side thereof.

3. The robot according to claim 1, characterized in that: A rubber layer is fixed on the outer side of the transmission belt (9).

4. The robot according to claim 1, characterized in that: The pushing assembly comprises a mounting frame (4), the mounting frame (4) being fixed on the sliding portion of the first electric slide rail (3), and a roller (5) being rotatably connected inside the lower end of the mounting frame (4).

5. The robot according to claim 1, characterized in that: A connecting head (2) is mounted on the upper end of the support (1), and the connecting head (2) is fixedly connected to the free end of the mechanical arm.

6. The robot according to claim 1, characterized in that: The movement direction of the limit pin (17) is parallel to the movement direction of the sliding portion of the second electric slide rail (6); a slider (20) is fixed to the limit pin (17); the slider (20) is slidably disposed in a slide groove (19) of the fixed shell (15); and the slider (20) is connected to the fixed shell (15) via a spring (21).

7. The robot according to claim 1, characterized in that: One end of the coil spring (23) is fixedly connected to the upper rotating shaft (11), and the other end of the coil spring (23) is fixedly connected to the upper gear ring (22).

8. The application of the manipulator according to claim 1 in the production of copper smelting slag collector is characterized in that: When clamping the material box, the material box is located between the two pushing components below the support (1), and the two first electric slide rails (3) are started at the same time, so that the two pushing components clamp the material box. After the two pushing components clamp the material box, the center of the clamping unit corresponds to the center of the material box; then the two second electric slide rails (6) are started at the same time, so that the two clamping units clamp the material box. After the two clamping units clamp the material box, the material box squeezes the limit pin (17) and the limit pin (17) limits the limit gear (16), and the brake motor (25) is started. The brake motor (25) drives the upper gear ring (22) to rotate through the lower gear ring (24), and the coil spring (23) accumulates force, and then the material box is driven to move through the cooperation of the robot arm and the robot. In the process of the robot holding the material box upward, when the material box slides down between the two clamping units, the material box loses the resistance to the limit pin (17), and the limit pin (17) moves toward the outside of the fixed shell (15). The upper rotating shaft (11) rotates, and the lower rotating shaft (13) is driven to rotate through the transmission assembly when the upper rotating shaft (11) rotates. The transmission belt (9) moves upward toward one side of the material box, so that the material box can move upward. During the upward movement of the material box, the upper end of the material box cooperates with the guide inclined surface (18) to make the limit pin (17) move in the direction of the limit gear (16) and limit the limit gear (16). At this time, the upper rotating shaft (11) is locked, and the transmission belt (9) cannot rotate, which can effectively prevent the material box from sliding. After the material box slides down between the two clamping units, the caustic soda debris attached to the outer wall of the material box corresponding to the transmission belt (9) can be wiped off. During the rotation of the transmission belt (9), the friction between the part of the transmission belt (9) that contacts the outer wall of the material box and the outer wall of the material box increases, which can further prevent the material box from sliding.

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