阅读说明：本技术 一种适用于工厂自动化的圆桶桶盖开盖取盖装置 (Cover opening and taking device for drum cover suitable for factory automation ) 是由 李德保 黄冬梅 赵雪 张红武 王壮 杨超 于 2019-09-10 设计创作，主要内容包括：本发明公开了一种适用于工厂自动化的圆桶桶盖开盖取盖装置,包括一轴线、切割刀、旋转部、夹具和固定部,切割刀以能够绕所述轴线旋转的方式安装于旋转部,夹具以相对于所述轴线静止的方式安装于固定部。该装置通过搭配在机器人或者三维坐标测量机等自动化设备上使用,可实现料桶开盖、移除盖的自动化过程。(The invention discloses a cover opening and taking device for a drum cover of a drum, which is suitable for factory automation and comprises an axis, a cutting knife, a rotating part, a clamp and a fixing part, wherein the cutting knife is arranged on the rotating part in a manner of rotating around the axis, and the clamp is arranged on the fixing part in a manner of being static relative to the axis. The device can realize the automatic process of uncovering and removing the cover of the charging basket by being matched with automatic equipment such as a robot or a three-dimensional coordinate measuring machine.)

1. The utility model provides a cask bung lid is opened and is covered device is got suitable for factory automation, its characterized in that includes an axis, cutting knife, rotating part, anchor clamps and fixed part, the cutting knife with can wind the rotatory mode of axis is installed in the rotating part, anchor clamps with for the static mode of axis is installed in the fixed part.

2. The drum cover opening and taking device suitable for factory automation as claimed in claim 1, wherein the device comprises an electric slip ring, an opening mechanism and a taking mechanism, the electric slip ring comprises a rotor and a stator, the rotor is a rotating part, the stator is a fixed part, the rotor is above the stator, the opening mechanism is installed on the rotor, the taking mechanism is installed on the stator, and the axial center line of the electric slip ring is the axis.

3. The drum cover opening and taking device suitable for factory automation as claimed in claim 2, wherein the cover opening mechanism comprises a base and a driving component for driving the cutter to move up and down, the rotor is mounted on the base, the driving component comprises a motor arranged on the base, a cylindrical cam, a rotating shaft and a driven component, the shaft hole of the cylindrical cam is matched with the shaft diameter of the rotating shaft and transmits power through a transmission key, the rotating shaft is provided with a power transmission end and a fixed end, the power transmission end is connected with the output shaft of the motor through the power key, the fixed end is fixed with the base through a ball bearing assembly, and the driven component is matched with a curved groove on the cylindrical surface of the cylindrical cam.

4. The drum cover opening and taking device suitable for factory automation as claimed in claim 3, wherein the cover opening mechanism includes a guide rail and a cutter frame with a cutter, the guide rail is arranged on two sides of the base, the cutter frame moves up and down along the guide rail, and the driven member is arranged at the center of the cutter frame.

5. The drum cover opening and cover taking device suitable for factory automation as claimed in claim 4, wherein the cutter frame is provided with a mounting groove, the cutter has a cutter handle and a cutter, and the cutter handle is positioned in the mounting groove; the cutter has first plane, second plane, third plane and fourth plane, and the first plane is vertical plane, and the second plane is the inclined plane, and first plane and second plane are relative, and the third plane is vertical plane, and the fourth plane is the inclined plane, and the third plane is relative with the fourth plane, and the pointed end that first plane, second plane, third plane and fourth plane formed is for puncturing the portion, and the juncture of second plane and fourth plane is equipped with the cutting edge.

6. The drum cover opening and taking device suitable for factory automation as claimed in claim 5, wherein the cutting knife has an installation error-proof part, the installation groove is provided with a corresponding part matched with the installation error-proof part, the installation error-proof part is a notch arranged on the knife handle, the corresponding part is correspondingly a protrusion, or the installation error-proof part is a protrusion arranged on the knife handle, the corresponding part is correspondingly a notch, and the notch is matched with the protrusion.

7. The cover opening and taking device for the drum cover suitable for factory automation as claimed in claim 6, wherein the clamp is a vacuum chuck, the cover taking mechanism comprises a vacuum generator, an air inlet of the vacuum generator is communicated with an air outlet of the stator, and a vacuum interface of the vacuum generator is connected with the vacuum chuck.

8. The drum cover opening and removing device suitable for factory automation as claimed in claim 7, wherein the cover removing mechanism comprises a height compensator, the air inlet of the height compensator is communicated with the vacuum interface of the vacuum generator, and the air outlet of the height compensator is connected with the vacuum chuck.

9. The drum cover opening and taking device suitable for factory automation as claimed in claim 6, wherein the suction tool is an electromagnetic chuck, the device comprises a drum cover, and the drum cover is made of iron; an elastic assembly is arranged between the electromagnetic chuck and the stator, the elastic assembly comprises a telescopic rod and a spring sleeved outside the telescopic rod, one end of the telescopic rod is fixed with the stator, the other end of the telescopic rod is fixed with the electromagnetic chuck, and the spring is located between the stator and the electromagnetic chuck.

10. The cover opening and taking device for the drum cover suitable for factory automation as claimed in claim 2, wherein the device comprises a positioning mechanism, the positioning mechanism comprises a vision recognition camera and an annular light supplement lamp, and the vision recognition camera and the annular light supplement lamp are both located below the stator.

Technical Field

The invention relates to the field of automatic chemical assembly, in particular to a cover opening and taking device for a drum cover of a drum, which is suitable for factory automation.

Background

The following background is provided to aid the reader in understanding the present invention and is not admitted to be prior art.

A lot of chemical raw materials need be used in the production process of chemical plant product, and a lot of chemical raw materials all use circular shape iron drum or plastic drum splendid attire. In the traditional production process, a barrel cover is manually cut by workers, and raw materials are poured into a chemical reaction kettle, wherein many chemical raw materials are toxic substances or extremely toxic substances, and the workers can cause great harm to bodies when the workers work for a long time.

With the proposal of industrial 4.0 concept and unmanned factory concept, a device which can replace manual automation to complete the function of opening and closing the barrel cover is urgently needed in the special working environment. At present, no device which can automatically cut the barrel cover and pick up the barrel cover aiming at a closed round charging barrel of a chemical plant exists in the market, and no iron scraps or other sundries are required to be generated in the process of cutting the barrel cover, so that chemical raw materials are prevented from being polluted.

Disclosure of Invention

The invention aims to provide a drum cover opening and taking device suitable for factory automation, which can be used on automatic equipment such as a robot or a three-dimensional coordinate measuring machine in a matching manner to realize the automatic process of opening and removing a cover of a charging basket.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a cask bung lid is opened and is covered device is got suitable for factory automation, its characterized in that includes an axis, cutting knife, rotating part, anchor clamps and fixed part, the cutting knife with can wind the rotatory mode of axis is installed in the rotating part, anchor clamps with for the static mode of axis is installed in the fixed part. The cutting knife takes the axis as the axis, and takes the horizontal distance from the axis to the cutting knife, namely the horizontal distance from the axis to the edge of the barrel cover as the radius to perform circular cutting motion, and after the cutting is finished, the clamp clamps and removes the barrel cover. The cover opening and taking device is only used for a barrel cover with a circular shape and a specific specification, wherein the specific specification refers to a certain radius. Of course, the cover opening and taking device can be adjusted adaptively to meet the requirements of the barrelheads with different specifications, namely, only the horizontal distance between the axis and the cutting knife needs to be changed.

The cover opening and taking device for the barrel cover of the barrel comprises a positioning mechanism, a cover opening mechanism and a cover taking mechanism, wherein the positioning mechanism is used for guiding a robot to position, so that the axis is positioned in the center of the charging barrel. The cover opening mechanism is used for puncturing the barrel cover to a certain depth and then cutting the barrel cover along the edge of the barrel cover. The cover taking mechanism is used for clamping and removing the cut barrel cover.

Connection between cover opening mechanism and cover taking mechanism

The device comprises an electric slip ring, the electric slip ring comprises a rotor and a stator, the rotor is a rotating part, the stator is a fixing part, the rotor is arranged on the upper side, the stator is arranged on the lower side, the cover opening mechanism is arranged on the rotor, the cover taking mechanism is arranged on the stator, and the axial center line of the electric slip ring is the axis. The cover opening mechanism rotates, the rotor rotates along with the cover opening mechanism, and the stator and the cover taking mechanism are kept static. It should be noted that the electrical slip ring is a precise power transmission device for realizing data signal, power transmission and medium transmission of two relative rotating mechanisms, is applied to unlimited continuous 360-degree rotation, and the medium can be gas, liquid and the like, and is a mature prior art. Of course, the cover opening mechanism and the cover taking mechanism can be connected by adopting a bearing assembly, the bearing assembly comprises an outer ring and an inner ring, the inner ring is a rotating part, the outer ring is a fixed part, the cover opening mechanism is arranged on the inner ring, and the clamp is arranged on the outer ring.

Positioning mechanism

The positioning mechanism is used for guiding the robot to position, so that the axis is positioned in the center of the charging basket.

Preferably, the positioning mechanism comprises a visual recognition camera, and the visual recognition camera is positioned below the stator.

Preferably, the device is provided with a support plate, the support plate is located below the stator, the support plate is coaxial with the electric slip ring, the stator is connected with the support plate through a support shaft, and the visual identification camera is located at the center of the top of the support plate. The vision recognition camera can guide the robot to position, so that the cover opening and taking device is automatically positioned with the center of the charging barrel. Preferably, the support is circular. It is understood that the shape of the support plate is not limited to a circle, but may be a regular shape such as a diamond shape or a square shape. Preferably, four groups of support shafts are uniformly arranged along the circumferential direction of the support plate. To improve the stability of the support.

Preferably, an annular light supplement lamp is arranged at the center of the bottom of the support plate. The light supplementing device is used for supplementing light for the visual recognition camera.

Cover opening mechanism

The uncovering mechanism comprises a base, a cutting knife, a driving assembly for driving the cutting knife to move up and down, a knife rest and a guide rail, wherein the knife rest and the guide rail are provided with the cutting knife and move up and down under the driving of the driving assembly, and the knife rest and the guide rail are used for puncturing the barrel cover and penetrating a certain depth, and then cutting the barrel cover along the edge of the barrel cover.

Preferably, the base comprises a top plate, two rib plates and a bottom plate, the two rib plates are located on two sides of the bottom of the top plate and fixed with the top plate through bolts respectively, and the two rib plates are connected through the bottom plate. Preferably, each rib plate and the top plate are positioned by a positioning pin. Preferably, two sets of locating pins are provided.

Preferably, the top plate is fixed to the rotor. The top plate and the rotor are in the same motion state, namely the top plate rotates, and the rotor rotates; the top plate is stationary and the rotor is stationary. Specifically, the rotor is fixed to the bottom of the top plate by bolts.

Preferably, a manipulator quick-changing device is arranged above the top plate and fixed with the top plate through bolts, the manipulator quick-changing device and the rotor are coaxial, and the axial center lines of the manipulator quick-changing device and the rotor are the axial lines. And the top plate is rotated by automatic equipment such as a robot or a three-dimensional coordinate measuring machine through a mechanical arm quick-change device, the rotor fixed with the top plate rotates along with the top plate, and the top plate and the rotor rotate along the axis.

Specifically, manipulator quick change device includes robot side and instrument side, and automation equipment is connected to the robot side, instrument side and roof upper surface fixed. It should be noted that the automation equipment and the manipulator quick-change device are mature prior art, and the automation equipment is provided with a manipulator, a three-dimensional coordinate measuring machine and the like.

As preferred scheme, the mechanism of uncapping includes drive assembly, drive assembly is including the motor of locating the roof, the cylinder cam, pivot and follower, the shaft hole and the pivot diameter of shaft cooperation of cylinder cam to through transmission key transmission power, the pivot has power transmission end and stiff end, power transmission end passes through the power key and is connected with the motor output shaft, the stiff end passes through ball bearing assembly and is fixed with the bottom plate, the follower cooperates with the curve recess on the cylinder face of cylinder cam. The output shaft of the motor drives the rotating shaft to rotate, the cylindrical cam also rotates along with the rotating shaft, and the driven piece moves up and down along the curved groove on the cylindrical surface of the cylindrical cam. Specifically, the power transmission end is provided with a mounting shaft hole, the motor output shaft is mounted in the mounting shaft hole and transmits power through a key, the driving assembly comprises a thrust ball needle roller bearing assembly, the thrust ball needle roller bearing assembly is mounted in a top plate shaft hole of the top plate, and the power transmission end is mounted in the shaft hole of the thrust ball needle roller bearing assembly.

Preferably, the driving assembly comprises a jackscrew, a mounting hole for mounting the jackscrew is formed in the side wall of the top plate shaft hole, the top plate shaft hole is orthogonal to the mounting hole, the thrust ball needle roller bearing assembly comprises a bearing outer ring, a groove is formed in the outer surface of the bearing outer ring, and the shaft end of the jackscrew is located in the groove. The jackscrew is located the mounting hole of roof, and the axle head of jackscrew exposes and just in time lies in the slot to withstand thrust ball bearing assembly and prevent its landing.

Preferably, the rotating shaft is provided with a locking section, the locking section is positioned between the bottom of the cylindrical cam and the ball bearing assembly, and an upper locking ring and a lower locking ring are sleeved outside the locking section. The upper locking ring is used for locking the cylindrical cam to prevent the cylindrical cam from sliding downwards. The lower locking ring is used to lock the ball bearing assembly.

Preferably, the cover opening mechanism comprises a guide rail and a cutter rest provided with a cutter, the guide rail is arranged on the side portion of the rib plate, the cutter rest moves up and down along the guide rail, and the driven part is arranged at the central position of the cutter rest. The guide rail has a guiding function, so that the cutting knife can move linearly. The motor drives the cylindrical cam to rotate, and the driven piece moves up and down under the rotation of the cylindrical cam, so that the cutter holder is driven to move up and down along the guide rail, and the up-and-down movement of the cutter is realized. It should be noted that the cutting knife punctures the barrel cover and pierces to a certain depth under the driving of the driving component, the piercing depth should be a proper range, the end part of the cutting knife is not contacted with the feed liquid in the barrel, and the barrel cover should be at the cutting edge. Specifically, the lateral parts of the two rib plates are provided with guide rails, the two sides of the knife rest are provided with slide blocks, and the slide blocks correspond to the guide rails. Both sides all are equipped with the guide rail, and the removal of cutting knife is more stable.

Preferably, the knife rest is provided with a mounting groove, the cutting knife comprises a knife handle and a cutting knife, and the knife handle is positioned in the mounting groove. Preferably, the tool shank is provided with a bolt hole. The knife handle is installed in the installation groove through the bolt and is fixed, and the cutting is more stable. Preferably, the tool shank is provided with a positioning hole, and the bottom surface of the mounting groove is provided with a corresponding hole corresponding to the positioning hole. The positioning pin is firstly adopted to position the tool handle and the mounting groove, and then the bolt is utilized to fasten, so that the mounting accuracy is ensured. Specifically, the bolt hole is located on the upper portion, the positioning hole is located on the lower portion, and the bolt hole and the positioning hole are located on the same vertical straight line.

Preferably, the cutter has first plane, second plane, third plane and fourth plane, and the first plane is vertical plane, and the second plane is the inclined plane, and first plane and second plane are relative, and the third plane is vertical plane, and the fourth plane is the inclined plane, and the third plane is relative with the fourth plane, and the pointed end that first plane, second plane, third plane and fourth plane formed is puncture portion, and the junction of second plane and fourth plane is equipped with the cutting edge. When the barrel cover is installed, the first plane faces outwards, the second plane faces inwards, the barrel cover can be cut maximally, materials in the barrel cannot be completely cut to cause waste due to the fact that excessive cutting residues exist, residual toxic substances can affect the environment, the outward direction means that the barrel cover faces away, and the inward direction means that the barrel cover faces towards. It should be noted that the blade direction coincides with the cutting direction. During initial state, the puncture portion is higher than the bung surface, and along with the cylinder cam rotates, the cutting knife moves down and makes puncture portion and bung surface contact until piercing the bung, then the robot makes the roof use the axis as the centre of a circle and makes the circumference rotate, and the cutting knife is rotatory thereupon and cuts the bung.

Preferably, the cutter has a certain thickness. Because receive the material of bung, thickness influence, set up certain thickness and avoid the cutter rupture.

Preferably, the cutting knife is provided with an installation error-proof part, and the installation groove is provided with a corresponding part matched with the installation error-proof part. Preferably, the installation error-proofing part is a notch arranged on the handle, the corresponding part is a protrusion correspondingly, the notch is matched with the protrusion, or the installation error-proofing part is a protrusion arranged on the handle, and the corresponding part is a notch correspondingly. During installation, the notch corresponds to the protrusion, the vertical plane of the cutting knife is ensured to be outward, and accurate installation is ensured.

Cover taking mechanism

The cover taking mechanism comprises a clamp for clamping and removing the cut barrel cover.

There are various forms of the clip, the first:

the clamp is a vacuum chuck, the cover taking mechanism comprises a vacuum generator arranged on the support plate, an air inlet of the vacuum generator is externally connected with an air source, and a vacuum interface of the vacuum generator is connected with the vacuum chuck. Before cutting, the vacuum chuck tightly sucks the barrel cover, and after cutting, the robot removes the whole cover opening and taking device so as to remove the barrel cover. When the vacuum sucker is used, the barrel cover made of various materials, such as iron and plastic, can be sucked, and the application range is wide.

Preferably, in the case of an electrical slip ring, the robot side, the tool side, the rotor, the stator, the vacuum generator, and the vacuum chuck are connected in this order. Specifically, the external air supply of robot side, robot side and instrument side homoenergetic are ventilated, through the connecting tube intercommunication between the gas outlet of instrument side and the air inlet of rotor, can ventilate between rotor and the stator, and the gas outlet of stator passes through the connecting tube with vacuum generator's the interface that admits air and is connected, and vacuum generator's vacuum interface is connected with vacuum chuck. It should be noted that, the electric slip ring is adopted to drive the cover opening mechanism to rotate, meanwhile, the transmission of electric power, signals and gas is also met, and the winding of a power supply cable, a control cable and a connecting pipeline cannot be caused.

Preferably, a height compensator is arranged between the support plate and the vacuum chuck, the height compensator is fixed on the support plate, an air inlet of the height compensator is connected with a vacuum interface of the vacuum generator through a connecting pipeline, and an air outlet of the height compensator is connected with the vacuum chuck. The height compensator can ensure that the vacuum chuck can firmly suck the barrel cover when the barrel cover is not flat or the cutting barrel cover shakes. The height compensator is made up of bellows (an elastic element) and end pipe, support, flange and guide pipe, and can compensate the axial displacement of guide pipe by means of the effective telescopic deformation of bellows.

Preferably, three groups of vacuum chucks are uniformly arranged in the circumferential direction, three groups of height compensators are correspondingly arranged, and the vacuum chucks correspond to the height compensators one by one. The suction force is improved, the barrel cover with larger weight can be guaranteed to be sucked, and meanwhile, the barrel cover can be stably sucked to avoid deflection. It should be noted that the number of the vacuum suckers is not limited, and only the barrel cover can be sucked. The number of the vacuum generators is not limited, and when the vacuum generators form a group, the use of a plurality of groups of vacuum suckers is met by additionally arranging the gas distribution block; or the vacuum chucks may be in one-to-one correspondence, that is, each vacuum chuck is provided with a vacuum generator.

And the second method comprises the following steps: the clamp is made of an electromagnetic chuck, the barrel cover is made of iron, and the electromagnetic chuck is fixed on the support plate. The barrel cover can be sucked or put down by electrifying or powering off.

Preferably, an electric slip ring is used as a connecting device of the cover opening mechanism and the cover taking mechanism. The electromagnetic chuck needs to be connected with a power supply cable and a control cable, and the electric slip ring serves as a power supply and a signal transmission medium, so that the rotor can rotate while the winding of the power supply cable and the control cable is avoided.

Preferably, a height compensator is arranged between the electromagnetic chuck and the support plate, one end of the height compensator is fixed with the support plate, and the other end of the height compensator is fixed with the electromagnetic chuck. Or, an elastic component is adopted to replace the height compensator, the elastic component comprises a telescopic rod and a spring sleeved outside the telescopic rod, one end of the telescopic rod is fixed with the stator, the other end of the telescopic rod is fixed with the electromagnetic chuck, and the spring is located between the stator and the electromagnetic chuck. The height compensator or the elastic component has the function of compensating axial displacement, and can ensure that the vacuum chuck can firmly suck the barrel cover when the barrel cover is not flat or the cutting barrel cover shakes. It should be noted that the device with compensation for axial displacement is not limited to the above example.

It should be understood that the form of the clamp is not limited to the above examples, and the barrel cover can be clamped, for example, glue is applied on the barrel cover, and the clamp should be made of a material capable of bonding with the glue, such as iron; or the hook punctures the barrel cover so as to achieve the purpose of hooking the barrel cover.

Preferably, the robot quick-change device, the electrical slip ring and the support plate are coaxially arranged, and are coaxial with the axis.

The working process of the device is as follows: firstly, a circular charging bucket is placed at a designated position and fixed, a robot drives the cover opening and taking device to automatically position with the center of the circular charging bucket under the guidance of a visual camera of the cover opening and taking device, a clamp of the cover taking mechanism clamps the charging bucket after positioning, and a height compensator ensures that the clamp can firmly suck the charging bucket when the charging bucket is not flat or the charging bucket is cut; then, the cutter moves downwards to puncture the barrel cover under the driving of the rotation of the cylindrical cam, then the robot drives the cutter to rotate around the axis to cut the barrel cover, and after cutting, the barrel cover is placed at an appointed position by the clamp.

The invention has the beneficial effects that:

1. the automatic cover opening and removing device is used on automatic equipment such as a robot or a three-dimensional coordinate measuring machine in a matching mode, so that the automatic processes of cover opening and cover removing of the charging barrel are achieved.

2. The cover opening mechanism can automatically puncture the barrel cover and penetrate into the barrel cover to a certain depth, and then cut the barrel cover along the edge of the barrel cover.

3. When the cover taking mechanism is a vacuum chuck or an electromagnetic chuck, the cut barrel cover can be automatically clamped and removed.

4. Adopt electric slip ring, satisfy the mechanism rotation of uncapping, get the static while of lid mechanism, satisfy the transmission of electric power, signal and gas simultaneously, and can not cause the winding of power cable, control cable and connecting tube.

5. The cutting knife is provided with a piercing part and a cutting edge, so that the requirement of piercing a barrel cover with higher hardness can be met, and the barrel cover can be cut; the cutting knife has installation mistake proofing portion, can guarantee that the cutting knife installation is accurate.

Drawings

Fig. 1 is a schematic structural view of an open-cover removing device.

Fig. 2 is a schematic structural view of the lid opening and removing device.

Fig. 3 is a schematic structural diagram of the cover opening and taking device with an axis.

Fig. 4 is an exploded view of the base.

Fig. 5 is a schematic structural view of the lid opening mechanism.

Fig. 6 is an exploded view of the lid opening mechanism.

Fig. 7 is a cross-sectional view of the drive assembly.

Fig. 8 is a schematic view of the structure of the tool holder.

Fig. 9 is a schematic structural view of the cutting knife.

Fig. 10 is a three-dimensional view of the cutting burr of fig. 9, a being a front view, b being a rear view, and c being a right side view.

Fig. 11 is a schematic structural view of the cap removing mechanism.

Fig. 12 is an exploded view of the lid removing mechanism.

FIG. 13 is a schematic diagram showing the robot side, tool side, electrical slip ring, vacuum generator, height compensator, and vacuum chuck in sequential communication.

FIG. 14 is a schematic view of the structure of the elastic element and the electromagnetic chuck.

Fig. 15 is a schematic structural diagram of the robot, the cover opening and removing device and the bucket.

The labels in the figure are: the robot 0, the cover opening and taking device 1, an axis A, the charging bucket 2, the base 100, the top plate 101, a top plate shaft hole 1011, a rib plate 102 and a bottom plate 103; the cover opening mechanism 200, the cutter 201, the cutter handle 2011, the bolt hole 2013, the positioning hole 2014, the corresponding hole 2015, the installation error-proof part 2016, the cutter 2012, the bolt hole 2013, the positioning hole 2014, the first plane 20121, the second plane 20122, the third plane 20123, the fourth plane 20124, the puncturing part 20125, the cutter edge 20126, the driving assembly 202, the motor 2021, the cylindrical cam 2022, the rotating shaft 2023, the driven part 2024, the power transmission end 20231, the fixed end 20232, the locking section 20233, the power key 2025, the thrust ball needle roller bearing assembly 2026, the bearing outer ring 61, the groove 20262, the jackscrew 2027, the ball bearing assembly 2028, the upper locking ring 2029, the lower locking ring 2020, the guide rail 203, the slider 2031, the cutter holder 204, the installation groove 2041 and the corresponding part 2042; the cover taking mechanism 300, the clamp 301, the vacuum generator 302, the connecting pipe 303, the height compensator 304, the elastic component 305, the telescopic rod 3051 and the spring 3052; the device comprises a positioning mechanism 400, a support plate 401, a support shaft 402, a visual recognition camera 403 and an annular light supplement lamp 404; a manipulator quick-change device 500, a robot side 501, and a tool side 502; electrical slip ring 600, rotor 601, stator 602.

Detailed Description

The present invention will be further described with reference to the structures or terms used herein. The description is given for the sake of example only, to illustrate how the invention may be implemented, and does not constitute any limitation on the invention.

The invention is further described with reference to the following figures and detailed description. In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left" and "right", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the positions or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus are not to be construed as limitations of the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the present invention, unless otherwise explicitly specified or limited, the terms "connected" and "fixed" are to be understood broadly, for example, "fixed" may be a fixed connection, a detachable connection, or an integral body; either directly or indirectly through intervening media, or may be interconnected between two elements or in a relationship wherein the two elements interact, unless expressly limited otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

As shown in fig. 1 to 15, a drum cover opening and taking device 1 suitable for factory automation is characterized by comprising an axis a, a cutting knife 201, a rotating part 601, a clamp 301 and a fixing part 602, wherein the cutting knife 201 is mounted on the rotating part 601 in a manner of being capable of rotating around the axis a, and the clamp 301 is mounted on the fixing part 602 in a manner of being stationary relative to the axis a. The cutting knife 201 takes the axis A as an axis, and takes the horizontal distance from the axis A to the cutting knife 201, namely, the horizontal distance from the axis A to the edge of the barrel cover as a radius to perform circular cutting motion, and after the cutting is finished, the clamp 301 clamps and removes the barrel cover. The cap opening and taking device 1 is only for a barrel cap with a circular shape and a specific specification, wherein the specific specification refers to a certain radius. Of course, the lid opening and taking device 1 can be adjusted adaptively to meet the requirements of different specifications of the bucket lids, that is, only the horizontal distance between the axis a and the cutting knife 201 needs to be changed.

The cover opening and taking device 1 for the barrel cover comprises a positioning mechanism 400, a cover opening mechanism 200 and a cover taking mechanism 300, wherein the positioning mechanism 400 is used for guiding a robot to position, so that an axis A is positioned in the center of the charging barrel 2. The lid opening mechanism 200 is used to pierce the lid and penetrate to a depth and then cut the lid along the lid edge. The lid removing mechanism 300 is used to clamp and remove the cut tub lid.

Connection between cover opening mechanism and cover taking mechanism

As shown in fig. 11, the apparatus includes an electrical slip ring 600, the electrical slip ring includes a rotor 601 and a stator 602, the rotor 601 is a rotating portion 601, the stator 602 is a fixed portion 602, the rotor 601 is on the top, the stator 602 is on the bottom, the lid opening mechanism 200 is mounted on the rotor 601, the lid removing mechanism 300 is mounted on the stator 602, and the axial center line of the electrical slip ring 600 is the axis a. The cap opening mechanism 200 rotates, the rotor 601 rotates, and the stator 602 and the cap removing mechanism 300 are both kept stationary. It should be noted that the electrical slip ring 600 is a precise power transmission device for realizing data signal, power transmission and medium transmission of two relative rotation mechanisms, and is applied to unlimited continuous 360-degree rotation, and the medium can be gas, liquid and the like, which is a mature prior art, for example, the electrical slip rings of various models produced by KOSMEK of japan, KOSMEK. Of course, the connection between the lid opening mechanism 200 and the lid removing mechanism 300 may also be a bearing assembly, where the bearing assembly includes an outer ring and an inner ring, the inner ring is a rotating portion 601, the outer ring is a fixed portion 602, the lid opening mechanism 200 is installed in the inner ring, and the clamp 301 is installed in the outer ring.

Positioning mechanism

As shown in fig. 11, the positioning mechanism 400 is used to guide the robot 0 to perform positioning such that the axis a is located at the center of the bucket 2.

As shown in fig. 10-11, the positioning mechanism 400 includes a visual recognition camera 403, the visual recognition camera 403 displacing a lower side of a stator 602. The vision recognition camera 403 can guide the robot to perform positioning, so that the cover opening and removing device 1 is automatically positioned with the center of the charging basket 2.

As shown in fig. 11-12, the device is provided with a support plate 401, the support plate 401 is positioned below a stator 602, the stator 602 is connected with the support plate 401 through a support shaft 402, and a visual recognition camera 403 is positioned in the center of the support plate 401. Preferably, plate 401 is circular, and plate 401 is coaxial with electrical slip ring 600. It is understood that the shape of the strip 401 is not limited to circular, but may be regular, such as diamond, square, etc. Preferably, the support shafts 402 are uniformly arranged in four groups along the circumferential direction of the strip 401. The stability of the support is improved.

An annular light supplement lamp 404 is arranged at the center of the bottom of the support plate 401. For supplementing light to the visual recognition camera 403, see fig. 10-11.

Cover opening mechanism

As shown in fig. 4-10, the cap opening mechanism 200 comprises a base 100, a cutting knife 201, a driving assembly 202 for driving the cutting knife 201 to move up and down, a knife rest 204 mounted with the cutting knife 201 and driven by the driving assembly 202 to move up and down, and a guide rail 203 for piercing the can lid and penetrating a certain depth, and then cutting the can lid along the edge of the can lid.

As shown in fig. 4, the base 100 includes a top plate 101, two ribs 102 and a bottom plate 103, wherein the two ribs 102 are located at two sides of the bottom of the top plate 101 and are respectively fixed to the top plate 101 by bolts, and the two ribs 102 are connected by the bottom plate 103. Preferably, each rib 102 is positioned with the top plate 101 using a locating pin. Preferably, two sets of locating pins are provided.

As shown in fig. 11, the top plate 101 is fixed to the rotor 601. The top plate 101 and the rotor 601 are in the same motion state, namely the top plate 101 rotates, and the rotor 601 rotates; the top plate 101 is stationary and the rotor 601 is stationary. Specifically, the rotor 601 is fixed to the bottom of the top plate 101 by bolts.

As shown in fig. 5, a robot quick-change device 500 is disposed above the top plate 101, the robot quick-change device 500 is fixed to the top plate 101 by bolts, the robot quick-change device 500 and the rotor 601 are coaxial, and axial center lines of the robot quick-change device 500 and the rotor 601 are the axis a. An automated device such as a robot or a three-dimensional coordinate measuring machine rotates the top plate 101 by the robot quick-change device 500, and the rotor 601 fixed to the top plate 101 rotates along with the rotation, so that the top plate 101 and the rotor 601 both rotate along the axis a.

Specifically, as shown in fig. 1 and 2, the robot quick-change device 500 includes a robot side 501 and a tool side 502, the robot side 501 is connected to the automation equipment, and the tool side 502 is fixed to the upper surface of the top plate 101. It should be noted that, the automation equipment and the manipulator quick-change device are mature prior art, the automation equipment has a manipulator, a three-dimensional coordinate measuring machine, and the like, in this embodiment, the manipulator quick-change device 500 can be a manipulator quick-change device produced by KOSMEK, japan, and can transmit power and gas; a manipulator with the model of a library card KR200 is adopted.

As shown in fig. 5-6, the lid opening mechanism comprises a driving assembly 202, the driving assembly 202 comprises a motor 2021 disposed on the top plate 101, a cylindrical cam 2022, a rotating shaft 2023 and a follower 2024, the shaft hole of the cylindrical cam 2022 is matched with the shaft diameter of the rotating shaft 2023 and transmits power through a transmission key 2024, the rotating shaft 2023 has a power transmission end 20231 and a fixed end 20232, the power transmission end 20231 is connected with the output shaft of the motor through the power key 2025, the fixed end 20232 is fixed with the bottom plate 103 through a ball bearing assembly 2028, and the follower 2024 is matched with a curved groove on the cylindrical surface of the cylindrical cam 2022. The output shaft of the motor 2021 drives the rotating shaft 2023 to rotate, the cylindrical cam 2022 rotates, and the driven part 2024 moves up and down along the curved groove on the cylindrical surface of the cylindrical cam. Specifically, the power transmission end 20231 is provided with a mounting shaft hole, the output shaft of the motor is mounted in the mounting shaft hole and transmits power through the power key 2025, the driving assembly 202 comprises a thrust ball needle roller bearing assembly 2026, the thrust ball needle roller bearing assembly 2026 is mounted in the top plate shaft hole 1011 of the top plate 101, and the power transmission end 20231 is mounted in the shaft hole of the thrust ball needle roller bearing assembly 2026.

As shown in FIG. 7, the driving assembly 202 includes a jack 2027, a mounting hole 20271 for mounting the jack 2027 is opened on a side wall of a top plate shaft hole 1011, the top plate shaft hole 1011 is orthogonal to the mounting hole 20271, the thrust ball needle roller bearing assembly 2026 includes a bearing outer ring 20261, a groove 20262 is formed on an outer surface of the bearing outer ring, and an axial end of the jack 2027 is located in the groove. The jack 116 is located in the mounting hole of the top plate 101, and the axial end of the jack 2027 is exposed and located just inside the groove 20262 to push against the thrust ball needle roller bearing assembly 2026 to prevent it from sliding off.

As shown in fig. 7, the rotating shaft 2023 has a locking section 20233, the locking section 20233 is located between the bottom of the cylindrical cam 2022 and the ball bearing assembly 2028, and the locking section 20233 is externally sleeved with an upper locking ring 2029 and a lower locking ring 2020. The upper locking ring 2029 is used to lock the cylindrical cam 2022 and prevent the cylindrical cam 2022 from sliding down. The lower lock ring 2020 serves to fix the rotation shaft 2023 and prevent the rotation shaft 2023 from moving up and down in the ball bearing assembly 2028.

As shown in fig. 6, the door opening mechanism 200 includes a guide 203 and a cutter holder 204 to which a cutter 201 is attached, the guide 203 is provided on a side portion of the rib 102, the cutter holder 204 moves up and down along the guide 203, and a follower 2024 is provided at a center position of the cutter holder 204. The guide rail 203 has a guiding function to enable the cutting knife 201 to move linearly. The motor 2021 drives the cylindrical cam 2022 to rotate, and the follower 2024 moves up and down under the rotation of the cylindrical cam 2022, thereby driving the cutter holder 204 to move up and down along the guide rail 203, and realizing the up and down movement of the cutter 201. It should be noted that the cutting knife 201 is driven by the driving assembly 202 to pierce the barrel cover and penetrate into the barrel to a certain depth, and the penetrating depth is within a proper range, so that the end of the cutting knife 201 is not contacted with the feed liquid in the barrel. Specifically, the side portions of the two ribs 102 are both provided with a guide rail 203, the two sides of the tool holder 204 are both provided with a slider 2031, and the slider 2031 corresponds to the guide rail 203. Both sides all are equipped with guide rail 203, and cutting knife 201's removal is more stable.

As shown in fig. 6, the tool holder 204 is provided with a mounting groove 2041, the cutting blade 201 includes a tool shank 2011 and a cutting blade 2012, and the tool shank 2012 is located in the mounting groove 2041. Preferably, the shank 2011 is provided with bolt holes 2013. Install handle of a knife 2011 in mounting groove 2041 through the bolt and fix, it is more stable during the cutting. Preferably, the tool shank 2011 has a positioning hole 2014, and the bottom surface of the mounting groove 2041 is provided with a corresponding hole 2015 corresponding to the positioning hole 2014. Adopt the locating pin to fix a position handle of a knife 2011 and mounting groove 2041 earlier, then utilize the bolt to fasten, guarantee that the installation is accurate. Specifically, the bolt hole 2013 is located on the upper portion, the positioning hole 2014 is located on the lower portion, and the bolt hole 2013 and the positioning hole 2014 are located on the same vertical straight line.

As shown in fig. 8 to 9, the cutter 2012 has a first plane 20121, a second plane 20122, a third plane 20123 and a fourth plane 20124, the first plane 20121 is a vertical plane, the second plane 20122 is an inclined plane, the first plane 20121 is opposite to the second plane 20122, the third plane 20123 is a vertical plane, the fourth plane 20124 is an inclined plane, the third plane 20123 is opposite to the fourth plane 20124, a tip formed by the first plane 20121, the second plane 20122, the third plane 20123 and the fourth plane 20124 is a punctured portion 20125, and a blade 20126 is arranged at the junction of the second plane 20122 and the fourth plane 20124. When the barrel cover cutting tool is installed, the first plane 20121 faces outwards, the second plane 20122 faces inwards, the barrel cover can be cut maximally, materials in the barrel cannot be completely poured due to excessive cutting residues, waste is caused, the residual toxic substances can influence the environment, the outward direction is opposite to the barrel cover, and the inward direction is opposite to the barrel cover. It should be noted that the blade direction coincides with the cutting direction, and the rotation direction of the cutting blade shown in fig. 3 coincides with the blade direction. In the initial state, the puncturing part 20125 is higher than the surface of the barrel cover, the cutting knife 201 moves downwards along with the rotation of the cylindrical cam 2022 to enable the puncturing part 20125 to be in contact with the surface of the barrel cover until the barrel cover is punctured, then the robot 0 enables the top plate 101 to rotate circumferentially around the axis A, and the cutting knife 201 rotates along with the rotation and cuts the barrel cover.

The cutter 2012 has a certain thickness. Because receive the material of bung, thickness influence, set up certain thickness and avoid the cutter rupture.

As shown in fig. 11, the cutting blade 201 has a mounting error prevention portion 2016, and the mounting groove 2041 is opened with a corresponding portion 2042 to be fitted to the mounting error prevention portion 2016. Preferably, the installation error-proofing portion 2016 is a notch formed in the handle 2011, the corresponding portion 2042 is a protrusion correspondingly, and the notch is matched with the protrusion, or the installation error-proofing portion 2016 is a protrusion formed in the handle 2011, and the corresponding portion 2042 is a notch correspondingly. During installation, the notch corresponds to the protrusion, so that the vertical plane of the cutting knife 201 is ensured to be outward, and the installation is ensured to be accurate. Specifically, the tool shank 2011 is provided with a bevel opening, and the mounting groove 2041 is provided with a bevel block matched with the bevel opening.

Cover taking mechanism

As shown in fig. 11-14, the lid removal mechanism 300 includes a clamp 301 for clamping and removing the cut lid.

There are a variety of forms of the clamp 301, the first:

as shown in fig. 11, the fixture 301 is a vacuum chuck 301, the cover removing mechanism 300 includes a vacuum generator 302 disposed on the support plate 401, an air inlet of the vacuum generator 302 is communicated with an air outlet of the stator 602, and a vacuum inlet of the vacuum generator 302 is connected to the vacuum chuck 301. Before cutting, the vacuum chuck 301 tightly sucks the barrel cover, and after cutting, the robot removes the whole cap opening and taking device 1 so as to remove the barrel cover. When the vacuum suction cup 301 is used, the barrel cover made of various materials, such as iron and plastic, can be sucked, and the application range is wide.

As shown in fig. 13, when the electrical slip ring 600 is used as a connecting device between the lid opening mechanism 200 and the lid removing mechanism 300, the robot side 501, the tool side 502, the rotor 601, the stator 602, the vacuum generator 302, and the vacuum chuck 301 are connected in this order. Specifically, the robot side 501 is externally connected with an air source, both the robot side 501 and the tool side 502 can ventilate, an air outlet of the tool side 502 is communicated with an air inlet of the rotor 601 through a connecting pipeline 303, the rotor 601 and the stator 602 can ventilate, an air outlet of the stator 602 is connected with an air inlet interface of the vacuum generator 302 through the connecting pipeline 303, and a vacuum interface of the vacuum generator 302 is connected with the vacuum chuck 301. It should be noted that, the electrical slip ring 600 is adopted to drive the cover opening mechanism 200 to rotate, and simultaneously, the transmission of electric power, signals and gas is also met, and the winding of power cables, control cables and connecting pipelines cannot be caused.

As shown in fig. 11, a height compensator 304 is arranged between the support plate 401 and the vacuum chuck 301, the height compensator 304 is fixed on the support plate 401, an air inlet of the height compensator 304 is connected with a vacuum interface of the vacuum generator 302 through a connecting pipe 303, and an air outlet of the height compensator 304 is connected with the vacuum chuck 301. The height compensator 304 can ensure that the vacuum chuck can firmly suck the barrel cover when the barrel cover is not flat or the cutting barrel cover shakes. The height compensator is made up of bellows (an elastic element) and end pipe, support, flange and guide pipe, and can compensate the axial displacement of guide pipe by means of the effective telescopic deformation of bellows. In this example, a height compensator manufactured by FESTO and having model number VAL-M5-5 was used.

As shown in fig. 11, three sets of vacuum cups 301 are uniformly arranged in the circumferential direction, three sets of height compensators 304 are correspondingly arranged, and the vacuum cups 301 correspond to the height compensators 304 one by one. The suction force is improved, the barrel cover with larger weight can be guaranteed to be sucked, and meanwhile, the barrel cover can be stably sucked to avoid deflection. It should be noted that the number of the vacuum suckers 301 is not limited, and only the requirement of sucking the barrel cover is met. The number of the vacuum generators 302 is not limited, and when the vacuum generators are in a group, the use of a plurality of groups of vacuum suckers 301 is met by additionally arranging the gas distribution blocks; or there may be a one-to-one correspondence with the vacuum cups 301, i.e. one vacuum generator 302 is provided for each vacuum cup 301.

And the second method comprises the following steps: the clamp 301 is an electromagnetic chuck, the barrel cover is made of iron, and the electromagnetic chuck is fixed on the support plate 401. The barrel cover can be sucked or put down by electrifying or powering off.

An electric slip ring 600 is used as a connecting means of the lid opening mechanism 200 and the lid removing mechanism 300. The electromagnetic chuck needs to be connected with a power supply cable and a control cable, and the electric slip ring 600 serves as a power supply and a signal transmission medium, so that the rotor 601 can rotate, and meanwhile, the power supply cable and the control cable cannot be wound.

A height compensator 304 is arranged between the electromagnetic chuck 301 and the support plate 401, one end of the height compensator 304 is fixed with the support plate 401, and the other end of the height compensator is fixed with the electromagnetic chuck 301. Alternatively, the elastic component 305 is used to replace the height compensator 304, the elastic component 305 includes an expansion link 3051 and a spring 3052 sleeved outside the expansion link 3051, one end of the expansion link 3051 is fixed to the stator 602, the other end of the expansion link 3051 is fixed to the electromagnetic chuck, and the spring 3052 is located between the stator 602 and the electromagnetic chuck, as shown in fig. 14. The height compensator or the elastic component has the function of compensating axial displacement, and can ensure that the vacuum chuck can firmly suck the barrel cover when the barrel cover is not flat or the cutting barrel cover shakes. It should be noted that the device with compensation for axial displacement is not limited to the above example.

It should be understood that the form of the clamp 301 is not limited to the above examples, and it is sufficient to clamp the barrel cover, for example, glue is applied on the barrel cover, and the clamp 301 should be made of a material that can be bonded with the glue, such as iron; or the hook punctures the barrel cover so as to achieve the purpose of hooking the barrel cover.

The robot quick-change device 500, the electrical slip ring 600 and the support plate 401 are coaxially arranged, and are coaxial with the axis A at the moment.

The working process of the device is as follows: firstly, a round charging bucket is placed at a designated position and fixed, a robot 0 drives the cover opening and taking device 1 to automatically position with the center of the round charging bucket 2 under the guidance of a vision camera 403 of the cover opening and taking device 1, a clamp 301 of a cover taking mechanism 300 clamps a bucket cover after positioning, and a height compensator 304 ensures that the clamp 301 can firmly suck the bucket cover when the bucket cover is uneven or the cut bucket cover shakes; then, the cutter 201 moves downwards to puncture the barrel cover under the driving of the rotation of the cylindrical cam 2022, then the robot 0 drives the cutter 201 to rotate around the axis a to cut the barrel cover, and after the cutting, the clamp 301 puts the barrel cover at a designated position, see fig. 15.

The invention shown and described herein may be practiced in the absence of any element or elements, limitation or limitations, which is specifically disclosed herein. The terms and expressions which have been employed are used as terms of description and not of limitation, and there is no intention in the use of such terms and expressions of excluding any equivalents of the features shown and described or portions thereof, and it is recognized that various modifications are possible within the scope of the invention. It should therefore be understood that although the present invention has been specifically disclosed by various embodiments and optional features, modification and variation of the concepts herein described may be resorted to by those skilled in the art, and that such modifications and variations are considered to be within the scope of this invention as defined by the appended claims.

The contents of the articles, patents, patent applications, and all other documents and electronically available information described or cited herein are hereby incorporated by reference in their entirety to the same extent as if each individual publication was specifically and individually indicated to be incorporated by reference. Applicants reserve the right to incorporate into this application any and all materials and information from any such articles, patents, patent applications, or other documents.