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

Abstract

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

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of auxiliary equipment of mill, specifically discloses a small -size light weight long cantilever type mill relining manipulator. BACKGROUND

[0002] The existing mill relining manipulator can pass through the mill mouth with the diameter of 1200mm, and there is no manipulator suitable for the structure of small caliber mill, and the large arm assembly of the existing mill relining manipulator is generally formed by four steel plates spliced, and the weight is large, the processing amount is large and the structure is not compact. SUMMARY

[0003] In order to solve the problems in the background art, the utility model discloses a small -size light weight long cantilever type mill relining manipulator, including forearm and large arm, light in weight, compact structure, small processing amount, can pass through the mill mouth with the diameter of 860mm, is suitable for small caliber mill.

[0004] In order to achieve the above-mentioned purpose of the application, the utility model adopts the following technical scheme:

[0005] A small -size light weight long cantilever type mill relining manipulator, including forearm and large arm, the large arm includes the inner arm and outer arm of movable sleeve, the inner arm and outer arm include the body of rectangular steel structure respectively, the outer arm body is sleeved on the inner arm body, and the rear end of the outer arm body is movably connected with the base, the outer arm body can move back and forth relative to the base, a lining plate vehicle is movably connected to the top of the outer arm body, the lining plate vehicle can move back and forth relative to the outer arm body, the rear end of the inner arm body is slidably connected with the outer arm body, and the front end of the inner arm body is rotatably connected with the rear end of the forearm through a rotary assembly, under the action of a driving mechanism, the inner arm body can drive the forearm to stretch out and retract along the outer arm body in the axial direction, and the forearm can rotate 360 degrees in a horizontal plane relative to the inner arm body.

[0006] Further, the small -size light weight long cantilever type mill relining manipulator is provided with upper rails extending in the axial direction of the outer arm body on the left and right side faces of the outer arm body, wheels and guide rail limit blocks matched with the upper rails are arranged on both sides of the bottom of the lining plate vehicle, the wheels are in rolling contact with the top surface of the upper rails respectively, the guide rail limit blocks are in sliding contact with the bottom surface of the upper rails respectively, driven wheels and driving wheels are correspondingly arranged on the front and rear ends of the left and right side faces of the outer arm body, a steel wire rope is sleeved between the driving wheel and the driven wheel, the first end and the tail end of the steel wire rope are fixedly connected with the bottom of the lining plate vehicle, and a driving motor or a hydraulic motor can control the lining plate vehicle to move back and forth along the upper rails by controlling the rotating direction of the steel wire rope.

[0007] Furthermore, the small, lightweight, long cantilever mill liner-changing robot arm has a telescopic cylinder at the rear end of the inner arm body. The end of the piston rod of the telescopic cylinder is fixedly connected to the rear cover plate located at the rear end of the outer arm body. The front end of the cylinder body of the telescopic cylinder is fixedly connected to the inner arm body. Rear slides are respectively provided on the left and right side walls at the rear end of the inner arm body. The two rear slides are movably connected to the inner arm body through a connecting shaft passing through the rear end of the inner arm body. Since the inner surface of the outer arm is a non-machined surface, the angle of the rear slides can be finely adjusted by about 0°-5° during the relative movement of the inner and outer arms to prevent jamming. Several second slides are spaced apart on the rear slides, and several first slides are spaced apart on the inner side arm at the front end of the outer arm body. The first and second slides extend along the axial direction of the inner arm body, respectively.

[0008] Furthermore, the small, lightweight, long cantilever mill liner changing robot has lower guide rails arranged parallel to the upper guide rails on the left and right sides of the outer arm body, and guide grooves matched with the lower guide rails are provided on the base. A drag chain is also provided between the bottom of the outer arm body and the base. The drive motor or linear cylinder can control the outer arm body to move back and forth relative to the base along the guide groove by the release amount of the drag chain.

[0009] Furthermore, the small, lightweight, long cantilever mill liner-changing robot arm has a rotary table at the bottom of the rear end of the forearm, and a vertically arranged rotary head on the rotary table. The rotary head is rotatably connected to a rotary head bracket located at the front end of the inner arm body. A first arm section is hinged to the front end of the rotary table. A pitch cylinder is provided between the rotary table and the front end of the first arm section. When the pitch cylinder extends or retracts, it can drive the first arm section to rotate in the vertical plane to adjust its pitch angle relative to the rotary table.

[0010] Furthermore, the small, lightweight, long cantilever mill liner changing robot has limit blocks installed at the front and rear ends of the upper guide rail via supports. The limit blocks are used to restrict the endpoints of the liner carriage's travel along the upper guide rail.

[0011] Furthermore, the small, lightweight, long cantilever mill liner changing robot is equipped with a dustproof plate and a sealing gasket at the front end of the outer arm body. The dustproof plate and sealing gasket are used to prevent dust from entering the inner cavity of the outer arm body.

[0012] Furthermore, the small, lightweight, long cantilever mill liner changing robot is equipped with an emergency stop box at the front end of the inner arm body, which can control the start and stop of the small, lightweight, long cantilever mill liner changing robot.

[0013] Further, the small-sized and light-weight long cantilever type mill liner changing manipulator is provided with an electric control box, an operation box and a driving position which are arranged at intervals on the rotating table, the electric control box is used for controlling the control system of the small-sized and light-weight long cantilever type mill liner changing manipulator, and the operation box is used for manually controlling the small-sized and light-weight long cantilever type mill liner changing manipulator to execute actions.

[0014] Further, the small-sized and light-weight long cantilever type mill liner changing manipulator is provided with a second section arm and a third section arm which are arranged in a sleeved mode at the front end of the first section arm, the second section arm can be telescoped relative to the first section arm, the third section arm can be telescoped relative to the second section arm, and a lifting hook or a clamp for transporting a liner is arranged at the front end of the third section arm.

[0015] Compared with the prior art, the small-sized and light-weight long cantilever type mill liner changing manipulator has the following beneficial effects:

[0016] The small-sized and light-weight long cantilever type mill liner changing manipulator comprises a forearm and an arm, the arm comprises an inner arm and an outer arm which are arranged in a sleeved mode, the inner arm and the outer arm respectively comprise a rectangular steel structure body, the rear end of the outer arm body is movably connected with a base, the outer arm body can move back and forth relative to the base, a liner trolley is movably connected to the top of the outer arm body, the liner trolley can move back and forth relative to the outer arm body, the rear end of the inner arm body is slidably connected with the outer arm body, the front end of the inner arm body is rotatably connected with the rear end of the forearm through a rotating assembly, under the action of a driving mechanism, the inner arm body can drive the forearm to telescopically extend along the outer arm body in the axial direction, and the forearm can rotate 360 degrees in a horizontal plane relative to the inner arm body. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor.

[0018] Figure 1 is the extended state schematic view of the small-sized and light-weight long cantilever type mill liner changing manipulator of the present application;

[0019] Figure 2 is the retracted state schematic view of the small-sized and light-weight long cantilever type mill liner changing manipulator of the present application;

[0020] Figure 3 is Figure 2 is the enlarged structure schematic view of the local part A in the figure;

[0021] Figure 4 isFigure 2 The enlarged structural schematic view of the middle part B;

[0022] Figure 5 The three-dimensional structural schematic view of the outer arm in the utility model;

[0023] Figure 6 The three-dimensional structural schematic view of the inner arm in the utility model;

[0024] Figure 7 The three-dimensional structural schematic view of the forearm in the utility model;

[0025] Figure 8 The three-dimensional structural schematic view of the lining plate vehicle in the utility model;

[0026] Figure 9 The working state schematic view of the small-sized light-weight long cantilever type lining plate changing mechanical arm in the utility model;

[0027] In the above figures:

[0028] 1-lining plate vehicle; 1.1-lining plate vehicle body; 1.2-wheel shaft; 1.3-steel wire rope pressing plate; 1.4-dust blocking plate; 1.5-guide rail limiting block; 1.6-wheel;

[0029] 2-outer arm; 2.1-rear cover plate; 2.2-rear limiting block support; 2.3-rear limiting block; 2.4-driving wheel assembly; 2.5-steel wire rope; 2.6-protective plate; 2.7-telescopic chain plate; 2.8-telescopic chain; 2.9-lower guide rail; 2.10-upper guide rail; 2.11-outer arm body; 2.12-front limiting block; 2.13-front limiting block support; 2.14-connecting rod; 2.15- guide wheel; 2.16-driven wheel protective cover; 2.17-dustproof plate; 2.18-first sliding block;

[0030] 3-inner arm; 3.1-telescopic oil cylinder; 3.2-telescopic chain fixing plate; 3.3-rear sliding seat; 3.4-second sliding block; 3.5-inner arm body; 3.6-rotary head support; 3.7- emergency stop box;

[0031] 4-forearm; 4.1-electric control box; 4.2-rotary head; 4.3-operation box; 4.4-first section arm; 4.5-second section arm; 4.6-third section arm; 4.7-rotary table; 4.8-driving position; 4.9-pitching oil cylinder;

[0032] 5-base. DETAILED DESCRIPTION

[0033] In order to better understand the present application, the content of the present application will be further clearly described below in combination with examples, but the protection content of the present application is not limited to the following examples only. In the following description, a large number of specific details are given in order to provide a more complete understanding of the present application. However, it is obvious for those skilled in the art that the present application can be implemented without one or more of these details, and it should be noted that the mechanical structure of the small and light long cantilever type mill lining plate changing manipulator is the innovation point of the present application, and the control system and power system are not the innovation points of the present application, so they are not described in detail in the present application.

[0034] The accompanying drawings are referred to in combination with the Figures 1-9 The present application is a small and light long cantilever type mill lining plate changing manipulator, which comprises a forearm 4 and a large arm, the large arm comprises an inner arm 3 and an outer arm 2 which are movably sleeved, the inner arm 3 and the outer arm 2 respectively comprise a rectangular steel structure body, the outer arm body 2.11 is sleeved outside the inner arm body 3.5, the rear end of the outer arm body 2.11 is movably connected with the base 5, the outer arm body 2.11 can move forward and backward relative to the base 5, a lining plate trolley 1 is movably connected on the top of the outer arm body 2.11, the lining plate trolley 1 can move forward and backward relative to the outer arm body 2.11, the rear end of the inner arm body 3.5 is slidably connected with the outer arm body 2.11, and the front end of the inner arm body 3.5 is rotatably connected with the rear end of the forearm 4 through a rotary assembly. Under the action of a driving mechanism, the inner arm body 3.5 can drive the forearm 4 to stretch and retract along the outer arm body 2.11 in the axial direction, and the forearm 4 can rotate 360 degrees in a horizontal plane relative to the inner arm body 3.5. The small and light long cantilever type mill lining plate changing manipulator has the advantages of light weight, compact structure, small machining amount, and can pass through a mill port with a diameter of 860mm, is suitable for small caliber mills, and when working, the forearm 4 and the large arm are stretched into the mill cylinder, the outer arm body 2.11 and / or the inner arm body 3.5 are adjusted to the appropriate length by sliding forward and backward, the forearm 4 is rotated, the disassembled lining plate is placed on the lining plate trolley 1 and transferred to the outside of the mill cylinder, then the new lining plate is conveyed to the front end of the outer arm body 2.11 through the lining plate trolley 1, and the forearm 4 is rotated to transfer the new lining plate to the position to be installed. The small and light long cantilever type mill lining plate changing manipulator is suitable for small caliber mills, has high automation degree, and solves the problem of disassembling the lining plate of the small caliber mill.

[0035] As an optional design, the small and light long cantilever type mill lining plate changing robot is preferably provided with upper guide rails 2.10 extending along the axial direction of the outer arm body 2.11 on the left and right sides of the outer arm body 2.11, the lining plate vehicle 1 comprises a lining plate vehicle body 1.1 which is a U-shaped structure with an opening facing outward, and the lining plate vehicle body 1.1 is provided with wheels 1.6 and guide rail limiting blocks 1.5 on both sides of the bottom of the lining plate vehicle body 1.1, which are matched with the upper guide rails 2.10, the wheels 1.6 are rotatably connected to the lining plate vehicle body 1.1 through wheel shafts 1.2, the wheels 1.6 are in rolling contact with the top surfaces of the upper guide rails 2.10 respectively, the guide rail limiting blocks 1.5 are L-shaped structures, the horizontal sections of the guide rail limiting blocks 1.5 are in sliding contact with the bottom surfaces of the upper guide rails 2.10 respectively, the guide rail limiting blocks 1.5 are arranged to prevent the lining plate vehicle 1 from overturning, the driven wheel assembly and the driving wheel assembly 2.4 are correspondingly arranged on the front and rear ends of the left and right sides of the outer arm body 2.11, the driving wheel assembly 2.4 comprises guide wheels 2.15 and driving wheels (not shown in the figure), the driven wheel assembly comprises guide wheels 2.15 and driven wheels (not shown in the figure), the driving wheel assembly and the driven wheel assembly 2.4 are respectively covered with protective covers, the driving wheel protective cover and the driven wheel protective cover 2.16 are connected with the outer arm body 2.11, the steel wire rope 2.5 is sleeved between the driving wheels and the driven wheels 2.15, the guard plate 2.6 is arranged outside the steel wire rope 2.5 and connected with the outer arm body 2.11 through connecting rods 2.14, the guard plate 2.6 is used for protecting the safety of the steel wire rope 2.5 and the site workers, the first end and the second end of the steel wire rope 2.5 are fixedly connected with the bottom of the lining plate vehicle body 1.1, the perforations for penetrating the steel wire rope 2.5 are arranged on the bottom of the lining plate vehicle body 1.1, the steel wire rope pressing plate 1.3 is further arranged on the bottom of the lining plate vehicle body 1.1, the steel wire rope pressing plate 1.3 is arranged above the steel wire rope to press the steel wire rope tightly to avoid the interference of the steel wire rope 2.5 with the wheels 1.6, the dust blocking plates 1.4 are further arranged at both ends of the lining plate vehicle body 1.1, the dust blocking plates 1.4 can remove dust on the outer arm body 2.11 when the lining plate vehicle body 1.1 moves along the outer arm body 2.11, the driven wheel assembly, the driving wheel assembly 2.4, the steel wire rope 2.5 and the driving motor of the driving wheel jointly constitute the driving part of the lining plate vehicle 1, the driving motor controls the rotation direction of the steel wire rope 2.5 to control the lining plate vehicle 1 to move back and forth along the upper guide rails 2.10.

[0036] As an optional design, the small and light long cantilever type mill relining robot is provided with a telescopic oil cylinder 3.1 and a telescopic chain fixing plate 3.2 at the rear end of the inner arm body 3.5, the telescopic chain fixing plate 3.2 is connected with one end of the telescopic chain 2.8, the other end of the telescopic chain 2.8 is connected with the telescopic chain plate 2.7 arranged below the rear end of the inner arm body 3.5, the telescopic oil cylinder controls the releasing amount of the telescopic chain by controlling the telescopic direction of the inner arm body 3.5, the piston rod of the telescopic oil cylinder 3.1 is fixedly connected with the rear cover plate 2.1 arranged at the rear end of the outer arm body 2.11, the front end of the cylinder body of the telescopic oil cylinder 3.1 is fixedly connected with the inner arm body 3.5, the telescopic oil cylinder 3.1 and the telescopic chain jointly control the sliding of the inner arm body 3.5 relative to the outer arm body 2.11, the rear slide seats 3.3 are arranged on the left and right side walls of the rear end of the inner arm body 3.5 respectively, the left and right two rear slide seats 3.3 are movably connected with the inner arm body 3.5 through the shaft arranged in the inner arm body 3.5, since the inner surface of the outer arm is a non-machining surface, the angle of the rear slide seat can be slightly adjusted (about 0°-5°) during the relative movement of the inner arm and the outer arm to prevent jamming, a plurality of second sliding blocks 3.4 are arranged on the side, top and bottom of the rear slide seat 3.3 respectively, a plurality of first sliding blocks 2.18 are arranged on the inner side of the front end of the outer arm body 2.11, the first sliding blocks 2.18 and the second sliding blocks 3.4 respectively extend along the axial direction of the inner arm body 3.5, when the inner arm body 3.5 is telescoped relative to the outer arm body 2.11, the first sliding blocks 2.18 are in contact with the outer side wall of the inner arm body 3.5, and the second sliding blocks 3.4 are in contact with the inner side wall of the outer arm body 2.11, thereby improving the stability of the structure between the inner arm body 3.5 and the outer arm body 2.11.

[0037] As an optional design, the small and light long cantilever type mill relining robot is provided with the lower guide rails 2.9 arranged in parallel with the upper guide rails 2.10 on the left and right side surfaces of the outer arm body 2.11, the guide grooves are arranged on the base 5 and matched with the lower guide rails 2.9, and the drag chain (not shown in the figure) is further arranged between the bottom of the outer arm body 2.11 and the base 5, so that the driving motor or the hydraulic motor can control the back and forth movement of the outer arm body 2.11 along the guide grooves relative to the base 5 by adjusting the releasing amount of the drag chain.

[0038] As an optional design, the small and light long cantilever type mill relining robot is provided with the rotary table 4.7 arranged at the bottom of the rear end of the forearm 4, the rotary head 4.2 is arranged vertically on the rotary table 4.7, the rotary head 4.2 is rotatably connected with the rotary head support 3.6 arranged at the front end of the inner arm body 3.5, the first section arm 4.4 is hingedly connected with the front end of the rotary table 4.7, the pitch oil cylinder 4.9 is arranged between the rotary table 4.7 and the front end of the first section arm 4.4, when the pitch oil cylinder 4.9 is telescoped, the first section arm 4.4 can be rotated in the vertical plane to adjust the pitch angle of the first section arm 4.4 relative to the rotary table 4.7.

[0039] As an optional design, the small-sized and light-weight long cantilever type mill liner changing manipulator is provided with a front limit block 2.12 at the front end of the upper guide rail 2.10 through a front limit block support 2.13, and is provided with a rear limit block 2.3 at the rear end of the upper guide rail 2.10 through a rear limit block support 2.2, and the front limit block 2.12 and the rear limit block 2.3 are used for limiting the end points of the moving stroke of the liner vehicle 1 along the upper guide rail 2.10.

[0040] As an optional design, the small-sized and light-weight long cantilever type mill liner changing manipulator is provided with a dustproof plate 2.17 and a sealing gasket at the front end of the outer arm body 2.11, and the dustproof plate 2.17 and the sealing gasket are used for blocking dust from entering the inner cavity of the outer arm body 2.11.

[0041] As an optional design, the small-sized and light-weight long cantilever type mill liner changing manipulator is provided with an emergency stop box 3.7 at the front end of the inner arm body 3.5, and the start and stop of the small-sized and light-weight long cantilever type mill liner changing manipulator can be controlled through the emergency stop box 3.7 to cope with emergency situations.

[0042] As an optional design, the small-sized and light-weight long cantilever type mill liner changing manipulator is provided with an electric control box 4.1, an operation box 4.3 and a driving position 4.8 which are arranged at intervals on the rotating table 4.7, the electric control box 4.1 is used for controlling the control system of the small-sized and light-weight long cantilever type mill liner changing manipulator, and the operation box 4.3 is used for manually controlling the small-sized and light-weight long cantilever type mill liner changing manipulator to perform actions.

[0043] As an optional design, the small-sized and light-weight long cantilever type mill liner changing manipulator is provided with a second section arm 4.5 and a third section arm 4.6 which are sleeved on the first section arm 4.4 in stages, the second section arm 4.5 can be telescoped relative to the first section arm 4.4, the third section arm 4.6 can be telescoped relative to the second section arm 4.5, the telescoping actions of the second section arm 4.5 and the third section arm 4.6 are controlled through a straight-line oil cylinder and a steel wire rope, a hook or a clamp for carrying a liner is arranged at the front end of the third section arm 4.6, and the position of the hook or the clamp can be finely adjusted when the third section arm 4.6 is telescoped relative to the second section arm 4.5 and the second section arm 4.5 is telescoped relative to the first section arm 4.4, so that the distance between the hook or the clamp and the inner wall of the mill cylinder is adjusted.

[0044] The working process of the utility model is as follows:

[0045] As Figure 9As shown, in working, the forearm 4 and the big arm extend into the mill barrel, the outer arm body 2.11 and / or the inner arm body 3.5 slide forward and backward to adjust the big arm to the proper length, the forearm 4 telescopic rotation adjusts its distance and angle with the inner wall of the mill barrel, the forearm 4 places the disassembled lining plate on the lining plate trolley 1, the lining plate trolley 1 transfers the lining plate to the outside of the mill barrel, then the new lining plate is transported to the front end of the outer arm body 2.11 through the lining plate trolley 1, the forearm 4 telescopic rotation transfers the new lining plate to the position to be installed, the utility model small-sized, light-weight, long cantilever type mill lining plate changing mechanical hand is suitable for small caliber mill, has high degree of automation, and solves the problem of disassembling the lining plate of small caliber mill.

[0046] Finally, it is explained that the above examples are only used to illustrate the technical solutions of the utility model and not to limit, other modifications or equivalent replacements of the technical solutions of the utility model made by the ordinary skilled in the art should be covered in the claim range of the utility model as long as they do not deviate from the spirit and range of the technical solutions of the utility model.

Claims

1. A small and light weight long overhang type mill relining robot characterized by: The long-suspension arm type small and light weight mill relining robot comprises a forearm and a large arm, the large arm comprises a movable sleeved inner arm and outer arm, the inner arm and outer arm respectively comprise a rectangular steel structure body, the outer arm body is sleeved outside the inner arm body, the rear end of the outer arm body is movably connected with the base, the outer arm body can move forward and backward relative to the base, a lining plate vehicle is movably connected on the top of the outer arm body, the lining plate vehicle can move forward and backward relative to the outer arm body, the rear end of the inner arm body is slidably connected with the outer arm body, the front end of the inner arm body is rotatably connected with the rear end of the forearm through a rotating assembly, under the action of a driving mechanism, the inner arm body can drive the forearm to axially stretch and retract along the outer arm body, and the forearm can rotate 360 degrees in a horizontal plane relative to the inner arm body.

2. The small-sized and light-weight long-span type mill relining robot according to claim 1, characterized by: Upper rails extending along the outer arm body in the axial direction are arranged on the left and right sides of the outer arm body, wheels and rail limiting blocks matched with the upper rails are arranged on the both sides of the bottom of the lining plate vehicle, the wheels are respectively in rolling contact with the top surfaces of the upper rails, and the rail limiting blocks are respectively in sliding contact with the bottom surfaces of the upper rails, driven wheels and driving wheels are respectively arranged on the front and rear ends of the left and right sides of the outer arm body, a steel wire rope is sleeved between the driving wheels and the driven wheels, the first and last ends of the steel wire rope are fixedly connected with the bottom of the lining plate vehicle, and a driving motor or a hydraulic motor can control the lining plate vehicle to move back and forth along the upper rails by controlling the rotating direction of the steel wire rope.

3. The small-sized and light-weight long-span type mill relining robot according to claim 1 or 2, characterized by: A telescopic oil cylinder is arranged at the rear end of the inner arm body, the piston rod of the telescopic oil cylinder is fixedly connected with a rear cover plate arranged at the rear end of the outer arm body, and the cylinder body of the telescopic oil cylinder is fixedly connected with the inner arm body, rear sliding seats are respectively arranged on the left and right sides of the rear end of the inner arm body, the rear sliding seats are movably connected with the inner arm body through connecting shafts arranged at the rear end of the inner arm body, a plurality of second sliding blocks are arranged on the rear sliding seats at intervals, a plurality of first sliding blocks are arranged on the inner side of the front end of the outer arm body at intervals, and the first sliding blocks and the second sliding blocks respectively extend along the axial direction of the inner arm body.

4. The small-sized and light-weight long-span type mill relining robot according to claim 3, characterized by: Lower rails parallel to the upper rails are arranged on the left and right sides of the outer arm body, guide grooves matched with the lower rails are arranged on the base, and a drag chain is further arranged between the bottom of the outer arm body and the base, and a driving motor or a linear oil cylinder can control the outer arm body to move back and forth along the guide grooves relative to the base by the release amount of the drag chain.

5. The small-sized and light-weight long-span type mill relining robot according to claim 3, characterized in that: A rotating table is arranged at the bottom of the rear end of the forearm, a rotating head vertically arranged on the rotating table is rotatably connected with a rotating head support arranged at the front end of the inner arm body, a first section arm is hingedly connected to the front end of the rotating table, and a pitching oil cylinder is arranged between the rotating table and the front end of the first section arm, when the pitching oil cylinder stretches and retracts, the first section arm can be rotated in a vertical plane to adjust the pitch angle of the first section arm relative to the rotating table.

6. The small-sized and light-weight long-span type mill relining robot according to claim 3, characterized in that in Limiting blocks are arranged on the front and rear ends of the upper rails through supports, and the limiting blocks are used to limit the end points of the moving stroke of the lining plate vehicle along the upper rails.

7. The small-sized and light-weight long-span type mill relining robot according to claim 3, characterized in that: A dustproof plate and a sealing gasket are arranged on the front end of the outer arm body, and the dustproof plate and the sealing gasket are used to block dust from entering the inner cavity of the outer arm body.

8. The small-sized and light-weight long-span type mill relining robot according to claim 3, characterized by: An emergency stop box is arranged on the front end of the inner arm body, and the emergency stop box is used to control the start and stop of the small and light weight long-suspension arm type mill relining robot.

9. The small-sized and light-weight long-span type mill relining robot according to claim 5, characterized by: The electric control box is arranged on the rotary table and is used for controlling the control system of the small-sized, light-weight long-suspension-arm mill relining robot, and the operation box is used for manually controlling the small-sized, light-weight long-suspension-arm mill relining robot to execute actions.

10. The small-sized and light-weight long-span type mill relining robot according to claim 5, characterized by: The second section arm can be telescopically extended relative to the first section arm, and the third section arm can be telescopically extended relative to the second section arm, and a lifting hook or a clamp for conveying the lining plate is arranged at the front end of the third section arm.

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