阅读说明：本技术 一种用于干燥盐桶的开盖和封盖装置 (Cover opening and sealing device for drying salt barrel ) 是由 贾占举 李文钰 陈先林 陈莉 李振臣 骆枫 莫华均 朱鑫 范继珩 刘文磊 刘辰龙 于 2021-06-23 设计创作，主要内容包括：本发明公开了一种用于干燥盐桶的开盖和封盖装置,所述干燥盐桶的桶身和桶盖之间通过连接法兰可拆卸连接,所述装置包括：支架组件、定位组件、旋转组件、升降组件、拧动组件和抓取组件,所述旋转组件通过所述升降组件与所述支架组件可上下移动连接,所述定位组件的上端与所述与所述旋转组件的下端固定连接,所述抓取组件的上端和所述拧动组件的上端与所述定位组件的下端固定连接；本发明通过设置定位组件实现本装置与干燥盐桶的对位,然后通过升降组件、旋转组件和拧动组件的配合实现对连接法兰的螺栓的安装与拆卸,通过抓取组件实现对桶盖的安装与拆卸,从而实现了机械化开盖和封盖的目的。(The invention discloses a cover opening and sealing device for a dry salt barrel, wherein a barrel body and a barrel cover of the dry salt barrel are detachably connected through a connecting flange, and the device comprises: the device comprises a support assembly, a positioning assembly, a rotating assembly, a lifting assembly, a screwing assembly and a grabbing assembly, wherein the rotating assembly is connected with the support assembly in a vertically movable mode through the lifting assembly, the upper end of the positioning assembly is fixedly connected with the lower end of the rotating assembly, and the upper ends of the grabbing assembly and the screwing assembly are fixedly connected with the lower end of the positioning assembly; according to the invention, the positioning assembly is arranged to realize the alignment of the device and the dry salt barrel, then the lifting assembly, the rotating assembly and the screwing assembly are matched to realize the installation and the disassembly of the bolts of the connecting flange, and the grabbing assembly is used to realize the installation and the disassembly of the barrel cover, so that the purposes of mechanically opening and closing the cover are realized.)

1. The utility model provides a uncap and closing cap device for dry salt bucket, can dismantle the connection through flange between the ladle body of dry salt bucket and the bung, its characterized in that, the device includes: the device comprises a support assembly, a positioning assembly, a rotating assembly, a lifting assembly, a screwing assembly and a grabbing assembly, wherein the rotating assembly is connected with the support assembly in a vertically movable mode through the lifting assembly, the upper end of the positioning assembly is fixedly connected with the lower end of the rotating assembly, and the upper ends of the grabbing assembly and the screwing assembly are fixedly connected with the lower end of the positioning assembly;

it is a plurality of twist and move the subassembly and be annular distribution and respectively with flange's screw corresponds the setting, it is a plurality of to snatch the subassembly setting twist and move inside the annular structure that the subassembly is constituteed, just the lower extreme of snatching the subassembly with the bung can be dismantled and be connected.

2. The uncovering and covering device for the dry salt bucket is characterized in that the support assembly comprises support legs, an operation part mounting frame and a fixing seat, the support legs are vertically arranged on two sides of a conveying roller way, the dry salt bucket is placed on the conveying roller way, the lower ends of the support legs are fixedly connected with the ground/a rack through the fixing seat, the operation part mounting frame is fixedly connected with the upper ends of the support legs, and the lifting assembly is fixedly connected with the operation part mounting frame.

3. An uncovering and closing device for a dry salt bucket according to claim 2, characterised in that the lifting assembly comprises a lifting mounting frame, a pair of linear guides, a ball screw and a lifting motor, at least two of said pairs of linear guides being vertically arranged and fixedly connected to said lifting mounting frame, said lifting mounting frame being fixedly connected to said carriage mounting base, said rotating assembly being fixedly connected to the sliding end of said pair of linear guides, said ball screw being vertically arranged and rotatably connected to said lifting mounting frame, a screw nut of said ball screw being fixedly connected to said rotating assembly, said lifting motor being fixedly connected to said lifting mounting frame, and a torque output end of said lifting motor being coaxial and fixedly connected to one end of said ball screw.

4. A cover opening and closing device for a dry salt bucket according to claim 3, wherein the rotating assembly includes a rotating mounting frame, a rotary support and a rotating driving motor, the side surface of the rotating mounting frame is fixedly connected with the sliding end of the linear guide rail pair and the screw nut of the ball screw, the rotary support is rotatably connected with the lower side surface of the rotating mounting frame, the torque output shaft of the rotating driving motor is vertically arranged, and the torque output shaft of the rotating driving motor coincides with the central axis of the rotary support.

5. The uncovering and covering device for the dry salt bucket according to claim 4, characterized in that a plane micro-motion assembly is arranged between the upper end of the rotary support and the rotary mounting frame, the plane micro-motion assembly comprises an X-axis guide rail pair, a Y-axis guide rail pair and a connecting disc, the X-axis guide rail pair and the Y-axis guide rail pair are vertically arranged, the X-axis guide rail pair is fixedly connected with the lower side surface of the rotary mounting frame, the Y-axis guide rail pair is fixedly connected with the sliding end of the X-axis guide rail pair, the upper side surface of the connecting disc is fixedly connected with the sliding end of the Y-axis guide rail pair, and the upper side surface of the positioning disc is rotatably connected with the lower side surface of the connecting disc.

6. The uncovering and closing device for the dry salt bucket according to claim 5, wherein the positioning assembly comprises a plurality of positioning clasps, a positioning disc, an adjusting pull rod and a clasping claw driving assembly, the positioning clasps are distributed in a circular shape along a central axis of the positioning disc, the upper ends of the positioning clasps are rotatably connected with the outer side of the positioning disc through rotating shafts, the first end of the adjusting pull rod is rotatably connected with the middle end of the positioning clasping claw through a rotating shaft, and the second end of the adjusting pull rod is fixedly connected with the telescopic end of the clasping claw driving assembly.

7. The uncovering and closing device for the dry salt bucket according to claim 6, wherein the holding claw driving assembly comprises a plurality of electric telescopic rods, fixed ends of the electric telescopic rods are rotatably connected with the center of the positioning disc through rotating shafts, and telescopic ends of the electric telescopic rods are coaxially arranged with the adjusting pull rod and are fixedly connected with the second end of the adjusting pull rod.

8. An uncovering and closing device for a dry salt bucket according to claim 6, characterised in that said screwing assembly comprises a screwing motor and a socket wrench, said screwing motor being fixedly connected to the lower side of said positioning disc, the torque output shaft of said screwing motor being vertically arranged and fixedly connected to the upper end of said socket wrench by means of a splined shaft, said socket wrench being vertically arranged and the lower end of said socket wrench being adapted to the bolts of said connecting flange.

9. The uncovering and closing device for the dry salt bucket according to claim 8, wherein the grabbing component comprises a vertical telescopic component, a grabbing support, a grabbing rod and a grabbing rod driving component, the vertical telescopic component is vertically arranged, the upper end of the vertical telescopic component is fixedly connected with the lower side surface of the positioning disc, the lower end of the vertical telescopic component is fixedly connected with the upper side surface of the grabbing support, a plurality of grabbing rods are horizontally arranged along the radius of the grabbing support and are slidably connected with the grabbing support, the inner end of the grabbing rod is fixedly connected with the driving end of the grabbing rod driving component, the upper side surface of the bucket cover is provided with a grabbing circular groove, and the inner annular surface of the grabbing circular groove is provided with a plurality of radial grabbing holes;

when grabbing is needed, the grabbing support is arranged in the grabbing circular groove, and the telescopic end of the grabbing telescopic assembly is inserted into the grabbing hole;

when the grabbing is not needed, the grabbing support is arranged outside the grabbing circular groove.

10. An uncovering and closing device for a dry salt bucket according to claim 9, wherein said bracket assembly is provided with:

a dry salt bucket in-place sensor for detecting whether a dry salt bucket is arranged below the rotating assembly;

the lifting mounting frame is provided with:

an upper limit switch for defining an upward movement limit position of the rotating assembly;

a lower limit switch for defining a downward movement limit position of the rotating assembly;

the origin switch is used for marking the stop position of the rotating assembly in the non-working state;

the rotary mounting frame is provided with:

a rotation origin detector for detecting a rotation angle of the swivel support;

a positive and negative rotation electrical limit detector for determining the rotation state of the slewing bearing;

locating component fixedly connected with sensor mounting bracket, install on the sensor mounting bracket:

a central positioning detector for detecting whether the positioning assembly is coaxial with the dry salt barrel;

a bolt position detector for detecting a position of a bolt of the connection flange;

a screw hole position detector for detecting a position of a screw hole of the connection flange;

a cover opening and descending in-place detector for judging whether the positioning assembly moves downwards to be in place or not when the cover opening operation is carried out;

a cover descending position detector for judging whether the positioning component moves downwards to the position when the cover is closed;

a torque value monitoring sensor for measuring torque is arranged between the screwing motor and the socket wrench;

the socket wrench is provided with a screwing-in/screwing-out position monitor for detecting whether the bolt of the connecting flange is screwed in or out;

a rotation turn number monitor for counting the rotation turn number is arranged on the screwing motor;

the grabbing component is provided with a bearing sensor used for judging whether the barrel cover is normally grabbed.

Technical Field

The invention relates to the technical field of radioactive waste treatment, in particular to a cover opening and sealing device for a dry salt barrel.

Background

As a new technology in the field of radioactive waste treatment, the in-barrel drying technology has the advantages of large volume reduction ratio, high treatment efficiency and the like compared with the traditional cement curing technology. As the steel drum for containing the radioactive dry salt cake, the drum cover is large in volume, heavy in weight and extremely strong in radioactivity, personnel must be prohibited from approaching the drum cover in the process of opening the drum cover and closing the drum cover, the operation of opening the drum cover cannot be performed in a manual mode, and a mechanical opening and closing device needs to be adopted.

Disclosure of Invention

The invention aims to solve the problem that mechanical uncovering and covering are needed to be carried out on a drying salt barrel, personnel are prevented from approaching the drying salt barrel, and the uncovering and covering device for the drying salt barrel is provided.

An uncapping and capping device for a dry salt bucket, the connection being detachable between the bucket body and the bucket lid of the dry salt bucket through a connecting flange, the device comprising: the device comprises a support assembly, a positioning assembly, a rotating assembly, a lifting assembly, a screwing assembly and a grabbing assembly, wherein the rotating assembly is connected with the support assembly in a vertically movable mode through the lifting assembly, the upper end of the positioning assembly is fixedly connected with the lower end of the rotating assembly, and the upper ends of the grabbing assembly and the screwing assembly are fixedly connected with the lower end of the positioning assembly;

it is a plurality of twist and move the subassembly and be annular distribution and respectively with flange's screw corresponds the setting, it is a plurality of to snatch the subassembly setting twist and move inside the annular structure that the subassembly is constituteed, just the lower extreme of snatching the subassembly with the bung can be dismantled and be connected.

Specifically, the bracket component includes supporting leg, operation part mounting bracket and fixing base, and is a plurality of the vertical setting of supporting leg is in the both sides of transfer table, dry salt bucket is placed on the transfer table, the lower extreme of supporting leg passes through fixing base and ground/frame fixed connection, operation part mounting bracket with the upper end fixed connection of supporting leg, lifting unit with operation part mounting bracket fixed connection.

Specifically, lifting unit includes lift mounting bracket, the linear guide is vice, ball and elevator motor, at least two the vice vertical setting of linear guide and with lift mounting bracket fixed connection, lift mounting bracket with moving part mount pad fixed connection, rotating assembly with the vice slip end fixed connection of linear guide, the vertical setting of ball and with lift mounting bracket rotatable coupling, ball's screw nut with rotating assembly fixed connection, elevator motor with lift mounting bracket fixed connection, just elevator motor's torque output with the coaxial and fixed connection of one end of ball.

Specifically, the rotating assembly includes swivel mount, slewing bearing and rotation driving motor, the side of swivel mount with the vice slip end of linear guide with ball screw's screw nut fixed connection, the slewing bearing with the downside rotatable coupling of swivel mount, rotation driving motor's the vertical setting of torque output shaft, just rotation driving motor's torque output shaft with the coincidence of slewing bearing's axis.

As a preferred, slewing bearing's upper end with be provided with plane fine motion subassembly between the swivel mount, plane fine motion subassembly includes that X axle guide rail is vice, Y axle guide rail is vice and connection pad, X axle guide rail is vice with the vice perpendicular setting of Y axle guide rail, X axle guide rail is vice with swivel mount's downside fixed connection, the vice slide end fixed connection with X axle guide rail of Y axle guide rail, the connection pad go up the side with the vice slide end fixed connection of Y axle guide rail, the side of going up of location disc with the downside rotatable coupling of connection pad.

Specifically, the locating component embraces claw, location disc, adjusting pull rod and embraces claw drive assembly including the location, and is a plurality of the location is embraced the claw and is followed the axis of location disc is circular distribution, just the location is embraced the upper end of claw through the pivot with the outside rotatable coupling of location disc, the first end of adjusting pull rod through the pivot with the middle-end rotatable coupling of claw is embraced in the location, the second end of adjusting pull rod with embrace claw drive assembly's flexible end fixed connection.

Preferably, embrace claw drive assembly and include a plurality of electric telescopic handle, electric telescopic handle's stiff end through the pivot with the center department rotatable coupling of location disc, electric telescopic handle's flexible end with adjust the coaxial setting of pull rod, and with the second end fixed connection of adjusting the pull rod.

Specifically, it includes and twists motor and box spanner to twist the subassembly, twist the motor with the downside fixed connection of positioning disc, twist the vertical setting of torque output shaft of motor, and through the integral key shaft with box spanner's upper end fixed connection, the vertical setting of box spanner, just box spanner's lower extreme with flange's bolt adaptation.

Preferably, the grabbing assembly comprises a vertical telescopic assembly, a grabbing support, grabbing rods and a grabbing rod driving assembly, the vertical telescopic assembly is vertically arranged, the upper end of the vertical telescopic assembly is fixedly connected with the lower side surface of the positioning disc, the lower end of the vertical telescopic assembly is fixedly connected with the upper side surface of the grabbing support, the grabbing rods are horizontally arranged along the radius of the grabbing support and are slidably connected with the grabbing support, the inner ends of the grabbing rods are fixedly connected with the driving end of the grabbing rod driving assembly, the upper side surface of the barrel cover is provided with grabbing circular grooves, and the inner annular surface of each grabbing circular groove is provided with a plurality of radial grabbing holes;

when grabbing is needed, the grabbing support is arranged in the grabbing circular groove, and the telescopic end of the grabbing telescopic assembly is inserted into the grabbing hole;

when the grabbing is not needed, the grabbing support is arranged outside the grabbing circular groove.

Further, the bracket component is provided with:

a dry salt bucket in-place sensor for detecting whether a dry salt bucket is arranged below the rotating assembly;

the lifting mounting frame is provided with:

an upper limit switch for defining an upward movement limit position of the rotating assembly;

a lower limit switch for defining a downward movement limit position of the rotating assembly;

the origin switch is used for marking the stop position of the rotating assembly in the non-working state;

the rotary mounting frame is provided with:

a rotation origin detector for detecting a rotation angle of the swivel support;

a positive and negative rotation electrical limit detector for determining the rotation state of the slewing bearing;

locating component fixedly connected with sensor mounting bracket, install on the sensor mounting bracket:

a central positioning detector for detecting whether the positioning assembly is coaxial with the dry salt barrel;

a bolt position detector for detecting a position of a bolt of the connection flange;

a screw hole position detector for detecting a position of a screw hole of the connection flange;

a cover opening and descending in-place detector for judging whether the positioning assembly moves downwards to be in place or not when the cover opening operation is carried out;

a cover descending position detector for judging whether the positioning component moves downwards to the position when the cover is closed;

a torque value monitoring sensor for measuring torque is arranged between the screwing motor and the socket wrench;

the socket wrench is provided with a screwing-in/screwing-out position monitor for detecting whether the bolt of the connecting flange is screwed in or out;

a rotation turn number monitor for counting the rotation turn number is arranged on the screwing motor;

the grabbing component is provided with a bearing sensor used for judging whether the barrel cover is normally grabbed.

Compared with the prior art, the device realizes the alignment of the device and the dry salt barrel by arranging the positioning assembly, then realizes the installation and the disassembly of the bolt of the connecting flange by the matching of the lifting assembly, the rotating assembly and the screwing assembly, and realizes the installation and the disassembly of the barrel cover by the grabbing assembly, thereby realizing the purposes of mechanically opening and closing the cover.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the principles of the invention.

Fig. 1 is a schematic structural view of an uncapping and capping device for a dry salt bucket according to the present invention.

Fig. 2 is a schematic structural view of the support assembly according to the present invention.

Fig. 3 is a schematic structural view of the lifting assembly according to the present invention.

Fig. 4 is a schematic view of the structure of the rotating assembly according to the present invention.

Fig. 5 is a schematic structural view of the positioning assembly according to the present invention.

Fig. 6 is a schematic view of the construction of a grasping assembly according to the present invention.

Figure 7 is a schematic view of the construction of the screwing assembly according to the invention.

Reference numerals: 104-running part mounting rack, 201-screwing motor, 202-torque value monitoring sensor, 204-spline shaft, 205-screwing in/out position monitor, 206-socket wrench, 207-rotation number monitor, 301-vertical telescopic component, 302-grab bar driving component, 304-bearing sensor, 305-grab support, 306-gear disc, 307-grab bar, 308-protective cover, 401-holding claw driving component, 402-positioning disc, 403-sensor mounting rack, 404-adjusting pull bar, 405-bolt position detector, 406-screw hole position detector, 407-positioning holding claw, 408-cover opening descending in-place detector, 409-cover descending in-place detector, 410-center positioning detector, 501-a rotary support, 502-a plane micro-motion assembly, 503-a rotary mounting rack, 504-a rotary driving motor, 505-a rotary origin detector, 506-a forward and reverse rotation electrical limit detector, 701-a linear guide rail pair, 702-a lifting mounting rack, 703-a ball screw, 704-a lifting motor, 705-an upper limit switch, 706-an origin switch and 707-a lower limit switch.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limitations of the invention.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

In the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

The drying salt bucket is the device that is used for carrying out the drying to nuclear waste liquid, and the back will leave the solid nuclear waste in the drying salt bucket with the nuclear waste of liquid, and it possesses very big radioactivity, and operating personnel should not be close to influence healthy by receiving excessive radiation.

Generally, a dry salt barrel is transported by a transport roller shaft and is serially connected with a plurality of treatment processes by the transport roller shaft so as to treat nuclear waste, and the dry salt barrel needs to be opened or closed in different processes.

A uncap and closing cap device for dry salt bucket, can dismantle the connection through flange between the ladle body of dry salt bucket and the bung, the device includes: the device comprises a support assembly 1, a positioning assembly 4, a rotating assembly 5, a lifting assembly 7, a screwing assembly 2 and a grabbing assembly 3, wherein the rotating assembly 5 can be connected with the support assembly 1 in an up-and-down mode through the lifting assembly 7, the upper end of the positioning assembly 4 is fixedly connected with the lower end of the rotating assembly 5, and the upper end of the grabbing assembly 3 and the upper end of the screwing assembly 2 are fixedly connected with the lower end of the positioning assembly 4;

fix this device on the conveyer belt that the conveying roller constitutes through bracket component 1, when the operation of uncapping or closing cap is carried out to dry salt bucket to needs, control dry salt bucket stops under this device, fix a position dry salt bucket through locating component 4, make bolt/screw on the flange of dry salt bucket with twist and move subassembly 2 and aim at, then can twist through mechanical control and move subassembly 2 work, realize the wrong income or the screw-out of bolt, can realize the installation or the dismantlement of bung through snatching subassembly 3.

A plurality of screws and moves subassembly 2 and be the annular distribution and correspond the setting with flange's screw respectively, snatchs subassembly 3 and sets up inside a plurality of annular structures of twisting subassembly 2 constitution, and snatchs the lower extreme of subassembly 3 and can dismantle with the bung and be connected.

Can select only to set up one and twist and move subassembly 2, then through the rotation that rotating assembly 5 does not stop, realize the dismantlement to flange's a plurality of bolts, but this kind of method efficiency is lower, when carrying out uncapping or closing cap operation of a dry salt bucket, need twist into one by one or twist out the bolt, consequently through setting up a plurality of subassemblies 2 of twisting, the quantity that twists subassembly 2 equals with flange's bolt's quantity, through a plurality of subassemblies 2 simultaneous workings of twisting, can realize once only twisting or the purpose of twisting out all bolts, and the work efficiency is promoted.

An example is provided below, in which all operations are controlled manually.

Example one

Bracket component 1 includes supporting leg 102, operation part mounting bracket 104 and fixing base 101, and the vertical setting of a plurality of supporting legs 102 is in the both sides of transfer table, and dry salt bucket is placed on the transfer table, and fixing base 101 and ground/frame fixed connection are passed through to the lower extreme of supporting leg 102, operation part mounting bracket 104 and supporting leg 102's upper end fixed connection, lifting unit 7 and operation part mounting bracket 104 fixed connection.

The number of the supporting legs 102 is not limited, but for stable fixation, it is preferable that at least 4 supporting legs 102 are included, and of course, two supporting plates disposed at two sides of the conveying roller way may be adopted, and the main purpose is to dispose the positioning assembly 4, the rotating assembly 5, the lifting assembly 7, the screwing assembly 2 and the grabbing assembly 3 directly above the conveying roller way.

The lower end of the supporting leg 102 is welded with a fixed seat 101, the fixed seat 101 is fixedly connected with the frame in a welding mode, and the fixed seat can also be fixed on the ground by adopting an expansion screw.

The support legs 102 are fixed to withstand a large torque, which is generated when the lid of the salt drying barrel is opened or closed.

The operation part mounting frame 104 supports the positioning assembly 4, the rotating assembly 5, the lifting assembly 7, the screwing assembly 2 and the grabbing assembly 3, is preferably arranged in a direction perpendicular to the moving direction of the conveying roller way, and can facilitate personnel to stand on the conveying roller way to complete the overhaul and maintenance of the operation part.

And after the drying salt barrel on the conveying roller way moves to a position between the supporting legs 102, controlling the conveying roller way to stop moving, and enabling the drying salt barrel to be positioned under the rotating assembly 5/the lifting assembly 7/the screwing assembly 2/the grabbing assembly 3.

The lifting assembly 7 is used for controlling the up-and-down movement of the rotating assembly 5, and can be in various structures, and two embodiments are provided as follows:

example (1)

The lifting assembly 7 comprises a lifting mounting frame 702, linear guide rail pairs 701, a ball screw 703 and a lifting motor 704, at least two linear guide rail pairs 701 are vertically arranged and are fixedly connected with the lifting mounting frame 702, the lifting mounting frame 702 is fixedly connected with a running part mounting seat, a rotating assembly 5 is fixedly connected with a sliding end of each linear guide rail pair 701, the ball screw 703 is vertically arranged and is rotatably connected with the lifting mounting frame 702, a screw nut of the ball screw 703 is fixedly connected with the rotating assembly 5, the lifting motor 704 is fixedly connected with the lifting mounting frame 702, and a torque output end of the lifting motor 704 is coaxial and fixedly connected with one end of the ball screw 703.

The ball screw 703 and the lifting motor 704 form a ball screw 703 transmission structure, the rotary motion of the lifting motor 704 is converted into the linear motion of the screw nut, and when the ball screw 703 rotates, the screw nut can move up and down along the ball screw 703, so that the rotating assembly 5 fixedly connected with the screw nut can move up and down.

In order to make the lifting of the rotating assembly 5 more stable and provide better stability (the device can generate larger torque when working), a linear guide rail pair 701 parallel to the ball screw 703 is arranged, and a sliding end on the linear guide rail pair 701 is fixedly connected with the rotating assembly 5, so that the purposes of guiding and stably fixing are achieved.

The number of the ball screws 703 is not limited, and a plurality of ball screws 703 may be provided for stable transmission as long as they can move in synchronization.

Example 2

Lifting unit 7 includes lifting mounting frame 702, the vice 701 of linear guide, linear electric motor, two at least pairs of 701 vertical settings of linear guide and with lifting mounting frame 702 fixed connection, lifting mounting frame 702 and running part mount pad fixed connection, rotating assembly 5 and the vice 701 slip end fixed connection of linear guide, linear electric motor's elementary vertical setting and with lifting mounting frame 702 fixed connection, linear electric motor's secondary and rotating assembly 5 fixed connection.

In this embodiment, a linear motor capable of moving linearly is directly used instead of the ball screw 703 structure, so that a part of the structure is simplified, and the upward movement or the downward movement of the rotating member 5 can be directly controlled.

The linear guide pair 701 functions as in the previous embodiment, namely guiding and stabilizing.

The rotating assembly 5 comprises a rotating mounting frame 503, a rotating support 501 and a rotating driving motor 504, the side surface of the rotating mounting frame 503 is fixedly connected with the sliding end of the linear guide rail pair 701 and a screw nut of the ball screw 703, the rotating support 501 is rotatably connected with the lower side surface of the rotating mounting frame 503, a torque output shaft of the rotating driving motor 504 is vertically arranged, and the torque output shaft of the rotating driving motor 504 is overlapped with the central axis of the rotating support 501.

The rotary mounting frame 503 is used to connect the lifting assembly 7 and the rotary support frame 501, because the lifting assembly 7 slides up and down, and the screwing assembly 2/grabbing assembly 3 needs to be parallel to the barrel cover, so that the mounting surfaces of the lifting assembly 7 and the rotary mounting frame 503 need to be perpendicular to the mounting surfaces of the rotary support frame 503 and the rotary support frame 501, i.e. the left side surface and the lower side surface as shown in fig. 4.

The rotation driving motor 504 drives the rotation support 501 to rotate along its central axis, so as to adjust the angle of the positioning assembly 4 fixedly connected with the rotation support, which will be described later.

The positioning assembly 4 comprises positioning holding claws 407, a positioning disc 402, an adjusting pull rod 404 and a holding claw driving assembly 401, wherein the positioning holding claws 407 are circularly distributed along the central axis of the positioning disc 402, the upper ends of the positioning holding claws 407 are rotatably connected with the outer side of the positioning disc 402 through rotating shafts, the first ends of the adjusting pull rods 404 are rotatably connected with the middle ends of the positioning holding claws 407 through rotating shafts, and the second ends of the adjusting pull rods 404 are fixedly connected with the telescopic ends of the holding claw driving assembly 401.

In order to realize the coaxial positioning of the positioning disk 402 and the drying salt bucket, it is necessary to ensure that the number of the positioning clasps 407 is not less than three, because the drying salt bucket is disposed below the positioning disk 402, and therefore, in order to realize the purpose of clasping the positioning, it is necessary to set the positioning clasps 407 to be disposed below the positioning disk 402.

Through embracing claw drive assembly 401 pulling regulation pull rod 404, make the second end of adjusting regulation pull rod 404 to the axis department of location disc 402 remove, embrace claw 407's upper end and location disc 402 rotatable coupling because the location to make the location embrace the lower extreme of claw 407 to the axis removal of location disc 402, thereby can reduce the diameter of the circle that the second end of a plurality of location armful claws 407 is constituteed, when the diameter equals the diameter of dry salt bucket, realized embracing the operation of tightly.

In practice, when the dry salt barrel moves to a position right below the positioning disk 402, the dry salt barrel may not be coaxial with the positioning disk 402, and the position of the dry salt barrel can be changed within a certain range by changing the diameter of the circle formed by the second ends of the positioning claws 407, so that the dry salt barrel can be moved to a coaxial state.

The gripper actuation assembly 401 may have a variety of configurations, and two embodiments are provided below for illustration:

EXAMPLE c

Embrace claw drive assembly 401 and include a plurality of electric telescopic handle, electric telescopic handle's stiff end passes through pivot and the center department rotatable coupling of location disc 402, and electric telescopic handle's flexible end and the coaxial setting of adjusting the pull rod 404, and hold fixed connection with the second of adjusting the pull rod 404.

The reason why the position of the positioning holding claw 407 can be adjusted by the adjusting pull rod 404 is that the distance between the first end of the adjusting pull rod 404 and the central axis of the positioning disc 402 can be changed, so that only a plurality of connecting rods with telescopic functions need to be arranged.

In the embodiment, an electric telescopic rod is adopted, namely, the position of the condition pull rod is changed through the electric telescopic rod

Of course, the electric telescopic rod can be replaced by an air telescopic rod or a hydraulic telescopic rod, and the length of the telescopic rod can be changed by compressed air or hydraulic oil.

Example 4

Embrace claw drive assembly 401 and include motor and chuck, and the chuck passes through the motor drive and rotates, adjusts the edge rotatable coupling of second end and chuck of pull rod 404 to can realize the change to the position of the first end of adjusting pull rod 404 through changing the chuck and adjusting the angle between pull rod 404, also can realize like embodiment in the third embodiment.

In addition, a plane micro-motion assembly 502 can be arranged between the upper end of the rotary support 501 and the rotary mounting frame 503, and the plane micro-motion assembly 502 is two groups of linear roller ways which are installed in a crossed manner.

The plane micromotion assembly 502 can comprise an X-axis guide rail pair, a Y-axis guide rail pair and a connecting disc, wherein the X-axis guide rail pair and the Y-axis guide rail pair are vertically arranged, the X-axis guide rail pair is fixedly connected with the lower side surface of the rotary mounting frame 503, the Y-axis guide rail pair is fixedly connected with the sliding end of the X-axis guide rail pair, the upper side surface of the connecting disc is fixedly connected with the sliding end of the Y-axis guide rail pair, and the upper side surface of the positioning disc 402 is rotatably connected with the lower side surface of the connecting disc.

The position of the positioning component 4 is adjusted in the horizontal plane through the plane micro-motion component 502, so that the movement amount of the drying salt barrel can be reduced, and if the offset of the drying salt barrel is less, the positioning of the positioning component 4 and the center of the drying salt barrel can be directly realized through the position of the movable positioning component 4.

The projections of the X-axis direction and the Y-axis direction on the horizontal plane form an included angle of 90 degrees.

The X-axis guide rail pair comprises a linear guide rail and a sliding block (the sliding block can slide on the linear guide rail along the X-axis direction), and the Y-axis guide rail pair comprises a linear guide rail and a sliding block (the sliding block can slide on the linear guide rail along the Y-axis direction).

The linear guide rail of the X-axis guide rail pair is fixedly connected with the lower side surface of the rotary mounting frame, and the linear guide rail of the Y-axis guide rail pair is fixedly connected with the sliding block of the X-axis guide rail pair, so that the aim that the Y-axis guide rail pair moves along the linear guide rail of the X-axis guide rail pair in the X-axis direction can be fulfilled.

The connecting disc is fixedly connected with the sliding block of the Y-axis guide rail pair, so that the aim that the connecting disc moves on the Y axis along the linear guide rail of the Y-axis guide rail pair can be fulfilled.

The screwing assembly 2 comprises a screwing motor 201 and a socket wrench 206, the screwing motor 201 is fixedly connected with the lower side face of the positioning disc 402, a torque output shaft of the screwing motor 201 is vertically arranged, the upper end of the spline shaft 204 is fixedly connected with the socket wrench 206, the socket wrench 206 is vertically arranged, and the lower end of the socket wrench 206 is matched with the bolt of the connecting flange.

The lower end of the socket wrench 206 is matched with the bolt of the connecting flange, the lower end of the socket wrench 206 is sleeved on the bolt by descending the lifting component 7, and then the socket wrench 206 is controlled to rotate by screwing the motor 201, so that the bolt can be screwed in/out.

When the cover is opened, the barrel cover and the barrel body need to be separated; when carrying out the closing cap operation, need install the bung to the ladle body on, consequently need snatch subassembly 3 and operate the bung.

The grabbing component 3 comprises a vertical telescopic component 301, grabbing support seats 305, grabbing rods 307 and grabbing rod driving components 302, wherein the vertical telescopic component 301 is vertically arranged, the upper end of the vertical telescopic component 301 is fixedly connected with the lower side surface of the positioning disc 402, the lower end of the vertical telescopic component 301 is fixedly connected with the upper side surface of the grabbing support seats 305, a plurality of grabbing rods 307 are horizontally arranged along the radius of the grabbing support seats 305 and can be slidably connected with the grabbing support seats 305, the inner ends of the grabbing rods 307 are fixedly connected with the driving ends of the grabbing rod driving components 302, grabbing circular grooves are formed in the upper side surface of the barrel cover, and a plurality of radial grabbing holes are formed in the inner annular surface of each grabbing circular groove;

when grabbing is needed, the grabbing support 305 is arranged in the grabbing circular groove, and the telescopic end of the grabbing telescopic component 307 is inserted into the grabbing hole;

when grabbing is needed, the vertical telescopic assembly 301 is controlled to extend, the grabbing support 305 descends to the grabbing circular groove, then the grabbing rod 307 can be grabbed by the grabbing rod driving assembly 302 to extend out, the grabbing rod is inserted into the grabbing hole, the grabbing assembly 3 is fixed to the barrel cover, and then the barrel cover can be separated from the barrel body by moving the vertical telescopic assembly 301 or the lifting assembly 7 upwards.

When the grabbing is not needed, the grabbing rod 307 is pulled out of the grabbing hole, and then the grabbing support 305 is moved out of the grabbing circular groove.

The vertical telescopic assembly 301 may be an electric telescopic rod, a pneumatic telescopic rod and a hydraulic telescopic rod, and the main purpose of the vertical telescopic assembly is to enable the grabbing support 305 to move up and down.

The grab bar drive assembly 302 may be of various configurations, the purpose of which is to control the distance between the outer end of the grab bar 307 and the grab bracket 305, two embodiments are provided below:

example C

The grab bar drive assembly 302 may be an electric telescopic bar, a pneumatic telescopic bar, and a hydraulic telescopic bar, and its main purpose is to extend or retract the grab bar 307 so that it can be inserted into the grab hole.

Examples (c)

The grab bar driving assembly 302 comprises a motor and a gear disc 306, the gear disc 306 is driven by the motor to rotate, the inner end of the grab bar 307 is rotatably connected with the edge of the gear disc 306, so that the change of the position of the outer end of the grab bar 307 can be realized by changing the angle between the gear disc 306 and the grab bar 307, the function in the fifth embodiment can also be realized, and the gear disc 306 has a self-locking function.

An electromagnet can be arranged on the lower side surface of the grabbing support 305, and the purpose of grabbing or placing the barrel cover made of iron-cobalt-nickel materials is achieved by switching on and off the electromagnet.

The parts which can be packaged, such as the positioning component 4, the rotating component 5, the lifting component 7, the screwing component 2, the grabbing component 3 and the like, are all packaged by the protective cover 308, and the protective cover 308 is made of a stainless steel plate and is mainly used for shielding external interference of parts and protecting internal equipment from running safely and reliably.

Example two

In the first embodiment, all operations are controlled manually, and in an actual industrial environment, the manual operation may have low precision, so that a plurality of electronic devices are additionally arranged to achieve the purpose of electrical control.

In this embodiment, at bracket component 1, locating component 4, rotating component 5, lifting unit 7, twist and move subassembly 2 and snatch subassembly 3 and all add the sensor, survey the position of each work piece through the sensor to with sensor signal output to the controller in, can realize through the controller that bracket component 1, locating component 4, rotating component 5, lifting unit 7, twist and move subassembly 2 and snatch the control of subassembly 3, consequently need add block terminal 6.

Moreover, the models of all the sensors are not specified, because various position sensors, detection sensors and the like are adopted in the embodiment, the existing sensors can achieve the purpose, only purchasing is needed, the sensors do not need to be designed, control programs of the sensors do not need to be compiled, and programs in the existing stage are adopted.

Bracket component 1 includes supporting leg 102, operation part mounting bracket 104 and fixing base 101, and the vertical setting of a plurality of supporting legs 102 is in the both sides of transfer table, and dry salt bucket is placed on the transfer table, and fixing base 101 and ground/frame fixed connection are passed through to the lower extreme of supporting leg 102, operation part mounting bracket 104 and supporting leg 102's upper end fixed connection, lifting unit 7 and operation part mounting bracket 104 fixed connection.

The bracket assembly 1 is provided with a dry salt bucket in-place sensor 103 for detecting whether a dry salt bucket is arranged below the rotating assembly 5.

The dry salt barrel in-place sensor 103 detects to detect real-time detection of the conveying roller way, when the dry salt barrel in-place sensor 103 detects that the dry salt barrel on the conveying roller way moves to a position between the supporting legs 102, the conveying roller way is controlled to stop the dry salt barrel under the rotating assembly 5/the lifting assembly 7/the screwing assembly 2/the grabbing assembly 3, and then the conveying roller way is controlled to stop working temporarily.

Meanwhile, two sets of photoelectric diffuse reflection sensors can be arranged for detecting whether the drum cover of the drying salt drum on the roller way exists or not, so that the fact that the cover is opened or closed in the next procedure can be judged.

The lifting assembly 7 comprises a lifting mounting frame 702, linear guide rail pairs 701, a ball screw 703 and a lifting motor 704, at least two linear guide rail pairs 701 are vertically arranged and are fixedly connected with the lifting mounting frame 702, the lifting mounting frame 702 is fixedly connected with a running part mounting seat, a rotating assembly 5 is fixedly connected with a sliding end of each linear guide rail pair 701, the ball screw 703 is vertically arranged and is rotatably connected with the lifting mounting frame 702, a screw nut of the ball screw 703 is fixedly connected with the rotating assembly 5, the lifting motor 704 is fixedly connected with the lifting mounting frame 702, and a torque output end of the lifting motor 704 is coaxial and fixedly connected with one end of the ball screw 703.

The lifting mounting frame 702 is provided with:

an upper limit switch 705 for defining an upper limit position of the rotating assembly 5;

a lower limit switch 707 for defining a downward movement limit position of the rotating assembly 5;

a home switch 706 for marking a staying position of the rotating member 5 in the non-operating state;

through set up three limit switch on lift mounting bracket 702, the main objective is used for protecting elevating system operation not to drop, has set for the maximum stroke of lifting unit 7 promptly, avoids appearing the condition of transfiniting.

The rotating assembly 5 comprises a rotating mounting frame 503, a rotating support 501 and a rotating driving motor 504, the side surface of the rotating mounting frame 503 is fixedly connected with the sliding end of the linear guide rail pair 701 and a screw nut of the ball screw 703, the rotating support 501 is rotatably connected with the lower side surface of the rotating mounting frame 503, a torque output shaft of the rotating driving motor 504 is vertically arranged, and the torque output shaft of the rotating driving motor 504 is overlapped with the central axis of the rotating support 501.

The rotary mounting frame 503 is provided with:

a rotation origin detector 505 for detecting the rotation angle of the pivoting support 501;

a forward and reverse rotation electrical limit detector 506 for determining the rotation state of the pivoting support 501;

the rotation state of the pivoting support 501 can be detected and controlled by providing the rotation origin detector 505 and the forward/reverse rotation electrical limit detector 506, and the function of the positioning assembly 4 can be realized by the rotatable state.

The positioning assembly 4 comprises positioning holding claws 407, a positioning disc 402, an adjusting pull rod 404 and a holding claw driving assembly 401, wherein the positioning holding claws 407 are circularly distributed along the central axis of the positioning disc 402, the upper ends of the positioning holding claws 407 are rotatably connected with the outer side of the positioning disc 402 through rotating shafts, the first ends of the adjusting pull rods 404 are rotatably connected with the middle ends of the positioning holding claws 407 through rotating shafts, and the second ends of the adjusting pull rods 404 are fixedly connected with the telescopic ends of the holding claw driving assembly 401.

Locating component 4 fixedly connected with sensor mounting bracket 403 installs on sensor mounting bracket 403:

a central positioning detector 410 for detecting whether the positioning assembly 4 is coaxial with the dry salt bucket;

the center positioning detector 410 is a basis for opening and closing the barrel cover, and if the center of the positioning component 4 and the center of the dry salt barrel cannot be aligned, neither the screwing component 2 nor the grabbing component 3 can be aligned.

A bolt position detector 405 for detecting the position of a bolt of the connection flange;

a screw hole position detector 406 for detecting the position of the screw hole of the connecting flange;

the bolt position detector 405 and the screw hole position detector 406 function similarly, both to align the screwing assembly 2 with the bolt/screw hole to enable screwing in or out operation.

After the bolt position detector 405/screw hole position detector 406 detects the position of the bolt/screw hole, a position signal is transmitted, the rotating assembly 5 controls the rotating support 501 to rotate through the position signal, the rotating support 501 rotates to change the positions of the bolt position detector 405 and the screw hole position detector 406, and finally the positioning assembly 4 rotates to a set position through cooperative work.

A cover-open-down-position detector 408 for determining whether the positioning unit 4 is moved down to the position when the cover-open operation is performed;

a cover lowering position detector 409 for judging whether the positioning member 4 is moved down to the position when the cover closing operation is performed;

the cover down position detector 408 and the cover down position detector 409 have similar functions, and both are used for controlling the position of the positioning assembly 4 in the vertical direction, i.e. not too low, if the position of the positioning assembly 4 is too low, the positioning assembly 4 may contact with the barrel cover, and may even press the barrel cover, causing damage to the device.

And the height of the cover cannot be too high, the positioning component 4, the screwing component 2, the grabbing component 3 and the like cannot be in contact with the drying salt barrel after the height is too high, and the purposes of opening the cover and sealing the cover cannot be achieved.

The open cover down position detector 408/cover down position detector 409 transmits a position signal to the elevation assembly 7, and the positions of the open cover down position detector 408/cover down position detector 409 are changed by the elevation assembly 7, and by their cooperation, the positioning assembly 4 is finally moved to a set height.

The screwing assembly 2 comprises a screwing motor 201 and a socket wrench 206, the screwing motor 201 is fixedly connected with the lower side face of the positioning disc 402, a torque output shaft of the screwing motor 201 is vertically arranged, the upper end of the spline shaft 204 is fixedly connected with the socket wrench 206, the socket wrench 206 is vertically arranged, and the lower end of the socket wrench 206 is matched with the bolt of the connecting flange.

A torque value monitoring sensor 202 for measuring torque is arranged between the screwing motor 201 and the socket wrench 206, and abnormal conditions such as bolt jamming or thread slipping are detected in time during bolt screwing through detection of output torque of the screwing motor 201.

A socket wrench 206 is provided with a screwing/unscrewing position monitor 205 for detecting whether bolts of the connecting flange are screwed in or out;

the screwing-in/screwing-out position monitor 205 can detect the state of the bolt in time, and after the bolt is screwed to a set position, the screwing motor 201 can be controlled to stop in time, so that the condition that the screwing motor 201 is damaged due to overlarge torque is avoided.

Twist and be provided with the rotatory number of turns monitor 207 that is used for statistics rotatory number of turns on the motor 201, through detecting rotatory number of turns, can stop twisting after reaching the settlement number of turns, reduce the too big condition of moment of torsion appearance.

The grabbing component 3 comprises a vertical telescopic component 301, grabbing support seats 305, grabbing rods 307 and grabbing rod driving components 302, wherein the vertical telescopic component 301 is vertically arranged, the upper end of the vertical telescopic component 301 is fixedly connected with the lower side surface of the positioning disc 402, the lower end of the vertical telescopic component 301 is fixedly connected with the upper side surface of the grabbing support seats 305, a plurality of grabbing rods 307 are horizontally arranged along the radius of the grabbing support seats 305 and can be slidably connected with the grabbing support seats 305, the inner ends of the grabbing rods 307 are fixedly connected with the driving ends of the grabbing rod driving components 302, grabbing circular grooves are formed in the upper side surface of the barrel cover, and a plurality of radial grabbing holes are formed in the inner annular surface of each grabbing circular groove;

the grabbing component 3 is provided with a bearing sensor 304 for judging whether the barrel cover is normally grabbed.

The grabbing component 3 is provided with a load bearing sensor 304, the load bearing sensor 304 can be arranged between the vertical telescopic component 301 and the grabbing support 305, between the vertical telescopic component 301 and the positioning component 4 and between the grabbing support 305 and the grabbing rod 307, the purpose of the load bearing sensor is to identify the grabbing weight, and send out an alarm signal under the conditions of overload (the bolt is not completely unscrewed) and underload (the barrel cover is not successfully grabbed)

The following summarizes the operation of opening and closing the lid:

uncovering:

after the dry salt bucket in place sensor 103 on the bracket component 1 detects that the dry salt bucket is in place, the control transmission roller way stops, the lifting component 7 starts to drive the rotating component 5, the positioning component 4, the grabbing component 3 and the screwing component 2 to move downwards, after the set descending height is reached or the uncapping and descending in place detector 408 sends a feedback signal, the positioning component 4 is controlled to work, the positioning component 4 tightly holds the bucket body to drive the dry salt bucket to move, and the centering of the bucket center is completed.

Then the positioning component 4 is loosened, the rotating component 5 is started and drives the rotating support 501 to rotate, and the bolt positioning sensor stops rotating after detecting the position of the bolt.

The lifting component 7 is started to drive the component to lift so that the screwing component 2 is matched with the bolt of the connecting flange, and all the screwing components 2 are started simultaneously to unscrew the bolt at one time.

The grabbing component 3 is started to drive the grabbing rod 307 to extend out and be clamped into a grabbing hole of the barrel cover, the lifting component 7 is started to lift the rotating component 5, the positioning component 4, the grabbing component 3 and the screwing component 2 together with the barrel cover, and the cover opening operation is completed.

And (4) capping:

the steel barrel is detected to be in place by the dry salt barrel in-place sensor 103 on the bracket component 1, the lifting component 7 is started to drive the rotating component 5, the positioning component 4, the grabbing component 3 and the screwing component 2 to move downwards together with the barrel cover, and after the set descending height is reached or the cover is opened and descended in place detector 408 sends a feedback signal, the positioning component 4 holds the barrel body tightly to drive the dry salt barrel to move, so that barrel center centering is completed.

The positioning component 4 is loosened, the rotating component 5 is started and drives the rotating support 501 to rotate, and the screw hole positioning sensor stops rotating after detecting the position of the screw hole.

The lifting component 7 is started to drive the component to lift so that the barrel cover is contacted with the barrel body, and simultaneously all the screwing components 2 are started to screw the bolts at one time.

The grabbing component 3 is started to drive the grabbing rod 307 to retract from the grabbing hole of the barrel cover, the lifting component 7 is started to lift the rotating component 5, the positioning component 4, the grabbing component 3 and the screwing component 2, and the capping operation is completed.

In the description herein, reference to the description of the terms "one embodiment/mode," "some embodiments/modes," "example," "specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment/mode or example is included in at least one embodiment/mode or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to be the same embodiment/mode or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments/modes or examples. Furthermore, the various embodiments/aspects or examples and features of the various embodiments/aspects or examples described in this specification can be combined and combined by one skilled in the art without conflicting therewith.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

It will be understood by those skilled in the art that the foregoing embodiments are merely for clarity of description and are not intended to limit the scope of the invention. It will be apparent to those skilled in the art that other variations or modifications may be made on the above invention and still be within the scope of the invention.