A manipulator and its application in the production of copper smelting slag collector

Abstract

The present invention relates to the technical field of copper smelting slag collector production, and specifically relates to a manipulator and its application in the production of copper smelting slag collector. It includes a support. The front and rear sides of the lower end of the support are equipped with first electric sliding rails, and pushing components are fixed on the sliding parts of the first electric sliding rails. The left and right sides of the lower end of the support are both equipped with second electric sliding rails, and clamping units are fixed on the sliding parts of the second electric sliding rails. When the material box slides downward between the two clamping units, the conveyor belt can rotate, and then the material box can move upward, which can ensure the height of the material box during the transfer process.

Description

Technical Field

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

[0002] The copper smelting slag collector can change the hydrophobicity of the surface of copper-containing minerals. It is a flotation reagent that can make floating mineral particles adhere to bubbles and is one of the most important types of flotation agents.

[0003] Sodium hydroxide flakes are required in the preparation process of the copper smelting slag collector. Sodium hydroxide flakes generally refer to sodium hydroxide, which can be used as a neutralizing agent, complexing masking agent, precipitating agent, precipitation masking agent, chromogenic agent, saponifying agent, peeling agent, detergent, etc., and has a very wide range of uses.

[0004] During the crushing and grinding process of sodium hydroxide flakes, sodium hydroxide dust will be generated. The sodium hydroxide dust causes great damage to the human body. After the crushed and ground sodium hydroxide flakes enter the material box, a manipulator is generally used to transfer the material box.

[0005] A patent document with the authorization announcement number CN118990592B discloses an anti-slip mechanical claw for an industrial manipulator, including a connecting head for connecting the mechanical claw to the robotic arm, and a support column is fixedly installed at the bottom end of the connecting head; a power mechanism for providing 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 for clamping an object, and the clamping mechanism is symmetrically installed at the bottom of the power mechanism; a positioning mechanism for adjusting 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, a connecting block is fixedly installed at the top of the outer inclined plate, 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 inclines inwards, and sliding grooves are symmetrically formed on the outer side of the outer inclined plate, connecting rods are slidably installed at the sliding grooves of the outer inclined plate, a clamping plate is fixedly installed at one end of the connecting rod, a connecting strip is fixedly installed at the other end of the connecting rod, and an inclined surface block is fixedly installed at the bottom of the side of the clamping plate close to the outer inclined plate. Through the cooperation of the inclined surface block and the outer inclined plate, when the clamping plate is lifted after clamping an object, due to the frictional force between the clamping plate and the object, when the object has a downward sliding tendency, the tendency is transmitted to the inclined surface block and the connecting rod by the clamping plate at the same time, so that the connecting rod and the inclined surface block have a downward sliding tendency at the same time. By using the sliding adaptation of the inclined surface of the outer inclined plate and the inclined surface block, after the downward sliding tendency appears, the clamping force of the clamping plate towards the inside is increased to limit the sliding of the object and prevent the object from slipping during the process of moving the clamped object. The inclined surface blocks are symmetrically installed along the axial center position 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. During the transfer process of the clamping plate after clamping an object, when the object has a downward sliding tendency, 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 clamping and transferring a material box, after the material box is clamped, its side has already received a certain extrusion force. Further increasing the clamping force to prevent slipping will cause the material box to deform due to a greater extrusion force. Preventing the material box from slipping by increasing the clamping force may cause the material box to be damaged by extrusion and lead to the leakage of the material inside the material box.

[0006] When the manipulator lifts the material box, due to the inertia of the material box, the material box is prone to slide downwards. After the material box slides downwards, when the manipulator drives the material box to move to the designated position, since the height of the material box decreases, it is easy to collide with other objects. Especially when palletizing the material box, after the height of the clamped material box decreases, it is easy to touch the already palletized material box.

[0007] Meanwhile, during the process of the crushed and ground caustic soda entering the material box, some caustic soda debris will adhere to the outer wall of the material box. When the clamping part of the manipulator clamps the material box, due to the adhesion of caustic soda debris on the outer wall of the material box, the friction force between the clamping part of the manipulator and the outer wall of the material box becomes smaller, 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 object of the present invention is to provide a manipulator that can stably transfer a material box. This manipulator is applied to the production of copper smelting slag collector, which can ensure the height during the transfer process of the material box and has good stability during the clamping and movement process of the material box.

[0009] To achieve the above object, the technical solution provided by the present invention is:

[0010] A manipulator includes a support. On the front and rear sides of the lower end of the support, first electric slide rails are installed. On the sliding parts of the first electric slide rails, pushing components are fixed. On the left and right sides of the lower end of the support, second electric slide rails are installed. On the sliding parts of the second electric slide rails, clamping units are fixed. The clamping unit includes a connecting frame, which is fixedly connected to the sliding part of the second electric slide rail. On the connecting frame, a mounting plate is fixed. Inside the upper and lower sides of the mounting plate, an upper rotating shaft and a lower rotating shaft are respectively rotatably connected. On the outside of the mounting plate, a transmission belt is rotatably arranged. The upper rotating shaft, the lower rotating shaft and the transmission belt are connected through a transmission component. One end of the mounting plate is fixed with a fixed shell. One end of the upper rotating shaft extends into the fixed shell. On one end of the upper rotating shaft inside the fixed shell, a limiting gear is fixedly connected concentrically. On the side of the fixed shell facing the clamped material box, a limiting pin is elastically slidably connected. One end of the limiting pin is located inside the fixed shell, and the other end of the limiting pin is located outside the fixed shell. On the lower side of the end of the limiting pin outside the fixed shell, a guiding inclined surface is processed. On the other end of the mounting plate, an upper toothed ring is rotatably connected. The upper toothed ring is concentric with the upper rotating shaft. The upper toothed ring and the upper rotating shaft are connected through a torsion spring. On the mounting plate below the upper toothed ring, a brake motor is fixed. On the output shaft of the brake motor, a lower toothed ring is fixedly connected concentrically. The upper toothed ring meshes with the lower toothed ring.

[0011] Specifically, the transmission component includes two upper sprockets fixedly connected concentrically to the upper rotating shaft, two lower sprockets fixedly connected concentrically to the lower rotating shaft. The upper sprockets and the lower sprockets correspond one by one. Two chains are fixed to the inner side of the transmission belt. The chains are in transmission connection with the upper sprockets and the lower sprockets on one side thereof.

[0012] Specifically, a rubber layer is fixed to the outer side of the transmission belt.

[0013] Specifically, the pushing component includes a mounting frame, which is fixed on the sliding part of the first electric slide rail. Inside the lower end of the mounting frame, a roller is rotatably connected.

[0014] Specifically, a connector is installed at the upper end of the support, and the connector is fixedly connected to the free end of the robotic arm.

[0015] Specifically, the moving direction of the limit pin is parallel to the moving direction of the sliding part of the second electric slide rail. A slider is fixed on the limit pin, and the slider is slidably arranged in the chute of the fixed shell. The slider is connected to the fixed shell through a spring.

[0016] 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.

[0017] An application of a manipulator in the production of copper smelting slag collector: When clamping the material box, the material box is located between two pushing components below the support. At the same time, two first electric slide rails are started, 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 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 makes the limit pin limit the limit gear. The brake motor is started, and the brake motor drives the upper gear ring to rotate through the lower gear ring, and the coil spring stores energy. Then, the material box is driven to move through the cooperation of the robotic arm and this manipulator; during the process of this manipulator lifting the material box, when the material box slides down between the two clamping units, the material box loses the block on the limit pin, and the limit pin moves towards the outside of the fixed shell. The limit pin loses the limit on the limit gear. Under the elastic force of the coil spring, the upper rotating shaft rotates. When the upper rotating shaft rotates, it drives the lower rotating shaft to rotate through the transmission component, and the part of the transmission belt facing the material box moves upward, which can make the material box move upward. During the process of the material box moving upward, the cooperation between the upper end of the material box and the guiding inclined plane will make the limit pin move towards the limit gear and limit the limit gear. At this time, the upper rotating shaft is locked and the transmission belt cannot rotate, which can effectively prevent the material box from slipping; after the material box slides down between the two clamping units, the flake caustic soda debris adhering to the outer wall part of the material box corresponding to the transmission belt can be wiped. During the rotation of the transmission belt, the friction force between the subsequent part of the transmission belt 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.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] 1. When the material box slides down between the two clamping units, the transmission belt can rotate, and further the material box can move upward, which can ensure the height of the material box during the transfer process.

[0020] 2. After the material box slides down between the two clamping units, the flake caustic soda debris adhering to the outer wall of the material box corresponding to the conveyor belt can be wiped off. During the rotation of the conveyor belt, the friction between the subsequent part of the conveyor belt 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.

[0021] 3. The conveyor belt can rotate outside the mounting plate. Therefore, during the rotation of the conveyor belt, the part of the conveyor belt close to the material box moves away from the material box, and the part of the conveyor belt far from the material box moves closer to the material box. After clamping the material box, the part of the conveyor belt in contact with the material box changes, which can avoid a certain part of the conveyor belt being in contact with the material box all the time and improve the service life of the conveyor belt. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 is a schematic diagram of this manipulator;

[0023] Figure 2 is a positional relationship diagram of the first electric slide rail and the second electric slide rail;

[0024] Figure 3 is a cross-sectional view of the clamping unit;

[0025] Figure 4 is a schematic diagram of the chain inside the conveyor belt;

[0026] Figure 5 is a schematic diagram of the cooperation between the limit pin and the limit gear;

[0027] Figure 6 is a schematic diagram of the cooperation between the slider and the chute;

[0028] Figure 7 is a schematic diagram of the cooperation between the upper tooth ring and the lower tooth ring.

[0029] The names of the components in the 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. Conveyor 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 slope; 19. Chute; 20. Slider; 21. Spring; 22. Upper tooth ring; 23. Torsion spring; 24. Lower tooth ring; 25. Brake motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0031] As Figures 1 - 7As shown in the figure, a manipulator includes a support 1, a connector 2 is installed at the upper end of the support 1, and the connector 2 is fixedly connected to the free end of the robotic arm. On the front and rear sides of the lower end of the support 1, first electric slide rails 3 are installed, and pushing components are fixedly arranged on the sliding parts of the first electric slide rails 3.

[0032] The pushing component includes a mounting frame 4, the mounting frame 4 is fixed on the sliding part of the first electric slide rail 3, and a roller 5 is rotatably connected inside the lower end of the mounting frame 4.

[0033] On the left and right sides of the lower end of the support 1, second electric slide rails 6 are installed, and clamping units are fixedly arranged on the sliding parts of the second electric slide rails 6.

[0034] The clamping unit includes 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 respectively rotatably connected inside the upper and lower sides of the mounting plate 8, a transmission belt 9 is rotatably arranged outside the mounting plate 8, and the upper rotating shaft 11, the lower rotating shaft 13 and the transmission belt 9 are connected through a transmission component.

[0035] A rubber layer is fixed on the outside of the transmission belt 9.

[0036] The transmission component includes two upper sprockets 12 concentrically fixed on the upper rotating shaft 11, two lower sprockets 14 are concentrically fixed on the lower rotating shaft 13, the upper sprockets 12 and the lower sprockets 14 correspond one by one, two chains 10 are fixed on the inner side of the transmission belt 9, and the chains 10 are in transmission connection with the upper sprockets 12 and the lower sprockets 14 on one side thereof. When the upper rotating shaft 11 rotates, the upper sprockets 12 rotate, and when the upper sprockets 12 rotate, the transmission belt 9, the chains 10, the lower sprockets 14 and the lower rotating shaft 13 rotate.

[0037] One end of the mounting plate 8 is fixed with a fixed shell 15, one end of the upper rotating shaft 11 extends into the fixed shell 15, a limiting gear 16 is concentrically fixed on one end of the upper rotating shaft 11 inside the fixed shell 15, a limiting pin 17 is elastically slidably connected to the side of the fixed shell 15 facing the material box to be clamped, one end of the limiting pin 17 is located inside the fixed shell 15, and the other end of the limiting pin 17 is located outside the fixed shell 15.

[0038] Specifically, the moving direction of the limiting pin 17 is parallel to the moving direction of the sliding part of the second electric slide rail 6, a slider 20 is fixed on the limiting pin 17, the slider 20 is slidably arranged in the chute 19 of the fixed shell 15, and the slider 20 is connected to the fixed shell 15 through a spring 21.

[0039] A guiding inclined surface 18 is machined on the lower side of one end of the limiting pin 17 outside the fixed shell 15.

[0040] The other end of the mounting plate 8 is rotatably connected to an upper toothed ring 22. The upper toothed ring 22 is concentric with the upper rotating shaft 11, and the upper toothed ring 22 and the upper rotating shaft 11 are connected by 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 toothed ring 22.

[0041] A brake motor 25 is fixed on the mounting plate 8 below the upper toothed ring 22. A lower toothed ring 24 is fixedly and concentrically arranged on the output shaft of the brake motor 25, and the upper toothed ring 22 meshes with the lower toothed ring 24.

[0042] When clamping the material box, the material box is placed between the two rollers 5 below the support 1. At the same time, two first electric slide rails 3 are started, 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.

[0043] Then, 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 conveyor 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 stores energy, and the upper rotating shaft 11, the lower rotating shaft 13 and the conveyor belt 9 cannot rotate.

[0044] Start the brake motor 25. The brake motor 25 drives the upper toothed ring 22 to rotate through the lower toothed ring 24, and the coil spring 23 stores energy. Then, the material box is driven to move through the cooperation of the robotic arm and this manipulator.

[0045] During the process of this manipulator lifting the material box, when the material box slides down between the two clamping units due to its inertia, the material box loses the block on the limit pin 17. Under the elastic force of the spring 21, the limit pin 17 moves towards the outside of the fixed housing 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 rotating shaft 11 rotates. When the upper rotating shaft 11 rotates, the upper sprocket 12 rotates. When the upper sprocket 12 rotates, the conveyor belt 9, the chain 10, the lower sprocket 14 and the lower rotating shaft 13 rotate. The part of the conveyor belt 9 facing the material box moves upward. The part of the conveyor belt 9 facing the material box moving upward can move the material box upward, and can ensure the height of the material box during the transfer process.

[0046] During the process of the material box moving upward, the cooperation between the upper end of the material box and the guiding inclined surface 18 will cause the limit pin 17 to move towards the limit gear 16 and limit the limit gear 16. At this time, the upper rotating shaft 11 is locked, and the conveyor belt 9 cannot rotate, which can effectively prevent the material box from slipping.

[0047] After the material box slides down between the two clamping units, the flake caustic soda debris adhering to the outer wall part of the material box corresponding to the conveyor belt 9 can be wiped. During the rotation of the conveyor belt 9, the friction between the subsequent part of the conveyor belt 9 contacting 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.

[0048] The conveyor belt 9 can rotate outside the mounting plate 8. Therefore, during the rotation of the conveyor belt 9, the part of the conveyor belt 9 close to the material box will move away from the material box, and the part of the conveyor belt 9 away from the material box will move closer to the material box. After clamping the material box, the part of the conveyor belt 9 contacting the material box changes, which can avoid a certain part of the conveyor belt 9 always contacting the material box and improve the service life of the conveyor belt 9.

[0049] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A manipulator, comprising a support (1), first electric sliding rails (3) are installed on the front and rear sides of the lower end of the support (1), and pushing assemblies are fixed on the sliding parts of the first electric sliding rails (3), characterized in that, On both the left and right sides of the lower end of the support (1), second electric slide rails (6) are installed, and clamping units are fixed on the sliding parts of the second electric slide rails (6); the clamping unit includes 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 respectively rotatably connected inside the upper and lower sides of the mounting plate (8), a transmission belt (9) is rotatably arranged outside the mounting plate (8), the upper rotating shaft (11), the lower rotating shaft (13) and the transmission belt (9) are connected through a transmission component, one end of the mounting plate (8) is fixed with a fixed shell (15), one end of the upper rotating shaft (11) extends into the fixed shell (15), and a limiting gear (16) is concentrically fixed on one end of the upper rotating shaft (11) inside the fixed shell (15), a limiting pin (17) is elastically slidably connected to the side of the fixed shell (15) facing the material box to be clamped, one end of the limiting pin (17) is located inside the fixed shell (15), the other end of the limiting pin (17) is located outside the fixed shell (15), a guiding inclined surface (18) is machined on the lower side of one end of the limiting pin (17) outside the fixed shell (15), a upper toothed ring (22) is rotatably connected to the other end of the mounting plate (8), the upper toothed ring (22) is concentric with the upper rotating shaft (11), the upper toothed ring (22) and the upper rotating shaft (11) are connected through a coil spring (23), a brake motor (25) is fixed on the mounting plate (8) below the upper toothed ring (22), a lower toothed ring (24) is concentrically fixed on the output shaft of the brake motor (25), and the upper toothed ring (22) meshes with the lower toothed ring (24); the material box presses the limiting pin (17) and enables the limiting pin (17) to limit the limiting gear (16), the brake motor (25) is started, and the brake motor (25) drives the upper toothed ring (22) to rotate through the lower toothed ring (24), and the coil spring (23) stores energy; when the material box slides down between the two clamping units, the material box loses the block on the limiting pin (17), the limiting pin (17) moves towards the outside of the fixed shell (15), the limiting pin (17) loses the limit on the limiting gear (16), under the elastic force of the coil spring (23), the part of the transmission belt (9) facing the material box moves upwards, which can make the material box move upwards, and during the upward movement of the material box, the cooperation between the upper end of the material box and the guiding inclined surface (18) will make the limiting pin (17) move towards the limiting gear (16) and limit the limiting gear (16).

2. The manipulator according to claim 1, wherein The transmission component includes two upper sprockets (12) concentrically fixed on the upper rotating shaft (11), two lower sprockets (14) are concentrically fixed on the lower rotating shaft (13), the upper sprockets (12) and the lower sprockets (14) correspond one by one, and two chains (10) are fixed on the inner side of the transmission belt (9), and the chains (10) are in transmission connection with the upper sprockets (12) and the lower sprockets (14) on one side thereof.

3. The manipulator according to claim 1, wherein, A rubber layer is fixed on the outside of the transmission belt (9).

4. The manipulator according to claim 1, characterized in that, The pushing component includes a mounting frame (4), the mounting frame (4) is fixed on the sliding part of the first electric slide rail (3), and a roller (5) is rotatably connected inside the lower end of the mounting frame (4).

5. The manipulator according to claim 1, wherein A connector (2) is installed at the upper end of the support (1), and the connector (2) is fixedly connected to the free end of the robotic arm.

6. The manipulator according to claim 1, wherein, The moving direction of the limit pin (17) is parallel to the moving direction of the sliding part of the second electric slide rail (6). A slider (20) is fixed on the limit pin (17), and the slider (20) is slidably arranged in the chute (19) of the fixed housing (15). The slider (20) is connected to the fixed housing (15) through a spring (21).

7. The manipulator according to claim 1, characterized in that One end of the torsion spring (23) is fixedly connected to the upper rotating shaft (11), and the other end of the torsion 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, characterized in that, When clamping the material box, the material box is located between two pushing components below the support (1). At the same time, two first electric slide rails (3) are started, 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, 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). 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 torsion spring (23) stores energy. Then, the material box is driven to move through the cooperation of the robotic arm and this manipulator. During the process of this manipulator lifting the material box upward, when the material box slides down between the two clamping units, the material box loses the block on the limit pin (17), and the limit pin (17) moves towards the outside of the fixed housing (15). The limit pin (17) loses the limit on the limit gear (16). Under the elastic force of the torsion spring (23), the upper rotating shaft (11) rotates. When the upper rotating shaft (11) rotates, it drives the lower rotating shaft (13) to rotate through the transmission component, and the part of the transmission belt (9) facing the material box moves upward, which can make the material box move upward. During the process of the material box moving upward, the cooperation between the upper end of the material box and the guiding inclined surface (18) will make the limit pin (17) move towards 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. After the material box slides down between the two clamping units, the flake caustic debris adhering to the outer wall part of the material box corresponding to the transmission belt (9) can be wiped. During the rotation of the transmission belt (9), the friction force between the subsequent part of the transmission belt (9) contacting 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.

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