A portable liner changing robot for mills

Abstract

This utility model discloses a portable manipulator for changing liners in mills, comprising a cantilever telescopic module, a column lifting module, a rotating module, a steel ball clamping base, a bracket, a swing cylinder, and a remote control device. The rotating module is fixed to the steel ball clamping base, and the column lifting module is fixed to the rotating module. The bracket is mounted on the column lifting module and connected to the cantilever telescopic module. The cantilever telescopic module includes a first telescopic arm, a second telescopic arm, a third telescopic arm, a support, and a telescopic cylinder, allowing adjustment of the manipulator's working distance. The column lifting module includes a column, a lifting cylinder, and a suction cup. The lifting cylinder body is fixed to the column, and the end of the lifting cylinder is screwed into the suction cup, allowing it to adhere to the inner wall of the mill cylinder. The piston rod end of the swing cylinder is connected to the column lifting module, and the cylinder body end is connected to the bracket, using a pin assembly for connection. This utility model allows for adjustable working distance, has a compact structure, reduces workload, and improves safety.

Description

Technical Field

[0001] This utility model relates to a portable liner changing robot suitable for mills, belonging to the field of mill equipment maintenance auxiliary devices. Background Technology

[0002] As a consumable part of the mill, the liner plate gradually thins and becomes damaged until it is unusable due to the impact of steel balls and materials during the grinding process. Therefore, the liner plate must be replaced after reaching a certain service life. Traditional mill liner plate replacement is mainly done manually. The liner plate is located inside the mill cylinder, and each piece weighs about 100-300 kg. Personnel operate under harsh conditions for a long time, resulting in high labor intensity, low work efficiency, and significant safety hazards. Large-scale ball mills use expensive fully automated robotic arms to install and remove the liner plates. These systems are complex and cost millions of yuan per unit, making them unsuitable as standard auxiliary tools for mill equipment. Therefore, there is a need for a liner plate replacement device that is structurally sound, low in manufacturing cost, highly flexible, and environmentally adaptable, capable of efficiently assisting manual labor in the hoisting and transportation of the liner plates inside the ball mill. Utility Model Content

[0003] The technical problem to be solved by this utility model is to provide a portable liner replacement robot suitable for mills, which addresses the shortcomings of the existing technology and solves the problems of liner replacement in the background technology, so as to achieve the purpose of convenient, efficient and safe replacement of mill liners.

[0004] To solve this technical problem, this utility model provides a portable liner changing robot suitable for mills, including a cantilever telescopic module, a column lifting module, a rotating module, a steel ball clamping base, a bracket, a swing cylinder, and a remote control device. The rotating module is fixed to the steel ball clamping base by bolt assemblies, and the column lifting module is fixed to the rotating module by flanges. The bracket is set on the column lifting module and supports the cantilever telescopic module, and the bracket and the cantilever telescopic module are connected by bolt assemblies. The cantilever telescopic module includes a first telescopic arm section, a second telescopic arm section, and a third telescopic arm section. The telescopic arm, support, and telescopic cylinder, driven by the telescopic cylinder, can adjust the horizontal distance of the robot's operation. The column lifting module includes a column, a lifting cylinder, and a suction cup. The cylinder body of the lifting cylinder is fixed to the column, and the end of the lifting cylinder is screwed into the suction cup, which can adhere to the inner wall of cylinders of different diameters. The piston rod end of the swing cylinder is connected to the column lifting module, and the cylinder body end is connected to the bracket. Both are assembled using a pin assembly. The extension and retraction of the piston rod of the swing cylinder causes the assembled bracket and the cantilever telescopic module to swing around the hinge point, which can adjust the pitch angle of the robot.

[0005] The cantilever telescopic module also includes a mounting base and a cover. The three telescopic arms of the cantilever telescopic module are nested according to the arm opening specifications. The first telescopic arm has a row of mounting holes spaced 300mm apart. The second telescopic arm has two mounting holes spaced equidistant from the first telescopic arm. The first telescopic arm is fastened to the two mounting holes on the second telescopic arm by a bolt assembly. Supports are welded to the top of both the second and third telescopic arms, and are connected to the piston rod end and cylinder body end of the telescopic cylinder by a pin assembly, respectively. A mounting base is welded to the third telescopic arm, and the telescopic cylinder is placed in the groove of the mounting base. The cover is fastened to the mounting base by a bolt assembly to bear part of the weight of the telescopic cylinder.

[0006] The bracket is a welded component, consisting of three steel plates welded together to form a "U" shape. Two frustums are welded to the inner walls of the two side steel plates respectively. After welding, round holes are opened to facilitate the installation and positioning of the swing cylinder body end. Two round holes are opened on the bottom steel plate to facilitate the installation and fastening of the third telescopic arm of the cantilever telescopic module.

[0007] The column lifting module also includes mounting bracket one, mounting bracket two, and mounting flange. Mounting bracket one, mounting bracket two, and mounting flange are respectively welded to the column. The lifting cylinder is inserted into the inner wall of the column and fastened to the mounting flange by bolt assembly.

[0008] The rotating module includes a rotating device mounting frame and a hydraulic motor-driven worm gear rotating device. The rotating device mounting frame has flanges at both the upper and lower ends. The upper flange is connected to the mounting flange of the column lifting module, and the lower flange is connected to the rotating body of the hydraulic motor-driven worm gear rotating device. Both are fastened with bolt assemblies. Under the action of the hydraulic motor-driven worm gear rotating device, the robot can achieve a 360° rotation function.

[0009] The steel ball base is a welded assembly, including a mounting plate, stiffening plates, and a base. The stiffening plates are welded together with the mounting plate and the base. The four sides of the base are irregular multi-segment arc structures, which work with the suction cup to hold the cylinder in place, ensuring the robot arm is stable and preventing tipping.

[0010] The first telescopic boom has a lifting lug welded to its lower part, and a hook is mounted on the lifting lug for lifting the liner plate.

[0011] The front end of the first telescopic arm is provided with a through hole, and the handrail is fastened to the through hole of the first telescopic arm by a bolt assembly.

[0012] The remote control device is equipped with ten buttons. Buttons one and two control the extension and retraction of the telescopic cylinder; buttons three and four control the extension and retraction of the swing cylinder; buttons five and six control the extension and retraction of the lifting cylinder; buttons seven and eight control the rotation and stop of the hydraulic motor driven worm gear rotary device; and buttons nine and ten control the reset and emergency stop of the robot arm.

[0013] Beneficial Effects: This utility model adopts a modular design concept. The cantilever telescopic module allows for flexible adjustment of the working horizontal distance, the column lifting module adapts to different working heights, and the swing cylinder and rotation module enable multi-directional and multi-angle operation, meeting the replacement needs of mill liners of different specifications. The overall structure of this utility model is compact, portable, and modular, allowing for easy transport to complex working conditions inside the mill cylinder. The bolt and pin assemblies enable rapid integration of each module, assisting personnel in efficiently installing and transporting liners, reducing the workload of operators, and improving operational safety. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the cantilever telescopic module structure of this utility model; Figure 3 This is a schematic diagram of the bracket structure of this utility model; Figure 4 This is a schematic diagram of the column lifting module structure of this utility model; Figure 5 This is a schematic diagram of the rotating module structure of this utility model; Figure 6 This is a schematic diagram of the steel ball base structure of this utility model; Figure 7 This is a schematic diagram of the operation interface of the remote control device of this utility model; Figure 8 This is a schematic diagram of the usage state of this utility model inside the mill cylinder. Figure 1 ; Figure 9 This is a schematic diagram of the usage state of this utility model inside the mill cylinder. Figure 2 .

[0015] In the diagram: 1. Cantilever telescopic module; 2. Bracket; 3. Swing cylinder; 4. Column lifting module; 5. Rotation module; 6. Steel ball base; 7. Pin assembly; 8. Remote control device; 101. First telescopic arm section; 102. Second telescopic arm section; 103. Third telescopic arm section; 104. Support; 105. Telescopic cylinder; 106. Locking seat; 107. Locking cover; 108. Handrail; 109. Hook; 110. Lifting lug; 401. Suction cup; 402. Lifting cylinder; 403. Mounting bracket one; 404. Mounting bracket two; 405. Column; 406. Mounting flange; 501. Rotary device mounting bracket; 502. Hydraulic motor driven worm gear rotary device; 601. Mounting plate; 602. Rib plate; 603. Base; 801. Button 1; 802. Button 2; 803. Button 3; 804. Button 4; 805. Button 5; 806. Button 6; 807. Button 7; 808. Button 8; 809. Button 9; 810. Button 10. Detailed Implementation

[0016] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0017] like Figures 1-9 As shown, this utility model provides a portable liner changing robot suitable for mills, including a cantilever telescopic module 1, a column lifting module 4, a rotating module 5, a steel ball clamping base 6, a bracket 2, a swing cylinder 3, and a remote control device 8. The rotating module 5 is fixed to the steel ball clamping base 6 by bolt assemblies, and the column lifting module 4 is fixed to the rotating module 5 by flanges. The bracket 2 is set on the column lifting module 4 and supports the cantilever telescopic module 1, and the bracket 2 is connected to the cantilever telescopic module 1 by bolt assemblies. The cantilever telescopic module 1 includes a first telescopic arm 101, a second telescopic arm 102, a third telescopic arm 103, a support 104, and a telescopic cylinder 105. Driven by 5, the horizontal distance of the robot arm can be adjusted to adapt to mill cylinders of different lengths; the column lifting module 4 is equipped with a column 405, a lifting cylinder 402 and a suction cup 401. The cylinder body of the lifting cylinder 402 is fixed on the column 405, and the end of the lifting cylinder 402 is screwed into the suction cup 401, which can be adsorbed onto the inner wall of the cylinder with different diameters; the piston rod end of the swing cylinder 3 is connected to the column lifting module 4, and the cylinder body end is connected to the bracket 2. Both are connected and assembled by a pin assembly 7. The extension and retraction of the piston rod of the swing cylinder 3 drives the assembled bracket 2 and the cantilever telescopic module 1 to swing around the hinge point, which can adjust the pitch angle of the robot arm and ensure that the liner can accurately fit the mounting surface of the mill cylinder.

[0018] The cantilever telescopic module 1 also includes a mounting base 106 and a cover 107. The three telescopic arms of the cantilever telescopic module 1 are nested according to the arm opening specifications. The first telescopic arm 101 has a row of mounting holes spaced approximately 300mm apart. The second telescopic arm 102 has two mounting holes spaced equidistant from the first telescopic arm 101. The first telescopic arm 101 is fastened to the two mounting holes on the second telescopic arm 102 by a bolt assembly, and the extension length can be adjusted. Supports 104 are welded to the top of both the second telescopic arm 102 and the third telescopic arm 103, and are connected to the piston rod end and cylinder body end of the telescopic cylinder 105 respectively by a pin assembly 7. The third telescopic arm 103 has a mounting base 106 welded on it. The telescopic cylinder 105 is placed in the groove of the mounting base 106, and the cover 107 is fastened to the mounting base 106 by a bolt assembly to bear part of the weight of the telescopic cylinder 105.

[0019] The bracket 2 is a welded component, consisting of three steel plates welded together to form a "U" shape. Two truncated cones are welded to the inner walls of the two side steel plates respectively. After welding, round holes are opened to facilitate the installation and positioning of the cylinder end of the swing cylinder 3. Two round holes are opened on the bottom steel plate to facilitate the installation and fastening of the third telescopic arm 103 of the cantilever telescopic module 1.

[0020] The column lifting module 4 also includes a first mounting bracket 403, a second mounting bracket 404, and a mounting flange 406. The first mounting bracket 403, the second mounting bracket 404, and the mounting flange 406 are respectively welded to the column 405. The first mounting bracket 403 is connected to the piston rod end of the swing cylinder 3, the second mounting bracket 404 is connected to the bracket 2, and the lifting cylinder 402 is fitted into the inner wall of the column 405 and fastened to the mounting flange 406 by bolt assembly.

[0021] The rotating module 5 includes a rotating device mounting frame 501 and a hydraulic motor driven worm gear rotating device 502. The rotating device mounting frame 501 has flanges at both the upper and lower ends. The upper flange is connected to the mounting flange 406 of the column lifting module 4, and the lower flange is connected to the rotating body of the hydraulic motor driven worm gear rotating device 502. Both are fastened by bolt assemblies. Under the action of the hydraulic motor driven worm gear rotating device 502, the robot can achieve a 360° rotation function.

[0022] The steel ball clamping base 6 is a welded assembly, including a mounting plate 601, a stiffening plate 602, and a base 603. The stiffening plate 602 is welded together with the mounting plate 601 and the base 603. The four sides of the base 603 are irregular multi-segment arc structures, which can adapt to complex cylindrical environments, facilitate clamping the steel ball, and cooperate with the suction cup 401 to hold the cylinder, ensuring the stability of the robot and preventing tipping.

[0023] A lifting lug 110 is welded to the lower part of the first telescopic boom 101, and a hook 109 is mounted on the lifting lug 110 for lifting the liner plate.

[0024] The front end of the first telescopic arm 101 is provided with a through hole, and the handrail 108 is fastened to the through hole of the first telescopic arm 101 by a bolt assembly. The handrail 108 facilitates maintenance operations.

[0025] The remote control device 8 is equipped with ten operation buttons. Operation buttons 1 (801) and 2 (802) control the extension and retraction of the telescopic cylinder 105; operation buttons 3 (803) and 4 (804) control the extension and retraction of the swing cylinder 3; operation buttons 5 (805) and 6 (806) control the extension and retraction of the lifting cylinder 402; operation buttons 7 (807) and 8 (808) control the rotation and stop of the hydraulic motor-driven worm gear rotary device 502; and operation buttons 9 (809) and 10 (810) control the reset and emergency stop of the robot arm.

[0026] The reset state of the robotic arm is as follows: after the first telescopic arm 101 is removed from the second telescopic arm 102, the telescopic cylinder 105, the swing cylinder 3, and the lifting cylinder 402 will be compressed to the bottom; the emergency stop function of the robotic arm is as follows: when an emergency occurs, the power supply of the robotic arm is cut off and the oil supply is stopped.

[0027] When replacing the liner, the mill is stopped. Maintenance personnel bring this utility model inside the mill cylinder and quickly assemble the cantilever telescopic module 1, bracket 2, swing cylinder 3, column lifting module 4, rotating module 5, and steel ball base 6 using bolt assemblies and pin assemblies 7. Figure 1 As shown, adjust the position of the assembled portable manipulator to ensure that the multi-segment arc structure of the steel ball base 6 is filled with steel balls. Then connect the cable, power supply and oil circuit. Press the operation button 805 of the remote control device 8 to control the lifting cylinder 402 to extend and let the suction cup 401 at its end adhere to the inner wall of the cylinder.

[0028] When moving the liners, depending on the position of the liners inside the mill, the operator holds the handle 108 with one hand and operates the button on the remote control 8 with the other, bringing the hook 109 closer to the liner position. When close, the operator releases the handle 108, suspends the lifting strap on the liner lifting lug onto the hook 109, and operates the button on the remote control 8 again to transfer the liner to the designated area. Repeat the above steps until all liners have been transferred. Then, press the operation button 806 on the remote control 8 to control the lifting cylinder 402 to retract to its limit position. Disconnect the power and oil circuit, disassemble the bolt assembly and pin assembly 7, restore all components of the robotic arm to their initial state, and remove them from inside the mill cylinder.

[0029] This utility model adopts a modular design concept. The horizontal working distance can be flexibly adjusted through the cantilever telescopic module, and the column lifting module can be adapted to different working heights. The swing cylinder and rotation module can realize multi-directional and multi-angle operation, which can meet the replacement needs of mill liners of different specifications.

[0030] This utility model features a compact, portable, and modular overall structure, allowing for easy transport to complex working conditions inside cylinders. The integration of various modules can be completed quickly using bolt and pin assemblies, assisting personnel in efficiently installing and transporting liner plates, reducing worker workload, and improving operational safety.

[0031] The above-described embodiments of this utility model are merely illustrative examples and are not the only ones. All modifications within the scope of this utility model or equivalent to this utility model are encompassed by this utility model.

Claims

1. A portable liner changing robot suitable for mills, characterized in that: The device includes a cantilever telescopic module (1), a column lifting module (4), a rotating module (5), a steel ball base (6), a bracket (2), a swing cylinder (3), and a remote control device (8). The rotating module (5) is fixed to the steel ball base (6) by bolt assembly, and the column lifting module (4) is fixed to the rotating module (5) by flange. The bracket (2) is set on the column lifting module (4) and supports the cantilever telescopic module (1). The bracket (2) is connected to the cantilever telescopic module (1) by bolt assembly. The cantilever telescopic module (1) includes a first telescopic arm (101), a second telescopic arm (102), a third telescopic arm (103), a support (104), and a telescopic cylinder (105). Driven by the telescopic cylinder (105), the horizontal distance of the robot arm can be adjusted. The column lifting module (4) is provided with a column (405), a lifting cylinder (402) and a suction cup (401). The cylinder body of the lifting cylinder (402) is fixed on the column (405), and the end of the lifting cylinder (402) is screwed into the suction cup (401), which can be adsorbed on the inner wall of cylinders of different diameters. The piston rod end of the swing cylinder (3) is connected to the column lifting module (4), and the cylinder body end is connected to the bracket (2). Both are connected and assembled by a pin assembly (7). The extension and retraction of the piston rod of the swing cylinder (3) drives the integrated bracket (2) and the cantilever telescopic module (1) to swing around the hinge point, which can adjust the pitch angle of the robot arm.

2. The portable liner changing robot for mills according to claim 1, characterized in that: The cantilever telescopic module (1) also includes a mounting base (106) and a cover (107). The three telescopic arms of the cantilever telescopic module (1) are nested according to the arm opening specifications. The first telescopic arm (101) has a row of mounting holes spaced 300mm apart. The second telescopic arm (102) has two mounting holes spaced equidistant from the first telescopic arm (101). The first telescopic arm (101) is fastened to the two mounting holes on the second telescopic arm (102) by bolt assembly. Supports (104) are welded on the top of the second telescopic arm (102) and the third telescopic arm (103), respectively, and the piston rod end and cylinder body end of the telescopic cylinder (105) are connected by a pin assembly (7); a card seat (106) is welded on the third telescopic arm (103), and the telescopic cylinder (105) is placed in the groove of the card seat (106). The card cover (107) is fastened to the card seat (106) by a bolt assembly to bear part of the weight of the telescopic cylinder (105).

3. The portable liner changing robot for mills according to claim 1, characterized in that: The bracket (2) is a welded part. Three steel plates are welded together to form a "U" shape. Two truncated cones are welded to the inner walls of the two side steel plates respectively. After welding, round holes are opened to facilitate the installation and positioning of the cylinder end of the swing cylinder (3). Two round holes are opened on the bottom steel plate to facilitate the installation and fastening of the third telescopic arm (103) of the cantilever telescopic module (1).

4. The portable liner changing robot for mills according to claim 1, characterized in that: The column lifting module (4) also includes mounting bracket one (403), mounting bracket two (404) and mounting flange (406). Mounting bracket one (403), mounting bracket two (404) and mounting flange (406) are respectively welded to the column (405). The lifting cylinder (402) is inserted into the inner wall of the column (405) and fastened to the mounting flange (406) by bolt assembly.

5. The portable liner changing robot for mills according to claim 1, characterized in that: The rotating module (5) includes a rotating device mounting bracket (501) and a hydraulic motor driven worm gear rotating device (502). The upper and lower ends of the rotating device mounting bracket (501) are provided with flanges. The upper flange is connected to the mounting flange (406) of the column lifting module (4), and the lower flange is connected to the rotating body of the hydraulic motor driven worm gear rotating device (502). Both are fastened by bolt assemblies. Under the action of the hydraulic motor driven worm gear rotating device (502), the robot can achieve a 360° rotation function.

6. The portable liner changing robot for mills according to claim 1, characterized in that: The steel ball base (6) is a welded assembly, including a mounting plate (601), a stiffening plate (602), and a base (603). The stiffening plate (602) is welded together with the mounting plate (601) and the base (603). The four sides of the base (603) are irregular multi-segment arc structures, which cooperate with the suction cup (401) to hold the cylinder, ensuring that the robot arm tends to be stable and preventing tipping.

7. The portable liner changing robot for mills according to claim 1, characterized in that: The first telescopic boom (101) has a lifting lug (110) welded to its lower part, and a hook (109) is mounted on the lifting lug (110) for lifting the liner plate.

8. The portable liner changing robot for mills according to claim 1, characterized in that: The front end of the first telescopic arm (101) is provided with a through hole, and the handrail (108) is fastened to the through hole of the first telescopic arm (101) by a bolt assembly.

9. The portable liner changing robot for a mill according to any one of claims 1-8, characterized in that: The remote control device (8) is equipped with ten buttons. Button 1 (801) and button 2 (802) control the extension and retraction of the telescopic cylinder (105); button 3 (803) and button 4 (804) control the extension and retraction of the swing cylinder (3); button 5 (805) and button 6 (806) control the extension and retraction of the lifting cylinder (402); button 7 (807) and button 8 (808) control the rotation and stop of the hydraulic motor driven worm gear rotary device (502); button 9 (809) and button 10 (810) control the reset and emergency stop of the robot arm.

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