Six-axis heavy-load manipulator for mounting mill lining plate

Abstract

The invention belongs to the technical field of mill auxiliary equipment, and particularly discloses a six-axis heavy-load manipulator for mounting a mill lining plate, which is characterized in that a horizontal swinging unit drives a primary pitching unit, a translation unit, a rolling swinging unit, a secondary pitching unit and a clamping unit to do synchronous horizontal swinging movement; the first-stage pitching unit drives the translation unit, the rolling pendulum unit, the second-stage pitching unit and the clamping unit to conduct pitching synchronously to adjust the pitching angle, and the translation unit drives the rolling pendulum unit, the second-stage pitching unit and the clamping unit to conduct front-back translation synchronously. The rolling pendulum unit drives the second-stage pitching unit and the clamping unit to rotate to adjust the inclination angle of the second-stage pitching unit and the clamping unit, the second-stage pitching unit drives the clamping unit to finely adjust the pitching angle, the six-axis heavy-load mechanical arm used for installing the mill lining plate can output large torque and bending moment, and the six-axis heavy-load mechanical arm is light in weight, compact in structure, small in machining amount and high in efficiency. The maximum weight of the installed lining plate can be borne to be 6.5 T, and the installation requirement of the lining plate of the large mill is met.

Description

Technical Field

[0001] The present invention belongs to the technical field of mill auxiliary equipment, and specifically discloses a six-axis heavy-duty manipulator for installing mill liners. Background Art

[0002] The mill is divided into a ball mill or a semi-autogenous mill, which is the main equipment for mine grinding. In order to ensure the long-term continuous operation of the mill, liners are installed in the cylinder body of the mill to prevent the cylinder body from being worn. Usually, the liners are divided into several pieces. These liners will be worn during long-term use, and the worn liners need to be removed in time and replaced with new liners. The weight of the liners of large mills is relatively large, and it is extremely inconvenient to replace and install them on site.

[0003] Currently, domestic manufacturers of manipulators for replacing mill liners mainly include Nanchang Xintie Industry, Anshan Tianshengxing, Hefei Chunhua, Luoyang Zhongzhong Automation, etc., and foreign ones include McLellan in the United States, RME Rapid in Australia, and Metso Outotec. The maximum weight of the installed liner of the existing manipulators for replacing mill liners is 2.5T. If the load increases, problems such as a significant increase in weight, an increase in torque and bending moment, and insufficient strength of the manipulator will occur. Summary of the Invention

[0004] In order to solve the problems in the background art, the present invention discloses a six-axis heavy-duty manipulator for installing mill liners, which includes six degrees of freedom: clamping, primary pitching, secondary pitching, rolling and pitching, translation, and horizontal swinging, with light weight, compact structure, small processing volume, and can bear the maximum weight of the installed liner of 6.5T.

[0005] To achieve the above-mentioned invention purpose, the present invention adopts the following technical solutions: A six-axis heavy-duty manipulator for installing mill liners includes a horizontal swinging unit, a primary pitching unit, a translation unit, a rolling and pitching unit, a secondary pitching unit, and a clamping unit. The horizontal swinging unit includes a horizontal swinging cylinder and a wrist connecting plate. The cylinder body of the horizontal swinging cylinder is fixedly connected to the base or other telescopic arms through the wrist connecting plate. The output shaft of the horizontal swinging cylinder is fixedly connected to the connecting seat. Mounting seats and a primary amplitude-changing connecting flange are respectively arranged below the left and right sides of the connecting seat. The primary pitching unit includes a sliding frame arranged below the connecting seat. Primary amplitude-changing linear cylinders are respectively arranged between the two sides at the rear end of the sliding frame and the corresponding primary amplitude-changing connecting flanges. The rear end of the primary amplitude-changing linear cylinder is hinged to the rear end of the sliding frame, and the front end of the primary amplitude-changing linear cylinder is hinged to the primary amplitude-changing connecting flange. The front end of the sliding frame is hinged to the corresponding mounting seat. When the primary amplitude-changing linear cylinder expands and contracts, it can drive the sliding frame to achieve pitching. The translation unit includes a rolling and pitching mounting bracket. The rolling and pitching mounting bracket includes a cross beam passing through and slidingly connected to the sliding frame, and the cross beam can perform translational motion within the sliding frame. The rolling and swinging unit includes a rolling and swinging cylinder, which is fixedly arranged under the rear end of the cross beam. The output shaft of the rolling and swinging cylinder is drivingly connected to the rear end of the cylindrical rolling and swinging connection bracket. The front end of the rolling and swinging connection bracket passes through a vertical plate arranged under the cross beam and is fixedly connected to the secondary luffing cylinder bracket of the secondary pitching unit. The outer side wall of the rolling and swinging connection bracket is rotationally connected to the vertical plate; The secondary pitching unit includes a secondary luffing linear cylinder arranged in the middle of the rolling and swinging connection bracket. The rear end of the cylinder body of the secondary luffing linear cylinder is hingedly connected to the rear end of the secondary luffing cylinder bracket. The piston rod of the secondary luffing linear cylinder is hingedly connected to the upper part of the rear end of the secondary connecting rod. The front end of the secondary connecting rod is hingedly connected to the upper part of the rear end of the gripper outer beam of the clamping unit. The lower part of the rear end of the secondary connecting rod is rotationally connected to the front end of the secondary luffing cylinder bracket through a connecting rod pin A. A fixture for clamping the lining plate is arranged at the front end of the gripper outer beam. When the secondary luffing linear cylinder expands and contracts, the clamping unit is driven by the secondary connecting rod to achieve pitching motion.

[0006] Further, for the six-axis heavy-duty manipulator for installing the mill lining plate, the sliding frame includes a sliding frame body. Front clamping seats are respectively arranged on both sides of the front end of the sliding frame body. A primary pitching pin shaft is arranged between the front clamping seats. The lower part of the mounting seat is movably sleeved on the primary pitching pin shaft. Rear ear seats are respectively arranged on both sides of the rear end of the sliding frame body. A primary luffing linear cylinder is arranged between the rear ear seats and the corresponding primary luffing connection flange. The cylinder body of the primary luffing linear cylinder is hingedly connected to the corresponding rear ear seat through a primary luffing cylinder rear pin shaft. The piston rod of the primary luffing linear cylinder is hingedly connected to the primary luffing connection flange through a primary luffing cylinder front pin shaft. When the primary luffing linear cylinder expands and contracts, it can drive the sliding frame to rotate around the primary pitching pin shaft to achieve pitching.

[0007] Further, for the six-axis heavy-duty manipulator for installing the mill lining plate, a translation linear telescopic cylinder is arranged in parallel above the sliding frame body. The cylinder body of the translation linear telescopic cylinder is fixedly connected to the sliding frame through an oil cylinder fixing clamp. The piston rod end of the translation linear telescopic cylinder is fixedly connected to the cross beam and the vertical plate through a connecting piece. A copper sliding plate in sliding contact with the cross beam is arranged on the inner wall of the sliding frame. When the translation linear telescopic cylinder expands and contracts, it drives the cross beam to slide back and forth in the sliding frame for translation.

[0008] Further, for the six-axis heavy-load manipulator for installing mill liners, the rear end of the cylinder body of the secondary amplitude-changing linear oil cylinder is hinged to the rear end of the secondary amplitude-changing oil cylinder bracket through the secondary amplitude-changing oil cylinder pin A. The piston rod of the secondary amplitude-changing linear oil cylinder is hinged to the upper part of the rear end of the secondary connecting rod through the secondary amplitude-changing oil cylinder pin B. The front end of the secondary connecting rod is hinged to the upper part of the rear end of the grab outer beam through the connecting rod pin B. The lower part of the rear end of the secondary connecting rod is movably sleeved on the connecting rod pin A. Both ends of the connecting rod pin A are fixedly connected to the front end of the secondary amplitude-changing oil cylinder bracket. When the secondary amplitude-changing linear oil cylinder expands and contracts, it drives the grab outer beam to rotate around the connecting rod pin A through the secondary connecting rod to realize the pitching motion of the grab outer beam.

[0009] Further, for the six-axis heavy-load manipulator for installing mill liners, the clamping unit further includes two grab slide beams arranged at the left and right ends of the grab outer beam. The grab outer beam and the grab slide beams are respectively of a frame structure. One end of the grab slide beam extends into the grab outer beam and is slidably connected to the inner wall of the grab outer beam. The other end of the grab slide beam extends outwards. A bidirectional linear oil cylinder is arranged between the grab slide beams. The cylinder body of the bidirectional linear oil cylinder is fixedly connected to the grab outer beam through a grab bushing. The piston rod end of the bidirectional linear oil cylinder is fixedly connected to the corresponding grab slide beam through an oil cylinder pin. Grab pins are respectively arranged in front of the grab slide beams. The grab pins can penetrate into the liner lifting holes to clamp the liners. When the bidirectional linear oil cylinder expands and contracts, the grab slide beams can slide relative to the grab outer beam and drive the grab pins to move away from or towards each other to realize opening and closing.

[0010] Further, for the six-axis heavy-load manipulator for installing mill liners, a swing guard is arranged outside the swing cylinder. The swing guard is connected to the wrist connecting plate through bolts. An emergency stop box is arranged outside the wrist connecting plate. An emergency stop button for controlling the start and stop of the whole machine is installed in the emergency stop box.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows: The six-axis heavy-load manipulator for installing mill liners of the present invention includes a swing unit, a primary pitching unit, a translation unit, a rolling and swinging unit, a secondary pitching unit and a clamping unit. The swing unit drives the primary pitching unit, the translation unit, the rolling and swinging unit, the secondary pitching unit and the clamping unit to perform synchronous swing motion. The primary pitching unit drives the translation unit, the rolling and swinging unit, the secondary pitching unit and the clamping unit to synchronously adjust the pitching angle. The translation unit drives the rolling and swinging unit, the secondary pitching unit and the clamping unit to synchronously perform front-back translation. The rolling and swinging unit drives the secondary pitching unit and the clamping unit to rotate to adjust the tilt angles of the secondary pitching unit and the clamping unit. The secondary pitching unit drives the clamping unit to finely adjust the pitching angle. The six-axis heavy-load manipulator for installing mill liners of the present invention can output a large torque and bending moment, and is light in weight, compact in structure and small in processing amount. It can bear the maximum weight of the installed liner of 6.5T, meeting the installation requirements of large mill liners. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0013] Figure 1 is a three-dimensional structural schematic diagram of the six-axis heavy-duty manipulator of the present invention; Figure 2 is a side view schematic diagram of the six-axis heavy-duty manipulator of the present invention; Figure 3 is a front view structural schematic diagram of the six-axis heavy-duty manipulator of the present invention; Figure 4 is Figure 3 a sectional structural schematic diagram along A-A in Figure 5 is a structural schematic diagram of the secondary amplitude-changing oil cylinder bracket in the present invention; In the above figures: 1 - grab pin; 2 - grab sliding beam; 3 - grab outer beam; 4 - grab bushing; 5 - oil cylinder pin; 6 - secondary connecting rod; 7 - secondary amplitude-changing oil cylinder bracket; 7.1 - U-shaped frame; 7.2 - O-shaped seat; 8 - rolling pendulum mounting bracket; 8.1 - cross beam; 8.2 - vertical plate; 9 - rolling pendulum connecting bracket; 10 - translation linear telescopic oil cylinder; 11 - mounting seat; 12 - primary pitching pin; 13 - sliding frame; 13.1 - sliding frame body; 13.2 - oil cylinder fixing clamp; 13.3 - copper sliding plate; 14 - primary amplitude-changing connecting flange; 15 - primary amplitude-changing linear oil cylinder; 16 - rolling swing cylinder; 17 - rear pin of primary amplitude-changing oil cylinder; 18 - hexagon socket head cap screw; 19 - connecting seat; 20 - emergency stop box; 21 - flat swing guard; 22 - secondary amplitude-changing oil cylinder pin A; 23 - secondary amplitude-changing linear oil cylinder; 24 - secondary amplitude-changing oil cylinder pin B; 25 - connecting rod pin A; 26 - connecting rod pin B; 27 - flat swing cylinder; 28 - screw; 29 - wrist connecting plate; 30 - hose guide frame; 31 - transition screw. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0014] To better understand the present invention, the content of the present invention will be further clearly described below in conjunction with embodiments. However, the protected content of the present invention is not limited to the following embodiments. 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. In addition, it should be noted that the six-axis heavy-duty manipulator for installing mill liners in the present invention requires the cooperation of a control unit, a hydraulic unit, and a power supply unit during operation. The innovation point of the present invention is the mechanical structure of the six-axis heavy-duty manipulator for installing mill liners. The control unit, the hydraulic unit, and the power supply unit are not the innovation points of the present invention, so no detailed description will be given. The control unit, the hydraulic unit, and the power supply unit can meet the working requirements of the six-axis heavy-duty manipulator for installing mill liners in the present invention.

[0015] In the description of the present invention, unless otherwise clearly defined and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0016] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or may include the first and second features not being in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over", and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "under", and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0017] In the description of this embodiment, the orientation or positional relationship such as "above", "below", "left", and "right" is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of description and simplifying the operation, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "A", "B", and "C" are only used for distinction in description and have no special meaning.

[0018] Combined with the attached Figures 1-4, elaborating in detail a six-axis heavy-duty manipulator for installing mill liners according to the present invention, including a horizontal swing unit, a first-level pitching unit, a translation unit, a rolling and swinging unit, a second-level pitching unit, and a clamping unit. The horizontal swing unit includes a horizontal swing cylinder 27 and a wrist connecting plate 29. The cylinder body of the horizontal swing cylinder 27 is fixedly connected to the wrist connecting plate 29 through screws 28. The wrist connecting plate 29 is fixedly connected to the base or other telescopic arms. The output shaft of the horizontal swing cylinder 27 is fixedly connected to the connecting seat 19. Mounting seats 11 and a first-level amplitude-changing connecting flange 14 are respectively arranged below the left and right sides of the connecting seat 19. The mounting seat 11 and the first-level amplitude-changing connecting flange 14 are respectively welded to the connecting seat 19. The horizontal swing cylinder 27 performs a horizontal swing movement through hydraulic drive or swings through a rack and pinion structure connected by meshing driven by a motor. The swing drive of the horizontal swing cylinder 27 adopts the prior art, so no detailed description is given here. The output shaft of the horizontal swing cylinder 27 drives the connecting seat 19, the mounting seat 11, and the first-level amplitude-changing connecting flange 14 to perform a horizontal swing movement. The swing angle range is: -75 0 to +75 0 , and at the same time drives the first-level pitching unit, the translation unit, the rolling and swinging unit, the second-level pitching unit, and the clamping unit to perform synchronous horizontal swing movements. The first-level pitching unit includes a sliding frame 13 arranged below the connecting seat 19. The sliding frame 13 includes a rectangular hollow sliding frame body 13.1. Front clamping seats are respectively arranged on both sides of the front end of the sliding frame body 13.1. A first-level pitching pin shaft 12 is arranged between the front clamping seats. The lower part of the mounting seat 11 is movably sleeved on the first-level pitching pin shaft 12. The front end of the sliding frame body 13.1 is hinged to the mounting seat 11 through the first-level pitching pin shaft 12. Rear ear seats are respectively arranged on both sides of the rear end of the sliding frame body 13.1. A first-level amplitude-changing linear oil cylinder 15 is arranged between the rear ear seats and the corresponding first-level amplitude-changing connecting flange 14. The cylinder body of the first-level amplitude-changing linear oil cylinder 15 is hinged to the corresponding rear ear seat through a first-level amplitude-changing oil cylinder rear pin shaft 17. The piston rod of the first-level amplitude-changing linear oil cylinder 15 is hinged to the first-level amplitude-changing connecting flange 14 through a first-level amplitude-changing oil cylinder front pin shaft. When the first-level amplitude-changing linear oil cylinder 15 expands and contracts, it drives the sliding frame body 13.1 to rotate around the first-level pitching pin shaft 12 to achieve pitching, and at the same time drives the translation unit, the rolling and swinging unit, the second-level pitching unit, and the clamping unit to perform synchronous pitching. The pitching angle range is: +30 0 to -105 0 ; The translation unit includes a roll mounting bracket 8, and the roll mounting bracket 8 includes a crossbeam 8.1 and a vertical plate 8.2. The crossbeam 8.1 extends along the axial direction of the sliding frame body 13.1, and the vertical plate 8.2 is vertically connected to the front end of the crossbeam 8.1. The crossbeam 8.1 is penetrated in the sliding frame body 13.1 and is slidably connected to the sliding frame body 13.1. Under the action of the driving device, the crossbeam 8.1 can perform forward and backward translational movement in the sliding frame body 13.1, and at the same time drive the roll unit, the secondary pitch unit and the clamping unit to perform translational movement synchronously. It should be noted here that the driving device adopts an existing hydraulic rod, pneumatic rod or electric telescopic rod, and the hydraulic rod, pneumatic rod or electric telescopic rod uses an external hydraulic station, gas station or power supply to provide working power; The roll unit includes a rolling swing cylinder 16, which is fixedly arranged below the rear end of the cross beam 8.1 by a hexagonal cylindrical head screw 18. The output shaft of the rolling swing cylinder 16 is transmission-connected with the rear end of the cylindrical roll connection bracket 9. A through hole penetrating the front and rear end surfaces of the vertical plate 8.2 is arranged at a position corresponding to the roll connection bracket 9 on the vertical plate 8.2. The front end of the roll connection bracket 9 passes through the through hole and is fixedly connected with the front end of the secondary variable amplitude cylinder bracket 7 of the secondary pitch unit. The outer wall of the roll connection bracket 9 is rotationally connected to the vertical plate 8.2. A self-lubricating bearing is arranged between the vertical plate 8.2 and the roll connection bracket 9. The output shaft of the roll swing cylinder 16 is driven by hydraulic pressure to rotate, driving the roll connection bracket 9 to rotate around the central axis of the through hole of the vertical plate 8.2, and at the same time driving the secondary pitch unit and the clamping unit to rotate synchronously. The rolling angle range is: -75 0 To +75 0 ; The secondary pitch unit includes a secondary variable-length linear oil cylinder 23 disposed in the middle of the roll connection bracket 9, and the secondary variable-length oil cylinder bracket 7 has a structure as shown in FIG. Figure 5As shown in the figure, the secondary luffing oil cylinder bracket 7 includes a U-shaped frame 7.1 and an O-shaped seat 7.2. The opening of the U-shaped frame 7.1 faces forward and is welded or integrally provided with the O-shaped seat 7.2. The U-shaped frame 7.1 extends into the rolling pendulum connection bracket 9, and the O-shaped seat 7.2 is fixedly connected to the front end of the rolling pendulum connection bracket 9. The rear end of the cylinder body of the secondary luffing linear oil cylinder 23 is hinged to the rear end of the U-shaped frame 7.1 through the secondary luffing oil cylinder pin A22. The piston rod of the secondary luffing linear oil cylinder 23 is hinged to the upper part of the rear end of the secondary connecting rod 6 through the secondary luffing oil cylinder pin B24. The front end of the secondary connecting rod 6 is hinged to the upper part of the rear end of the grab outer beam 3 through the connecting rod pin B26. The lower part of the rear end of the secondary connecting rod 6 is movably sleeved on the connecting rod pin A25. Both ends of the connecting rod pin A25 are fixedly connected to the O-shaped seat 7.2 of the secondary luffing oil cylinder bracket 7. The lower part of the rear end of the secondary connecting rod 6 is rotationally connected to the secondary luffing oil cylinder bracket 7 through the connecting rod pin A25. A clamp for clamping the lining plate is provided at the front end of the grab outer beam 3. When the secondary luffing linear oil cylinder 23 expands and contracts, the grab outer beam 3 is driven to rotate around the connecting rod pin A25 through the secondary connecting rod 6, realizing the secondary pitching motion of the grab outer beam 3, and at the same time driving the clamping unit to perform synchronous secondary pitching motion.

[0019] As an optional design, it is preferred that the six-axis heavy-duty manipulator for installing the mill lining plate is provided with a translation linear telescopic oil cylinder 10 arranged in parallel above the sliding frame body 13.1. The cylinder body of the translation linear telescopic oil cylinder 10 is fixedly connected to the sliding frame 13 through the oil cylinder fixing clamp 13.2. The piston rod end of the translation linear telescopic oil cylinder 10 is fixedly connected to the cross beam 8.1 and the vertical plate 8.2 through a connecting piece. A copper sliding plate 13.3 in sliding contact with the cross beam 8.1 is arranged on the inner wall of the sliding frame 13. When the translation linear telescopic oil cylinder 10 expands and contracts, it drives the cross beam 8.1 to slide back and forth in the sliding frame 13, and at the same time drives the rolling pendulum unit, the secondary pitching unit and the clamping unit to perform synchronous translation motion.

[0020] As an alternative design, it is preferred that for the six-axis heavy-duty manipulator for installing mill liners, the clamping unit further includes two gripper slide beams 2 provided at the left and right ends of the gripper outer beam 3. The gripper outer beam 3 and the gripper slide beam 2 are respectively of a frame structure. One end of the gripper slide beam 2 extends into the gripper outer beam 3 and is slidably connected to the inner wall of the gripper outer beam 3. The other end of the gripper slide beam 2 extends outward. A double-acting linear oil cylinder is provided between the gripper slide beams 2. The cylinder body of the double-acting linear oil cylinder is fixedly connected to the gripper outer beam 3 through a gripper bushing 4, and the piston rod end of the double-acting linear oil cylinder is fixedly connected to the corresponding gripper slide beam 2 through an oil cylinder pin 5. At least one gripper pin 1 is provided in front of the gripper slide beam 2 through a pin plate. Preferably, two gripper pins 1 are arranged at intervals up and down on the pin plates of each slide beam 2, for a total of four gripper pins 1. When the double-acting linear oil cylinder expands and contracts, the gripper slide beam 2 can slide relative to the gripper outer beam 3 and drive the gripper pins 1 to move away from or towards each other to achieve opening and closing, adjusting the left and right spacing of the gripper pins 1. The range of the left and right spacing of the gripper pins 1 is: 426 - 616 mm. The gripper pins 1 can pass through the lifting holes of the liner to clamp the liner and then operate the manipulator for installation. Since the 6.5T load is relatively large, it is more stable to clamp with four gripper pins 1.

[0021] As an alternative design, it is preferred that for the six-axis heavy-duty manipulator for installing mill liners, a flat swing guard 21 is provided outside the flat swing cylinder 27. The flat swing guard 21 is connected to the wrist connecting plate 29 by bolts. An emergency stop box 20 is provided outside the wrist connecting plate 29. An emergency stop button for controlling the start and stop of the whole machine is installed in the emergency stop box 20. A hose guide frame 30 is connected to the top of the flat swing cylinder 27 through a transition screw 31.

[0022] The working process of the present invention is as follows: The six-axis heavy-duty manipulator for installing mill liners of the present invention is fixedly connected to the base or other telescopic arms through the wrist connecting plate 29.

[0023] The output shaft of the flat swing cylinder 27 drives the connecting seat 19, the mounting seat 11 and the first-stage luffing connecting flange 14 to perform a flat swing motion, and at the same time drives the first-stage pitching unit, the translation unit, the rolling and swinging unit, the second-stage pitching unit and the clamping unit to perform synchronous flat swing motions; The first-stage luffing linear oil cylinder 15 expands and contracts, driving the sliding frame body 13.1 to achieve pitching, and at the same time driving the translation unit, the rolling and swinging unit, the second-stage pitching unit and the clamping unit to perform synchronous pitching to adjust the pitching angle; When the translation linear telescopic oil cylinder 10 expands and contracts, it drives the cross beam 8.1 to slide back and forth in the sliding frame 13, and at the same time drives the rolling and swinging unit, the second-stage pitching unit and the clamping unit to perform synchronous back-and-forth translation motions; The output shaft of the hydraulic-driven rolling pendulum swing cylinder 16 makes a rotational motion, driving the rolling pendulum connecting bracket 9 to rotate around the central axis of the through-hole of the vertical plate 8.2, and simultaneously driving the secondary pitching unit and the clamping unit to make synchronous rotational motions; The telescoping of the secondary luffing linear oil cylinder 23 drives the outer beam 3 of the grab to rotate around the connecting rod pin shaft A25 through the secondary connecting rod 6, realizing the secondary pitching action of the outer beam 3 of the grab, and simultaneously driving the clamping unit to achieve synchronous secondary pitching motion and finely adjusting the pitching angle of the clamping unit; When the bidirectional linear oil cylinder telescopes, the grab sliding beam 2 slides relative to the outer beam 3 of the grab and drives the grab pin shaft 1 to move away from or towards each other to realize opening and closing. After the grab pin shaft 1 passes through the lining hoisting hole to clamp the lining, the manipulator is operated for installation; The six-axis heavy-duty manipulator for installing mill linings of the present invention includes six degrees of freedom: horizontal swing, primary pitching, translation, rolling pendulum, secondary pitching, and clamping. It can output large torque and bending moment, and has the advantages of light weight, compact structure, and small machining volume. It can bear the maximum weight of the installed lining of 6.5T, meeting the installation requirements of large mill linings.

[0024] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Any other modifications or equivalent replacements made by those of ordinary skill in the art to the technical solutions of the present invention should be covered within the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solutions of the present invention.

Claims

1. A six-axis heavy-duty manipulator for installing mill liners, characterized in that: It includes a horizontal swing unit, a first-level pitching unit, a translation unit, a rolling and swinging unit, a second-level pitching unit and a clamping unit. The horizontal swing unit includes a horizontal swing cylinder and a wrist connecting plate. The cylinder body of the horizontal swing cylinder is fixedly connected to the base or other telescopic arms through the wrist connecting plate. The output shaft of the horizontal swing cylinder is fixedly connected to the connecting seat. Mounting seats and first-level amplitude-changing connecting flanges are respectively arranged below the left and right sides of the connecting seat. The first-level pitching unit includes a sliding frame arranged below the connecting seat. First-level amplitude-changing linear oil cylinders are respectively arranged between the two sides of the rear end of the sliding frame and the corresponding first-level amplitude-changing connecting flanges. The rear end of the first-level amplitude-changing linear oil cylinder is hinged to the rear end of the sliding frame, and the front end of the first-level amplitude-changing linear oil cylinder is hinged to the first-level amplitude-changing connecting flange. The front end of the sliding frame is hinged to the corresponding mounting seat. When the first-level amplitude-changing linear oil cylinder expands and contracts, it can drive the sliding frame to achieve pitching. The translation unit includes a rolling and swinging mounting bracket, and the rolling and swinging mounting bracket includes a cross beam passing through and slidingly connected to the sliding frame, and the cross beam can perform translational movement within the sliding frame. The rolling and swinging unit includes a rolling and swinging cylinder, which is fixedly arranged below the rear end of the cross beam. The output shaft of the rolling and swinging cylinder is drivingly connected to the rear end of the cylindrical rolling and swinging connecting bracket. The front end of the rolling and swinging connecting bracket passes through a vertical plate arranged below the cross beam and is fixedly connected to the second-level amplitude-changing oil cylinder bracket of the second-level pitching unit. The outer side wall of the rolling and swinging connecting bracket is rotationally connected to the vertical plate. The second-level pitching unit includes a second-level amplitude-changing linear oil cylinder arranged in the middle of the rolling and swinging connecting bracket. The rear end of the cylinder body of the second-level amplitude-changing linear oil cylinder is hinged to the rear end of the second-level amplitude-changing oil cylinder bracket. The piston rod of the second-level amplitude-changing linear oil cylinder is hinged to the upper part of the rear end of the second connecting rod. The front end of the second connecting rod is hinged to the upper part of the rear end of the gripper outer beam of the clamping unit. The lower part of the rear end of the second connecting rod is rotationally connected to the front end of the second-level amplitude-changing oil cylinder bracket through a connecting rod pin A. A clamp for clamping the lining plate is arranged at the front end of the gripper outer beam. When the second-level amplitude-changing linear oil cylinder expands and contracts, it drives the clamping unit to achieve pitching motion through the second connecting rod.

2. The six-axis heavy-duty manipulator for installing mill liners according to claim 1, characterized in that: The sliding frame includes a sliding frame body. Front clamping seats are respectively arranged on both sides of the front end of the sliding frame body. A first-level pitching pin shaft is arranged between the front clamping seats. The lower part of the mounting seat is movably sleeved on the first-level pitching pin shaft. Rear ear seats are respectively arranged on both sides of the rear end of the sliding frame body. A first-level amplitude-changing linear oil cylinder is arranged between the rear ear seat and the corresponding first-level amplitude-changing connecting flange. The cylinder body of the first-level amplitude-changing linear oil cylinder is hinged to the corresponding rear ear seat through a first-level amplitude-changing oil cylinder rear pin shaft. The piston rod of the first-level amplitude-changing linear oil cylinder is hinged to the first-level amplitude-changing connecting flange through a first-level amplitude-changing oil cylinder front pin shaft. When the first-level amplitude-changing linear oil cylinder expands and contracts, it can drive the sliding frame to rotate around the first-level pitching pin shaft to achieve pitching.

3. The six-axis heavy-load manipulator for installing mill liners according to claim 2, characterized in that: A translational linear telescopic oil cylinder is arranged in parallel above the sliding frame body. The cylinder body of the translational linear telescopic oil cylinder is fixedly connected to the sliding frame through an oil cylinder fixing clamp. The piston rod end of the translational linear telescopic oil cylinder is fixedly connected to the cross beam and the vertical plate through a connecting piece. A copper sliding plate in sliding contact with the cross beam is arranged on the inner wall of the sliding frame. When the translational linear telescopic oil cylinder expands and contracts, it drives the cross beam to slide back and forth within the sliding frame for translation.

4. The six-axis heavy-load manipulator for installing mill liners according to claim 3, characterized in that: The rear end of the cylinder body of the second-stage luffing linear cylinder is hinged to the rear end of the second-stage luffing cylinder bracket through the second-stage luffing cylinder pin A. The piston rod of the second-stage luffing linear cylinder is hinged to the upper rear part of the rear end of the second connecting rod through the second-stage luffing cylinder pin B. The front end of the second connecting rod is hinged to the upper rear part of the rear end of the gripper outer beam through the connecting rod pin B. The lower part of the rear end of the second connecting rod is movably sleeved on the connecting rod pin A. Both ends of the connecting rod pin A are fixedly connected to the front end of the second-stage luffing cylinder bracket. When the second-stage luffing linear cylinder expands and contracts, the gripper outer beam is driven by the second connecting rod to rotate around the connecting rod pin A to realize the pitching motion of the gripper outer beam.

5. The six-axis heavy-duty manipulator for installing mill liners according to claim 3, characterized in that: The clamping unit further includes two gripper slide beams arranged at the left and right ends of the gripper outer beam. The gripper outer beam and the gripper slide beams are respectively of a frame structure. One end of the gripper slide beam extends into the gripper outer beam and is slidably connected to the inner wall of the gripper outer beam. The other end of the gripper slide beam extends outwards. A double-acting linear cylinder is arranged between the gripper slide beams. The cylinder body of the double-acting linear cylinder is fixedly connected to the gripper outer beam through a gripper bushing. The piston rod end of the double-acting linear cylinder is fixedly connected to the corresponding gripper slide beam through a cylinder pin. Gripper pins are respectively arranged in front of the gripper slide beams. The gripper pins can pass through the lining lifting holes to clamp the lining. When the double-acting linear cylinder expands and contracts, the gripper slide beams can slide relative to the gripper outer beam and drive the gripper pins to move away from or towards each other to realize opening and closing.

6. The six-axis heavy-load manipulator for installing mill liners according to claim 3, characterized in that: A slewing guard is provided outside the slewing swing cylinder. The slewing guard is connected to the wrist connecting plate by bolts. An emergency stop box is arranged on the outside of the wrist connecting plate. An emergency stop button for controlling the start and stop of the whole machine is installed in the emergency stop box.

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