阅读说明：本技术 一种密封罐自动拆卸及安装装置 (Automatic dismounting and mounting device for sealing tank ) 是由 高文 严栩森 王强 韩卫荣 肖全 于 2021-10-29 设计创作，主要内容包括：本发明涉及一种密封罐自动拆卸及安装装置,属于自动化机械作业技术领域。该装置的托台上装有夹持固定密封罐的抱夹机构,托台的上方装有可升降的拆装机构；拆装机构包括安装于下安装法兰的一组周向分布、分别与相应连接螺栓位置对应的动力驱动旋拧套筒,下安装法兰通过周圈间隔分布的连接杆与上安装法兰固定连接,各旋拧套筒分别通过支撑于上安装法兰和下安装法兰的对应旋拧套筒轴与驱动电机传动连接；抱夹机构由成对的左夹单元和右夹单元组成。采用本发明后,自动拆卸或安装成组进行,力矩精确可控,既显著提高了效率、大大降低劳动强度,又保证了一致性,从而确保密封安全可靠。(The invention relates to an automatic dismounting and mounting device for a sealing tank, and belongs to the technical field of automatic mechanical operation. The device is characterized in that a holding and clamping mechanism for holding and fixing the sealing tank is arranged on a supporting platform, and a liftable dismounting mechanism is arranged above the supporting platform; the dismounting mechanism comprises a group of power-driven screwing sleeves which are circumferentially distributed and are respectively arranged on the lower mounting flange and correspond to the corresponding connecting bolt positions, the lower mounting flange is fixedly connected with the upper mounting flange through connecting rods which are circumferentially distributed at intervals, and each screwing sleeve is in transmission connection with a driving motor through corresponding screwing sleeve shafts which are supported on the upper mounting flange and the lower mounting flange; the holding and clamping mechanism consists of a left clamping unit and a right clamping unit which are paired. After the invention is adopted, automatic disassembly or assembly is carried out in groups, the torque is accurate and controllable, the efficiency is obviously improved, the labor intensity is greatly reduced, and the consistency is ensured, thereby ensuring the safety and the reliability of sealing.)

1. The utility model provides an automatic dismounting of seal pot and installation device, is including the saddle of laying the seal pot, the embrace of the fixed seal pot of centre gripping is equipped with on the saddle and is pressed from both sides mechanism, its characterized in that: a liftable dismounting mechanism is arranged above the supporting platform;

the dismounting mechanism comprises a group of power-driven screwing sleeves which are circumferentially distributed and are respectively arranged on the lower mounting flange and correspond to the corresponding connecting bolt positions, the lower mounting flange is fixedly connected with the upper mounting flange through connecting rods which are circumferentially distributed at intervals, and each screwing sleeve is in transmission connection with a driving motor through corresponding screwing sleeve shafts which are supported on the upper mounting flange and the lower mounting flange;

the clamping mechanism consists of a left clamping unit and a right clamping unit which are paired, the left clamping unit comprises a left cylinder mounting frame arranged on the supporting table, a left telescopic cylinder is arranged on the left cylinder mounting frame, and a left clamping jaw is arranged at the telescopic end of the left telescopic cylinder; the right side presss from both sides the unit including installing the right cylinder mounting bracket on the saddle, settle right telescoping cylinder on the right cylinder mounting bracket, right clamping jaw is equipped with to the flexible end of right telescoping cylinder.

2. The automatic seal pot detaching and attaching device according to claim 1, wherein: the upper end of the lower support is hinged with a cylinder body of a righting cylinder, and the end of a piston rod of the righting cylinder is hinged with one end of a lower connecting rod and one end of a short connecting rod; the other end of the lower connecting rod is hinged to the lower end of the lower support, the other end of the short connecting rod is hinged to the middle of the claw frame, the high end of the claw frame is hinged to the lower portion of the lower support, and the lower end of the claw frame is provided with a centering claw which is adjacent to a hinge pin connecting bolt to be centered;

when the lower support is at a low position and the righting cylinder is at a piston rod extending position, the claw tip of the righting pusher dog is positioned below the horizontal hinge pin connecting bolt to be righted;

when the lower support rises and the righting cylinder is in the retraction process of the piston rod, the claw tip of the righting pusher dog pulls the hinge pin connecting bolt to be righted to rotate around the hinge shaft;

when the lower support is at a high position and the righting cylinder is at a piston rod retraction position, the claw tip of the righting pusher dog is positioned on one side of the vertical righting hinge pin connecting bolt.

3. The automatic seal pot detaching and attaching device according to claim 1, wherein: the upper mounting flange is suspended on the horizontal truss guide rail through a central slewing mechanism and a truss mechanical arm with a vertical track.

4. The automatic seal pot detaching and attaching device according to claim 1, wherein: the driving motor is in transmission connection with a floating eccentric output shaft of which the lower end is provided with a screwing sleeve through a planetary gear speed reduction transmission mechanism, and a measuring sensor is arranged in the transmission connection link.

5. The automatic seal pot detaching and attaching device as claimed in claim 2, wherein: the lower end of the poking claw frame is also provided with a turnover poking claw which is opposite to the righting poking claw, and when the lower support is at the upper limit position and the righting cylinder is at the retraction limit position of the piston rod, the claw tip of the turnover poking claw is positioned at the inner side of the righting hinge pin connecting bolt in the vertical direction; when the lower support descends and the righting cylinder is in the process of extending the piston rod, the claw tips of the turnover poking claws poke the righting hinge pin connecting bolt to rotate around the hinge shaft and automatically fall to the horizontal position.

6. The automatic seal pot detaching and attaching device as claimed in claim 5, wherein: the lower end of the poking claw frame is provided with an adjusting groove, and both ends of a screw rod which passes through the adjusting groove and is positioned by a nut are respectively provided with a centering poking claw and a turnover poking claw which are adjacent to a hinge pin connecting bolt to be poked.

7. The automatic seal pot detaching and attaching device as claimed in claim 6, wherein: the other end of the lower connecting rod is hinged with a bilateral supporting plate fixedly connected with the lower end of the lower bracket.

Technical Field

The invention relates to an automatic dismounting device, in particular to an automatic dismounting and mounting device for a sealing tank, and belongs to the technical field of automatic mechanical operation.

Background

The sealing tank for containing special materials mainly comprises a tank body, an upper cover and a connecting bolt with a hinge shaft on the circumferential direction of the sealing tank. Rely on artifical uncap and dress to cover the in-process, the fastening bolt who has fastening torque between jar body and the upper cover not only is difficult to tear open, adorn, wastes time and energy, can't guarantee its fastening torque's uniformity moreover. As a result, for the sealed can with harmful substances under certain pressure, leakage is difficult to stop by manual capping, and potential safety hazards exist.

As a result of the search, patent documents CN201920457362.1 and CN201820484457.8 disclose an automatic lid opening mechanism for a sealed can and an automatic lid opening mechanism for a betel nut dispensing can, respectively. The former can realize the work of uncovering and unloading at the same time, thus effectively reducing the labor intensity of workers; the latter changes manual uncapping into a mode of automatically uncapping by pushing and pulling the knife gate valve by the air cylinder, thereby reducing the feeding and discharging time, reducing the labor intensity and improving the efficiency. However, both of them are focused on automatic can opening, and cannot solve the problems of automatic disassembly and assembly of the sealing can bolts, especially the hinge shaft connecting bolts which need to be rotated.

Disclosure of Invention

The primary objects of the present invention are: the automatic dismounting and mounting device for the sealing tank is capable of properly solving the problem that the bolt is automatically dismounted and mounted, so that the working efficiency is obviously improved, leakage is stopped, and safety is ensured.

Further objects of the invention are: the automatic dismounting and mounting device for the sealing pot is capable of properly solving the problem that the connecting bolt with the transposition hinge shaft is automatically dismounted and mounted, so that automation of complex dismounting and mounting actions is realized, the working efficiency is further improved, leakage is avoided, and safety is ensured.

In order to achieve the above primary object, the basic technical scheme of the automatic dismounting and mounting device for the seal pot of the invention is as follows: the device comprises a supporting platform for placing a sealing tank, wherein a holding and clamping mechanism for holding and fixing the sealing tank is arranged on the supporting platform, and a liftable dismounting mechanism is arranged above the supporting platform;

the dismounting mechanism comprises a group of power-driven screwing sleeves which are circumferentially distributed and are respectively arranged on the lower mounting flange and correspond to the corresponding connecting bolt positions, the lower mounting flange is fixedly connected with the upper mounting flange through connecting rods which are circumferentially distributed at intervals, and each screwing sleeve is in transmission connection with a driving motor through corresponding screwing sleeve shafts which are supported on the upper mounting flange and the lower mounting flange;

the clamping mechanism consists of a left clamping unit and a right clamping unit which are paired, the left clamping unit comprises a left cylinder mounting frame arranged on the supporting table, a left telescopic cylinder is arranged on the left cylinder mounting frame, and a left clamping jaw is arranged at the telescopic end of the left telescopic cylinder; the right side presss from both sides the unit including installing the right cylinder mounting bracket on the saddle, settle right telescoping cylinder on the right cylinder mounting bracket, right clamping jaw is equipped with to the flexible end of right telescoping cylinder.

A further refinement of the invention provides that the upper mounting flange is suspended from horizontal truss rails by a central slewing mechanism and a truss robot arm having a vertical track. Therefore, the device can be flexibly and conveniently shifted and transposed according to requirements, and accurate positioning is realized.

The invention is further perfected in that the driving motor is in transmission connection with a floating eccentric output shaft of which the lower end is provided with a screwing sleeve through a planetary gear speed reduction transmission mechanism, and a measuring sensor is arranged in the transmission connection link. Therefore, the centering of the sleeve and the bolt can be ensured, and the screwing torque can be conveniently controlled.

The main process when the cover is assembled (or disassembled) is that after the supporting platform loaded with the sealing tank is in place, the left clamping unit and the right clamping unit on the two sides hold the sealing tank tightly to realize the initial positioning of the sealing tank. Meanwhile, the disassembling and assembling mechanism moves to the position right above the target sealing tank for accurate positioning. And then, each screwing sleeve descends and is sleeved on a corresponding bolt to be assembled (or disassembled), and under the driving of power, the required automatic cover assembling (or disassembling) operation is completed through automatically controlled screwing. Therefore, the sleeves are screwed simultaneously, the working efficiency is obviously improved, and the consistency of the torque of automatic screwing is easy to control, so that sealing can be ensured.

To achieve a further object: the outer side of each screwing sleeve is provided with a bolt righting mechanism through a lower bracket fixedly connected with a lower mounting flange;

the upper end of the lower support is hinged with a cylinder body of a righting cylinder, and the end of a piston rod of the righting cylinder is hinged with one end of a lower connecting rod and one end of a short connecting rod; the other end of the lower connecting rod is hinged to the lower end of the lower support, the other end of the short connecting rod is hinged to the middle of the claw frame, the high end of the claw frame is hinged to the lower portion of the lower support, and the lower end of the claw frame is provided with a centering claw which is adjacent to a hinge pin connecting bolt to be centered;

when the lower support is at a low position and the righting cylinder is at a piston rod extending position, the claw tip of the righting pusher dog is positioned below the horizontal hinge pin connecting bolt to be righted;

when the lower support rises and the righting cylinder is in the retraction process of the piston rod, the claw tip of the righting pusher dog pulls the hinge pin connecting bolt to be righted to rotate around the hinge shaft;

when the lower support is at a high position and the righting cylinder is at a piston rod retraction position, the claw tip of the righting pusher dog is positioned on one side of the vertical righting hinge pin connecting bolt.

In this way, the main process during cap installation is that after the seal tank is held tightly for initial positioning and the disassembly and assembly mechanism is accurately positioned, the lower support is lifted to move in a combined manner with the extension of the piston rod of the centering cylinder, and the centering pusher dog is driven to rotate the horizontal hinge pin connecting bolt to be centered to the centering position. And then, after the screwing sleeve descends, screwing and fastening are carried out, and automatic capping operation is completed. The action of cover removal is contrary to that, and can be inferred.

The invention is further perfected in that the lower end of the poking claw frame is also provided with a turnover poking claw which is opposite to the righting poking claw, and when the lower support is at the upper limit position and the righting cylinder is at the retraction limit position of the piston rod, the claw tip of the turnover poking claw is positioned at the inner side of the righting hinge pin connecting bolt in the vertical direction; when the lower support descends and the righting cylinder is in the process of extending the piston rod, the claw tips of the turnover poking claws poke the righting hinge pin connecting bolt to rotate around the hinge shaft and automatically fall to the horizontal position.

Therefore, the turnover pusher dog is driven to realize that the vertical righting hinge pin connecting bolt is turned to the horizontal position by means of the combined motion of descending of the lower support and extending of the piston rod of the righting air cylinder, so that conditions are created for automatic uncovering after the connecting bolt is unscrewed.

The invention has the further perfection that: the lower end of the poking claw frame is provided with an adjusting groove, and both ends of a screw rod which passes through the adjusting groove and is positioned by a nut are respectively provided with a centering poking claw and a turnover poking claw which are adjacent to a hinge pin connecting bolt to be poked.

The invention has the further perfection that: the other end of the lower connecting rod is hinged with a bilateral supporting plate fixedly connected with the lower end of the lower bracket.

Drawings

The invention will be further described with reference to the accompanying drawings.

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a use state of the embodiment of fig. 1.

FIG. 3 is a schematic perspective view of the embodiment of FIG. 1 with the gantry and clamp mechanisms removed from another perspective.

FIG. 4 is a schematic view of the screw sleeve assembly of the embodiment of FIG. 1.

Fig. 5 is a schematic perspective view of the clasping mechanism in the embodiment of fig. 1.

Fig. 6 is a schematic structural view of the righting mechanism in the embodiment of fig. 1.

Fig. 7 is a schematic perspective view of fig. 6.

Fig. 8 is a schematic perspective view of the position of the centering mechanism and the seal pot in the embodiment of fig. 1.

Fig. 9 is a schematic structural view of a righting start position of the righting mechanism in the embodiment of fig. 1.

Fig. 10 is a schematic structural view of the righting process position of the righting mechanism in the embodiment of fig. 1.

Fig. 11 is a schematic structural view of a righting end position of the righting mechanism in the embodiment of fig. 1.

Figure 12 is a schematic view of the embodiment of figure 1 with the centralizer mechanism in an upper limit position.

Fig. 13 is a schematic structural view of a reverse-dial start position of the centering mechanism in the embodiment of fig. 1.

Detailed Description

Example one

As shown in fig. 1 (see fig. 2 and 3), the holding mechanism 15 for holding and fixing the sealed tank 13 is mounted on the supporting platform 17 for placing the sealed tank 13, and the holding mechanism 15 includes a pair of left clamping unit 152 and right clamping unit 153. A lifting disassembly and assembly mechanism 12 is arranged above the supporting platform 17, and a stop cylinder 14 positioned after being in place and a photoelectric sensor 16 for detecting in place are arranged at the lower part of the supporting platform.

The dismounting mechanism 12 includes a set of power-driven screwing sleeves 127 which are circumferentially distributed and respectively correspond to the positions of the corresponding connecting bolts, and are mounted on the lower mounting flange 125, the lower mounting flange 125 and the upper mounting flange 122 are fixedly connected through connecting rods 124 which are circumferentially distributed at intervals, and each screwing sleeve 127 is in transmission connection with a driving motor through corresponding screwing sleeve shafts 123 which are supported on the upper mounting flange 122 and the lower mounting flange 125. The upper mounting flange 122 is suspended from the horizontal truss rails by a central swing mechanism 121 and a truss robot arm 11 having a vertical track. In fig. 3, reference numeral 128 denotes a visual sensor, and 129 denotes a pneumatic pressure release mechanism.

Turning sleeve shaft 123 assembly as shown in fig. 4, the rotational power is drivingly connected to a floating eccentric output shaft 12311 with a lower end mounted turning sleeve 127 through a planetary 12313 reduction drive, and a measurement sensor 12312 is also mounted in the drive connection.

The clamping mechanism 15 comprises a left clamping unit 152 and a right clamping unit 151 which are paired as shown in fig. 5, wherein the left clamping unit 152 comprises a left cylinder mounting frame 1523 arranged on the supporting platform 17, a left telescopic cylinder 1521 is arranged on the left cylinder mounting frame 1523, and an arc-shaped left rubber-covered clamping jaw 1522 is arranged at the telescopic end of the left telescopic cylinder; the right clamp unit 151 is similar in structure and includes a right cylinder mounting bracket 1513, a right cylinder right telescoping cylinder 1511, and a right encapsulated jaw 1512.

The outer side of each screw sleeve 127 is provided with a bolt righting mechanism 126 through a lower bracket 126.1 fixedly connected to the lower mounting flange 125. The specific structure of the bolt centering mechanism 126 is as shown in fig. 6 and fig. 7, and referring to fig. 8, the upper end of the liftable lower bracket 126.1 is hinged to the cylinder body 131 of the centering cylinder 1261 through a first pin 1265, and the piston rod end of the centering cylinder 1261 is hinged to one end of the lower connecting rod 126.2 and one end of the short connecting rod 126.3 through a second pin 1263. The other end of the lower connecting rod 126.2 is hinged to a double-side supporting plate 126.6 fixedly connected with the lower end of the lower bracket 126.1. The other end of the short connecting rod 126.3 is hinged with the middle of a pusher dog frame 126.4 through a third pin shaft 1264, the high end of the pusher dog frame 126.4 is hinged with the lower part of a lower bracket 126.1 through a fourth pin shaft 1262, the lower end of the pusher dog frame 126.4 is provided with an adjusting groove 126.5, and the two ends of a screw rod 126.7 which passes through the adjusting groove 126.5 and is positioned by a nut are respectively provided with an outward hooked centering pusher dog 1266 and a reverse hooked turnover pusher dog 1267 which are adjacent to a hinge pin connecting bolt 133 to be straightened. In fig. 8, 134 is a pressure gauge.

Because the complex link mechanism reasonably arranged between the lower bracket and the righting cylinder realizes the compound motion of lifting by the aid of the lower bracket and extending out of a piston rod of the righting cylinder, when the cover is installed, as long as the lower bracket is properly controlled to lift as required along with the whole device and the righting cylinder stretches as required, the bolt righting mechanism 126 can realize the following control actions, and a foundation is laid for the subsequent automatic screwing and fastening of the cover:

as shown in fig. 9, when the lower bracket 126.1 is in the lowered position and the righting cylinder 1261 is in the piston rod extended position, the tip of the righting finger 1266 is below the horizontal hinge pin attachment bolt 133 to be righted;

as shown in fig. 8 and 10, when the lower support 126.1 is raised and the centering cylinder 1261 is in the process of retracting the piston rod, the claw tip of the centering pusher 1266 pulls the to-be-centered hinge pin connecting bolt 133 to index around its hinge axis;

as shown in fig. 11, when the lower bracket 126.1 is in the high position and the centering cylinder 1261 is in the piston rod retracted position, the tip of the centering finger 1266 is located on the side of the vertical centering hinge bolt 133, and centering is completed, so that the nut on the centering hinge bolt is located on the upper cover of the tank.

Then, each screwing sleeve 127 descends along with the whole device, and is respectively sleeved outside the corresponding nut on the righting hinge pin connecting bolt, and the nuts of the righting hinge pin connecting bolts can be simultaneously pressed on the upper cover by proper pressing force through driving rotation of the tightening shafts 123, so that the sealing of the tank body is ensured.

During the cap removing operation, the nut on the righting hinge pin connecting bolt is unscrewed according to the reverse process, as shown in fig. 12, so that the lower support 126.1 is at the upper limit position, the righting cylinder 1261 is at the piston rod retraction limit position, and the claw tip of the turnover pusher dog 1267 is positioned at the inner side of the righting hinge pin connecting bolt 133 in the vertical direction; as shown in fig. 13, when the lower bracket 126.1 descends and the centering cylinder 1261 is in the process of extending the piston rod, the tip of the turning-over finger 1267 turns around the hinge shaft thereof in the reverse direction and automatically falls to the horizontal position by turning the centering hinge pin connecting bolt 133.

The concrete process of this embodiment automatic dismounting of seal pot and installation device when tearing open lid during operation does, and after photoelectric detection sensor 16 of assembly line both sides detected the saddle 17 that carries seal pot 13 and targets in place, the piston rod was stretched out to the stop cylinder 14 of assembly line below, made the saddle 17 that carries seal pot 13 stop at the assigned position, and the seal pot 13 is embraced tightly to the armful clamp mechanism 15 of assembly line both sides, realizes the preliminary coarse positioning of seal pot 13. Meanwhile, the disassembling and assembling mechanism 12 of the sealed tank is driven by the truss mechanical arm 11 to move to the position right above the target sealed tank 13 (the coordinate point is accurately positioned), and the vision sensor 128 arranged on the mechanism checks and confirms whether the pressure indicated value of the sealed tank 13 meets the requirement or not. After the pressure value of the sealable tank 13 is confirmed, the vision sensor 128 mounted thereon guides the central revolving mechanism 121 to rotate circumferentially by a proper angle, thereby precisely positioning the screw sleeve of the can attaching and detaching mechanism 12 with respect to the connecting bolt 133 in the circumferential direction of the sealable tank 13. Then, the truss mechanical arm 11 drives the disassembling and assembling mechanism 12 of the sealed tank to move vertically downwards until the screwing sleeves clamp the corresponding bolts 133 on the sealed tank 13, each screwing sleeve simultaneously unscrews the bolts 133 at the corresponding position, and then the centering mechanism 126 arranged circumferentially at the corresponding position pushes the bolts 133 arranged circumferentially.

The process of installing the bolts 133 on the upper cover 132 of the hermetic vessel 13 can be inferred from the above description, and will not be described in detail.

Experiments show that the main beneficial effects of the embodiment are as follows:

1) the truss mechanical arm mounting structure greatly enhances the maneuvering capability and the rapid and accurate positioning capability of work.

2) The automatic disassembly or assembly is carried out in groups, the torque is accurate and controllable, the efficiency is obviously improved, the labor intensity is greatly reduced, and the consistency is ensured, so that the safety and the reliability of sealing are ensured.

3) The bolt straightening and overturning mechanism has the advantages that the bolt straightening and overturning mechanism can finish the straightening or overturning of a plurality of bolts at one time, not only is high in efficiency, but also can realize the straightening and overturning of the bolts by the same mechanism, and achieves two purposes at one stroke.

4) Photoelectric sensor, locking cylinder and left and right clamp unit carry out the coarse positioning to the saddle that carries the seal pot, and the arm is rotatory suitable angle fine positioning under the guide of vision sensor after moving directly over the target seal pot, has ensured high accuracy location.

In addition to the above embodiments, the present invention may have other embodiments. All technical solutions formed by adopting equivalent substitutions or equivalent transformations fall within the protection scope of the claims of the present invention.