Ball mill lining plate dismounting and mounting robot

Abstract

The invention relates to the field of ball mill maintenance, in particular to a ball mill lining plate dismounting and mounting robot. The device comprises a bottom plate, a mounting plate is rotationally connected to the middle of the rear side of the upper end face of the bottom plate through a first rotating shaft, and a hinge block and a sliding groove block are fixedly connected to the middles of the front and rear sides of the left end face of the mounting plate correspondingly and rotationally connected with a first connecting rod and a fourth connecting rod through pin shafts; a second connecting rod and a third connecting rod are rotationally connected to the left ends of the first connecting rod and the fourth connecting rod through pin shafts correspondingly, a mounting plate is rotationally connected to the left end of the second connecting rod through a hinge block, and a third motor is fixedly connected to the middle of the left end face of the mounting plate; the middle of the left end face of the adjusting plate is slidably connected with a dismounting plate through a groove block. The device can effectively solve the problems that in the prior art, the dismounting and mounting work of the lining plate of the ball mill is usually manually carried out, and time and labor are consumed.

Description

Technical Field

[0001] The invention relates to the field of ball mill accessories, and in particular to a ball mill liner removal and installation robot. Background Art

[0002] The liner is used to protect the cylinder from direct impact and friction between the grinding body and the material. The current ball mill liner has vibration and noise problems. The methods of adding gaskets and leather rings outside the ball mill cylinder cannot solve the noise and vibration problems. The installation and fixation of the ball mill liner is very loose, which affects the rotation speed of the ball mill, resulting in low work efficiency, low output, and increased production costs.

[0003] However, at present, the removal and installation of the ball mill liner is usually done manually, which takes a lot of time and manpower and has low efficiency. Summary of the invention

[0004] The purpose of the present invention is to solve the shortcomings of the prior art and the problems raised in the above background technology.

[0005] In order to achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a ball mill liner removal and installation robot, comprising a base plate, a mounting plate rotatably connected to the middle part of the rear side of the upper end surface of the base plate through a first rotating shaft, a hinge block and a slide block are respectively fixedly connected to the middle parts of the front and rear sides of the left end surface of the mounting plate, the hinge block and the slide block are rotatably connected to the first connecting rod and the fourth connecting rod through a pin shaft, the left ends of the first connecting rod and the fourth connecting rod are respectively rotatably connected to the second connecting rod and the third connecting rod through a pin shaft, the left end of the second connecting rod is rotatably connected to the mounting plate through a hinge block, the left end of the third connecting rod is rotatably connected to the mounting plate through a pin shaft and a slide block, the middle part of the left end surface of the mounting plate is fixedly connected to a third motor, the output end of the third motor is fixedly connected to an adjusting plate through a pin shaft, and the middle part of the left end surface of the adjusting plate is slidably connected to the disassembly and assembly plate through a groove block.

[0006] Furthermore, a fifth motor is fixedly connected to the upper side of the left end face of the adjusting plate, the output end of the fifth motor is fixedly connected to the third gear via a pin shaft, the third gear is meshingly connected to the disassembly plate via a gear block, the upper and rear ends of the left end face of the mounting plate are fixedly connected to the first cylinder, the piston end of the first cylinder is rotatably connected to the fourth connecting rod via a pin shaft, and the middle part of the fourth connecting rod is rotatably connected to the first connecting rod via a pin shaft.

[0007] Furthermore, the middle part of the second connecting rod is rotatably connected to the third connecting rod via a pin shaft, the middle part of the upper end surface of the disassembly plate is fixedly connected to the fourth motor, the output end of the fourth motor is fixedly connected to a screwdriver via a pin shaft, the middle parts of the left and right sides of the upper end surface of the disassembly plate are rotatably connected to the clamping rod via a pin shaft, the upper end of the clamping rod is rotatably connected to an L-shaped block via a pin shaft, the lower end of the clamping rod close to the fourth motor is fixedly connected to the second worm gear via a pin shaft, and the second worm gear is meshingly connected to the second worm gear.

[0008] Furthermore, a motor plate is fixedly connected to the left side of the upper end surface of the disassembly and assembly plate, a fifth motor is fixedly connected to the right end surface of the motor plate, the second worm is fixedly connected to the output end of the fifth motor, and the fourth gear and the fifth gear are rotatably connected to the middle part of the inner upper end surface of the disassembly and assembly plate through a rectangular plate and a pin shaft.

[0009] Furthermore, the left and right sides of the lower end of the disassembly and assembly plate are slidably connected with the left clamping plate and the right clamping plate through sliding grooves, the fifth gear is meshingly connected with the left clamping plate and the right clamping plate, a second cylinder is fixedly connected to the right side of the inner upper end surface of the disassembly and assembly plate, the second rack is fixedly connected to the output end of the second cylinder, the fourth gear is meshingly connected to the second rack, a second motor is fixedly connected to the middle of the rear side of the upper end surface of the bottom plate, the second gear is fixedly connected to the output end of the second motor, the second gear is fixedly connected to the lower end of the first rotating shaft, and the second gear on the left side is meshingly connected to the second gear on the right side.

[0010] In the present invention, the entire robot is placed inside the ball mill, and an automated flatbed truck for transporting lining plates and bolts is provided inside the ball mill. Then, an external control device is used to start the first cylinder. The first cylinder drives the fourth connecting rod to rotate through the pin shaft. At the same time, the first connecting rod rotates, and the third connecting rod and the second connecting rod rotate at the same time, driving the disassembly plate to move left and right in the horizontal direction. Then, according to the angle of the lining plate, the third motor is started. The third motor drives the adjustment plate to rotate to a suitable position. Then, according to the height of the lining plate, the fifth motor is started to drive the third gear to rotate. The third gear drives the disassembly plate to slide to a suitable position on the groove block through the tooth block. The screwdriver is controlled to align with the mounting bolt of the lining plate. Then, the fourth motor rotates to rotate the bolt. When the bolt is about to fall off, the fifth motor is started to drive the second worm to rotate, so that the two second worm wheels rotate in different directions, drive the clamping rod to rotate, and make the two L-shaped blocks approach each other. The groove of the L-shaped block is used to adjust the position of the disassembly plate. The bolt is clamped, and then the disassembly plate is moved again. The bolt is removed and placed at a designated position on the flatbed truck pre-set inside the ball mill for transporting the liner. The third motor is then started again to rotate the disassembly plate 180 degrees so that the liner is between the left clamping plate and the right clamping plate. The second cylinder is then started, and the second cylinder drives the second rack to move. The fifth gear drives the left clamping plate and the right clamping plate to approach each other, clamping the liner. The disassembly plate is then moved again to remove the liner. Finally, the two second gears can be driven to rotate by the second motor, so that the first shaft drives the installation plate to move, and the liner is placed on the flatbed truck. The automated equipment controls the flatbed to transport the liner and bolts out of the ball mill. Conversely, the liner can be installed, which makes it easier to automatically remove and install the liner of the ball mill, thereby eliminating the need for manual removal and replacement of the liner, improving work efficiency while saving time and manpower. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of the enlarged structure of the middle A area; Figure 3 For the present invention Figure 1 Schematic diagram of the enlarged structure of the middle B area; Figure 4 It is a partial structural schematic diagram of the rear view of the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the enlarged structure of the middle C area; Figure 6 It is a schematic diagram of the local three-dimensional structure of the present invention.

[0012] The numbers in the figure represent: 1. The first rotating shaft; 2. The second motor; 3. The second gear; 4. The mounting plate; 5. The first cylinder; 6. The slide block; 7. The first connecting rod; 8. The second connecting rod; 9. The third connecting rod; 10. The third motor; 11. The third gear; 12. The adjusting plate; 13. The groove block; 14. The disassembly and assembly plate; 15. The second cylinder; 16. The second rack; 17. The fourth gear; 18. The rectangular plate; 19. The screwdriver; 20. The fourth motor; 21. The second worm; 22. The second worm wheel; 23. The fifth motor; 24. The motor plate; 25. The left clamping plate; 26. The right clamping plate; 27. The hinge block; 28. The fourth connecting rod; 29. ​​The mounting plate; 31. The clamping rod; 32. The L-shaped block; 33. The fifth gear; 34. The bottom plate. DETAILED DESCRIPTION

[0013] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0014] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0015] A ball mill liner removal and installation robot according to this embodiment, referring to Figure 1-6 : It includes a base plate 34, the middle part of the rear side of the upper end surface of the base plate 34 is rotatably connected with a mounting plate 4 through a first rotating shaft 1, the middle parts of the front and rear sides of the left end surface of the mounting plate 4 are respectively fixedly connected with hinge blocks 27 and slide blocks 6, the hinge blocks 27 and the slide blocks 6 are both rotatably connected with the first connecting rod 7 and the fourth connecting rod 28 through pins, the left ends of the first connecting rod 7 and the fourth connecting rod 28 are respectively rotatably connected with the second connecting rod 8 and the third connecting rod 9 through pins, the left end of the second connecting rod 8 is rotatably connected with the mounting plate 29 through the hinge block 27, the left end of the third connecting rod 9 is rotatably connected with the mounting plate 29 through the pin and the slide block 6, the middle part of the left end surface of the mounting plate 29 is fixedly connected with the third motor 10, the output end of the third motor 10 is fixedly connected with the adjusting plate 12 through a pin, and the middle part of the left end surface of the adjusting plate 12 is slidably connected with the disassembly plate 14 through a groove block 13.

[0016] Among them, the fifth motor 23 is fixedly connected to the upper side of the left end surface of the adjustment plate 12, the output end of the fifth motor 23 is fixedly connected to the third gear 11 through a pin, and the third gear 11 is meshedly connected to the disassembly plate 14 through a tooth block. The first cylinder 5 is fixedly connected to the upper and rear ends of the left end surface of the installation plate 4, and the fourth connecting rod 28 is rotatably connected to the piston end of the first cylinder 5 through a pin, and the middle of the fourth connecting rod 28 is rotatably connected to the first connecting rod 7 through a pin. The middle of the second connecting rod 8 is rotatably connected to the third connecting rod 9 through a pin, the middle of the upper end surface of the disassembly plate 14 is fixedly connected to the fourth motor 20, and the output end of the fourth motor 20 is fixedly connected to the screwdriver 19 through a pin, the middle of the left and right sides of the upper end surface of the disassembly plate 14 are rotatably connected to the clamping rod 31 through a pin, and the upper end of the clamping rod 31 is rotatably connected to the L-shaped block 32 through a pin, and the lower end of the clamping rod 31 close to the fourth motor 20 is fixedly connected to the second worm gear 22 through a pin, and the second worm gear 22 is meshedly connected to the second worm 21. The motor plate 24 is fixedly connected to the left side of the upper end surface of the disassembly plate 14, the fifth motor 23 is fixedly connected to the right end surface of the motor plate 24, the output end of the fifth motor 23 is fixedly connected to the second worm 21, and the fourth gear 17 and the fifth gear 33 are rotatably connected to the middle part of the inner upper end surface of the disassembly plate 14 through the rectangular plate 18 and the pin shaft. The left and right sides of the lower end of the disassembly plate 14 are respectively slidably connected to the left clamping plate 25 and the right clamping plate 26 through the slide groove, and the fifth gear 33 is meshedly connected to the left clamping plate 25 and the right clamping plate 26. The second cylinder 15 is fixedly connected to the right side of the inner upper end surface of the disassembly plate 14, the second rack 16 is fixedly connected to the output end of the second cylinder 15, and the second rack 16 is meshedly connected to the fourth gear 17. The second motor 2 is fixedly connected to the middle part of the rear side of the upper end surface of the bottom plate 34, and the second motor 2 is fixedly connected to the second gear 3 at the output end. The second gear 3 is fixedly connected to the lower end of the first rotating shaft 1, and the left second gear 3 is meshedly connected to the right second gear 3.First, the entire robot is placed inside the ball mill, and an automated flatbed truck for transporting linings and bolts is provided inside the ball mill. Then, the first cylinder 5 is started using an external control device. The first cylinder 5 drives the fourth connecting rod 28 to rotate through the pin shaft. At the same time, the first connecting rod 7 rotates, and the third connecting rod 9 and the second connecting rod 8 rotate at the same time, driving the disassembly plate 14 to move left and right in the horizontal direction. Then, according to the angle of the lining, the third motor 10 is started. The third motor 10 drives the adjustment plate 12 to rotate to a suitable position. Then, according to the height of the lining, the fifth motor 23 is started to drive the third gear 11 to rotate. The third gear 11 drives the disassembly plate 14 to slide to a suitable position on the groove block 13 through the tooth block. The screwdriver 19 is controlled to align with the mounting bolt of the lining. Then, the fourth motor 20 rotates to rotate the bolt. When the bolt is about to fall off, the fifth motor 23 is started to drive the second worm 21 to rotate, so that the two second worm wheels 22 rotate in different directions, drive the clamping rod 31 to rotate, and make the two L-shaped blocks 32 approach each other. The bolt is clamped by the groove of the L-shaped block 32, and then the disassembly plate 14 is moved again, the bolt is removed, and placed at a designated position on a flatbed truck pre-set inside the ball mill for transporting the liner, and then the third motor 10 is started again to rotate the disassembly plate 14 180 degrees so that the liner is between the left clamping plate 25 and the right clamping plate 26, and then the second cylinder 15 is started, and the second cylinder 15 drives the second rack 16 to move, and the fifth gear 33 drives the left clamping plate 25 and the right clamping plate 26 to move closer to each other, so that the liner Clamp it, then move the disassembly plate 14 again to remove the liner. Finally, the second motor 2 can be used to drive the two second gears 3 to rotate, so that the first rotating shaft 1 drives the installation plate 29 to move, and the liner is placed on the flatbed truck. The automated equipment controls the flatbed to transport the liner and bolts out of the ball mill. Conversely, the liner can be installed, which makes it easier to automatically remove and install the liner of the ball mill, thereby eliminating the need for manual removal and replacement of the liner, saving time and manpower.

[0017] When in use, first, the entire robot is placed inside the ball mill, and an automated flatbed truck for transporting linings and bolts is provided inside the ball mill. Then, the first cylinder 5 is started using an external control device. The first cylinder 5 drives the fourth connecting rod 28 to rotate through the pin shaft. At the same time, the first connecting rod 7 rotates, and the third connecting rod 9 and the second connecting rod 8 rotate at the same time, driving the disassembly plate 14 to move left and right in the horizontal direction. Then, according to the angle of the lining, the third motor 10 is started. The third motor 10 drives the adjustment plate 12 to rotate to a suitable position. Then, according to the height of the lining, the fifth motor 23 is started to drive the third gear 11 to rotate. The third gear 11 drives the disassembly plate 14 to slide to a suitable position on the groove block 13 through the tooth block. The screwdriver 19 is controlled to align with the mounting bolt of the lining. Then, the fourth motor 20 rotates to rotate the bolt. When the bolt is about to fall off, the fifth motor 23 is started to drive the second worm 21 to rotate, so that the two second worm wheels 22 rotate in different directions, driving the clamping rod 31 to rotate, so that the two L-shaped blocks 32 are close to each other. , the bolt is clamped by the groove of the L-shaped block 32, and then the disassembly plate 14 is moved again, the bolt is removed and placed at a designated position on a flatbed truck pre-set inside the ball mill for transporting the liner, and then the third motor 10 is started again to rotate the disassembly plate 14 180 degrees so that the liner is between the left clamping plate 25 and the right clamping plate 26, and then the second cylinder 15 is started, the second cylinder 15 drives the second rack 16 to move, and the fifth gear 33 drives the left clamping plate 25 and the right clamping plate 26 to move closer to each other, so that the liner The plate is clamped, and then the disassembly plate 14 is moved again to remove the liner. Finally, the two second gears 3 can be driven to rotate by the second motor 2, so that the first shaft 1 drives the installation plate 29 to move, and the liner is placed on the flatbed car. The automated equipment controls the flatbed to transport the liner and bolts out of the ball mill. Conversely, the liner can be installed, which makes it easier to automatically remove and install the liner of the ball mill, thereby eliminating the need for manual removal and replacement of the liner, saving time and manpower.

[0018] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A ball mill liner removal and installation robot, characterized in that: The invention comprises a bottom plate (34), wherein the middle part of the rear side of the upper end surface of the bottom plate (34) is rotatably connected to a mounting plate (4) via a first rotating shaft (1), and the middle parts of the front and rear sides of the left end surface of the mounting plate (4) are respectively fixedly connected to a hinge block (27) and a slide block (6), wherein the hinge block (27) and the slide block (6) are both rotatably connected to a first connecting rod (7) and a fourth connecting rod (28) via a pin shaft, and the left ends of the first connecting rod (7) and the fourth connecting rod (28) are respectively rotatably connected to a second connecting rod (8) and a third connecting rod (28) via a pin shaft. The left end of the second connecting rod (8) is rotatably connected to a mounting plate (29) via a hinge block (27); the left end of the third connecting rod (9) is rotatably connected to the mounting plate (29) via a pin shaft and a slide block (6); a third motor (10) is fixedly connected to the middle of the left end surface of the mounting plate (29); an output end of the third motor (10) is fixedly connected to an adjustment plate (12) via a pin shaft; and a disassembly plate (14) is slidably connected to the middle of the left end surface of the adjustment plate (12) via a groove block (13).

2. A ball mill liner removal and installation robot according to claim 1, characterized in that: A fifth motor (23) is fixedly connected to the front side of the left end face of the adjustment plate (12); an output end of the fifth motor (23) is fixedly connected to a third gear (11) via a pin shaft; the third gear (11) is meshingly connected to the disassembly plate (14) via a tooth block; a first cylinder (5) is fixedly connected to the rear end of the left end face of the installation plate (4); a piston end of the first cylinder (5) is rotatably connected to the fourth connecting rod (28) via a pin shaft; and a middle portion of the fourth connecting rod (28) is rotatably connected to the first connecting rod (7) via a pin shaft.

3. A ball mill liner removal and installation robot according to claim 2, characterized in that: The middle portion of the second connecting rod (8) is rotatably connected to the third connecting rod (9) via a pin shaft, the middle portion of the upper end surface of the disassembly plate (14) is fixedly connected to the fourth motor (20), the output end of the fourth motor (20) is fixedly connected to the screwdriver (19) via a pin shaft, the middle portions of the left and right sides of the upper end surface of the disassembly plate (14) are rotatably connected to the clamping rod (31) via a pin shaft, the upper end of the clamping rod (31) is rotatably connected to the L-shaped block (32) via a pin shaft, the lower end of the clamping rod (31) on the side close to the fourth motor (20) is fixedly connected to the second worm gear (22) via a pin shaft, and the second worm gear (22) is meshingly connected to the second worm gear (21).

4. A ball mill liner removal and installation robot according to claim 3, characterized in that: A motor plate (24) is fixedly connected to the left side of the upper end surface of the disassembly plate (14), a fifth motor (23) is fixedly connected to the right end surface of the motor plate (24), the second worm (21) is fixedly connected to the output end of the fifth motor (23), and a fourth gear (17) and a fifth gear (33) are rotatably connected to the middle portion of the inner upper end surface of the disassembly plate (14) via a rectangular plate (18) and a pin shaft.

5. A ball mill liner removal and installation robot according to claim 4, characterized in that: The left and right sides of the lower end of the disassembly and assembly plate (14) are slidably connected to a left clamping plate (25) and a right clamping plate (26) through a sliding groove, respectively; the fifth gear (33) is meshingly connected to the left clamping plate (25) and the right clamping plate (26); a second cylinder (15) is fixedly connected to the right side of the inner upper end surface of the disassembly and assembly plate (14); a second rack (16) is fixedly connected to the output end of the second cylinder (15); the second rack (16) is meshingly connected to the fourth gear (17); a second motor (2) is fixedly connected to the middle of the rear side of the upper end surface of the bottom plate (34); a second gear (3) is fixedly connected to the output end of the second motor (2); the second gear (3) is fixedly connected to the lower end of the first rotating shaft (1); the second gear (3) on the left side is meshingly connected to the second gear (3) on the right side.

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