CN-121988530-A - Balling disk screening manipulator based on force threshold perception and driving arm thereof

CN121988530ACN 121988530 ACN121988530 ACN 121988530ACN-121988530-A

Abstract

The application provides a balling disk screening manipulator based on force threshold perception and a driving arm thereof, which are used for automatically distinguishing and treating large balls with the particle size exceeding the standard from high-hardness foreign matters in balling disk systems of metallurgy, chemical industry and the like. The mechanical arm comprises a base frame, a fixed tooth frame, a movable tooth structure, a damping structure and a damping adjusting structure, wherein a mechanical threshold is set by adjusting the compression range or the pretightening force of a damping piece, so that a limit switch is triggered when encountering non-crushable foreign matters, and the movable tooth is stopped. The matched driving arm comprises a mechanical arm, a rotating structure and a lifting structure, when the limit switch is triggered, the rotating structure drives the mechanical arm to move the mechanical arm out of the balling disc, so that foreign matters are removed, and the automatic reset operation is continued after the foreign matters are released. The application does not need to rely on complex electronic sensing, and realizes the integrated screening and crushing operation under the working condition of high dust and strong impact.

Inventors

WANG QINGHE
LIU HANYONG
WANG JINLUN
WANG FENG
ZHU SHUANGYUE
ZHANG ZIYUE

Assignees

中和(山东)工程技术有限公司

Dates

Publication Date: 20260508
Application Date: 20260319

Claims (9)

1. Balling disk screening manipulator based on force threshold perception, its characterized in that includes: A base frame that performs a turning motion and/or a moving motion by connecting a robot arm; the fixed tooth frame is in an opening structure and is arranged below the base frame, and a plurality of fixed teeth extending towards the opening are arranged on the frame body of the fixed tooth frame; The movable tooth structure comprises movable teeth and a driving piece, wherein the driving piece drives the movable teeth to rotate forwards or reversely in the fixed tooth frame and the base frame, and in the forward or reverse stroke, the movable teeth pass through gaps among the fixed teeth; the damping structure comprises a connecting piece and a damping piece, wherein the connecting piece is sequentially connected with the base frame, the damping piece and the fixed tooth frame in series, and two ends of the damping piece respectively lean against the base frame and the fixed tooth frame; The damping adjusting structure comprises an adjusting piece and a limit switch, wherein the adjusting piece is used for restraining the pretightening force of the damping piece by adjusting the distance between a base frame and a fixed tooth frame, when the impact force of the driven tooth of the fixed tooth frame exceeds the pretightening force, the damping piece is compressed by force to trigger the limit switch, and when the limit switch is triggered, the driving piece enables the driven tooth to keep the current position.
2. The force threshold sensing based balling disk screening robot of claim 1, wherein, The base frame comprises a first frame and a second frame which are connected with each other through an upper staggered platform and a lower staggered platform, wherein the first frame is positioned above the second frame and is parallel to the tooth fixing frame.
3. The force threshold sensing based balling disk screening robot of claim 2, wherein, The number of the damping pieces is a plurality of, and the damping pieces are symmetrically distributed between the first frame and the tooth fixing frame along the center line of the opening.
4. The force threshold sensing-based balling disk screening manipulator of claim 3, wherein, The frame body of the second frame is provided with a damping gasket, and the driving piece is connected with the second frame through the damping gasket.
5. The force threshold sensing based balling disk screening robot of claim 4, wherein, The movable teeth are provided with a plurality of groups and are distributed on the surface of the driving piece in an equal radian manner; the front ends of the movable teeth and the fixed teeth, which are staggered, are bent into the first frame plane.
6. The force threshold sensing based balling disk screening robot of claim 5, wherein, The damping adjusting structure is configured to enable the triggering force threshold of the limit switch to be larger than the extrusion force required by crushing the material balls with the exceeding-standard particle size and smaller than the extrusion force required by crushing the high-hardness foreign matters, and the material balls with the exceeding-standard particle size are defined as the material balls with the diameter larger than the fixed tooth distance.
7. A balling disk screening robot arm based on force threshold sensing, for driving a balling disk screening robot based on force threshold sensing as claimed in any one of claims 1 to 6, comprising: The front part of the mechanical arm is fixedly connected with the base frame; and the rotating structure is rotationally connected with the root of the mechanical arm, and when the limit switch is triggered, the rotating structure drives the mechanical arm to rotate so that the base frame leaves the balling disc.
8. The force threshold sensing-based balling disk screening manipulator arm of claim 7, wherein, The mechanical arm is provided with an extensible and contractible lifting structure, and the upper end of the lifting structure is rotatably connected with the mechanical arm.
9. The force threshold sensing-based balling disk screening manipulator arm of claim 8, wherein, When the limit switch is released, the rotating structure drives the mechanical arm to rotate so that the base frame is stopped above the balling disc ball pile.

Description

Balling disk screening manipulator based on force threshold perception and driving arm thereof Technical Field The application relates to the technical field of mechanical crushing and screening, in particular to a balling disk screening manipulator based on force threshold perception and a driving arm thereof. Background The balling disk is widely applied to raw material industries such as metallurgy, chemical industry and the like, and the powder materials are rolled into balls by rolling the balling disk so as to meet the requirement of the subsequent roasting and reaction process. In the continuous operation process of the balling disk, large balls with the exceeding particle size can appear due to fluctuation of material proportion, deviation of moisture control or equipment abrasion, and the quality uniformity of finished balls can be affected if the large balls are not crushed in time. In addition, the raw materials may be mixed with high-hardness foreign matters such as metal blocks, refractory brick fragments and the like, and if the hard foreign matters are retained in the disk, the hard foreign matters may repeatedly strike the scraper, the disk bottom or the baffle plate in the high-speed rotating balling disk, so that equipment wear is caused, and even shutdown accidents are caused. The material formed by agglomerating the balling disk has various shapes, the mineral powder can be adhered to the surface of the agglomerated foreign matters at times, and finally, a large-diameter sphere wrapping the hard material is formed, but the mechanical response of the large-diameter sphere is quite different from that of the large sphere, namely, the large sphere can be crushed under moderate extrusion force, and the hard foreign matters are almost incompressible. Most of the traditional crushing mechanisms are special crushing mechanisms, and have no screening function, and the traditional screening mechanisms are difficult to adapt to the inclined disc body structure and the high-speed operation condition of the balling disc. Thus, in a multi-function device design with both sizing and crushing, flexible cushioning and rigid resistance appear to be a pair of contradictions that attempts to increase impact resistance by adding flexible cushioning tend to sacrifice effective crushing force on the large ball. Although detection elements such as limit switches and displacement sensors are known in industrial automation, the detection elements are integrated with a crushing executing mechanism, dynamic displacement of a mechanical structure is used as a judging basis to realize crushing knife transportation integrated operation, and no effective solution is found under the special working condition of high dust, strong impact and continuous operation of a balling disk. The prior art does not disclose how to set a reasonable mechanical threshold to distinguish big balls from foreign matters, nor propose a closed-loop execution mechanism capable of automatically completing foreign matter removal under the condition of no shutdown. Disclosure of Invention In a first aspect, the application provides a balling disk screening manipulator based on force threshold perception, which realizes intelligent screening of big balls and hard materials through a mechanical principle. The technical scheme of the application is as follows: Balling disk screening manipulator based on force threshold perception includes: A base frame that performs a turning motion and/or a moving motion by connecting a robot arm; the fixed tooth frame is in an opening structure and is arranged below the base frame, and a plurality of fixed teeth extending towards the opening are arranged on the frame body of the fixed tooth frame; The movable tooth structure comprises movable teeth and a driving piece, wherein the driving piece drives the movable teeth to rotate forwards or reversely in the fixed tooth frame and the base frame, and in the forward or reverse stroke, the movable teeth pass through gaps among the fixed teeth; the damping structure comprises a connecting piece and a damping piece, wherein the connecting piece is sequentially connected with the base frame, the damping piece and the fixed tooth frame in series, and two ends of the damping piece respectively lean against the base frame and the fixed tooth frame; The damping adjusting structure comprises an adjusting piece and a limit switch, wherein the adjusting piece is used for restraining the pretightening force of the damping piece by adjusting the distance between a base frame and a fixed tooth frame, when the impact force of the driven tooth of the fixed tooth frame exceeds the pretightening force, the damping piece is compressed by force to trigger the limit switch, and when the limit switch is triggered, the driving piece enables the driven tooth to keep the current position. Further, the base frame comprises a first frame and a second frame which are connected with each other