A kind of automatic edge trimming device and method for sealing head

Abstract

The present invention relates to an automatic edge trimming device and method for end caps, and belongs to the technical field of container manufacturing. The device comprises a transplanting base placed on one side of the bottom of a truss with a longitudinal track on the top; two transverse tracks are supported on the longitudinal track, and the two transverse tracks are respectively equipped with a clamping lifting arm and a cutting lifting arm, and a positioning clamping mechanism is installed at the lower end of the clamping lifting arm, and a cutting manipulator is installed at the lower end of the cutting lifting arm; a sliding base is supported on the transplanting base, and a universal ball bearing and a clamping mechanism are installed on the sliding base. The adoption of the present invention not only realizes the automatic circulation of end caps at various workstations, but also realizes the automatic positioning and edge trimming of end caps, which is efficient and high-quality, saves labor costs, and is conducive to the realization of intelligent control of production lines.

Description

Technical Field

[0001] The invention relates to processing of a sealing head, in particular to an automatic edge trimming device and method for the sealing head, and belongs to the technical field of container manufacturing. Background Art

[0002] Pressure vessels such as storage tanks, heat exchangers, towers, reactors, boilers and separation equipment are widely used in many industries such as petrochemicals, atomic energy, food, and pharmaceuticals. The head is a component in the container that is connected to the cylindrical body by welding. According to the geometric shape of the longitudinal section of its convex part, the head can be divided into spherical, elliptical, dish-shaped, spherical crown-shaped, etc., collectively referred to as convex heads. There are butt welding heads and socket welding heads when welding.

[0003] Edge trimming is one of the important processes in head processing. According to the applicant's understanding, the existing head edge trimming devices generally have low automation, low efficiency, unstable quality, unsatisfactory use effects, and are difficult to meet the requirements of mass production.

[0004] According to the search, Chinese patent application CN201610681278.9 discloses a new type of head trimming device, including a bracket, on which a walking mechanism I and a walking mechanism II are arranged, and a sanding machine is arranged on the bracket below the walking mechanism I and the walking mechanism II, and the walking mechanism I and the walking mechanism II are arranged on the same horizontal line, and the sanding machine is connected to the control device, and a water tank is arranged next to the sanding machine. Although this technical solution can effectively collect grinding sparks and slag. However, there are the following problems: 1) The trimming design is only implemented for one head, and the problem of realizing automatic circulation of the next head cannot be solved; 2) There are no structures such as support and rotation of the head, so how to achieve automatic trimming is not disclosed; 3) The degree of automation is very limited. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic head edge trimming device that can be automatically circulated in order to solve the problems existing in the above-mentioned prior art, and at the same time provide a corresponding automatic head edge trimming method, so as to effectively realize efficient automatic head edge trimming.

[0006] In order to achieve the above purpose, the basic technical scheme of the automatic edge trimming device of the end cap of the present invention is as follows: it comprises a truss with a longitudinal track on the top, and a transplanting base extending in a length direction perpendicular to the longitudinal track is arranged on one side of the bottom of the truss; the longitudinal track supports two transverse tracks forming a longitudinal moving pair therewith, and the two transverse tracks are respectively equipped with a clamping lifting arm and a cutting lifting arm forming a transverse moving pair therewith, a positioning clamping mechanism is installed at the lower end of the clamping lifting arm, and a cutting manipulator is installed at the lower end of the cutting lifting arm;

[0007] The transplanting base supports a sliding base which forms a longitudinal moving pair with the transplanting base, and the sliding base is provided with a universal ball bearing (commonly known as a bull's eye bearing) distributed in an annular manner and a clamping mechanism formed by clamping devices respectively located on both sides of the annular manner; the fixing seat of the clamping device is provided with a guide rail, and the guide rail is provided with a sliding plate which forms a radial moving pair with the transplanting base, and the two ends of the sliding plate are respectively fixed with vertical clamping rods, and a nut is provided in the middle; the nut and the lead screw supported by the axial constraint on the fixing seat form a spiral pair; the lead screw is connected to the driving motor through a belt transmission member;

[0008] The positioning and clamping mechanism includes a central disk with a suction head on the lower surface and an alignment support plate whose outer contour matches the inner contour of the head end face. The central disk radially extends four circumferentially evenly distributed power-driven telescopic joints, and the outer end of the telescopic joint has a clamping claw that hooks inward.

[0009] A further improvement of the present invention is that a food tray (12) is installed on the other side of the bottom of the truss.

[0010] A further improvement of the present invention is that an industrial camera (10) is installed next to the bottom of the truss via a visual bracket (11).

[0011] A further improvement of the present invention is that trusses extend out from both ends of the transplanting base to form an upper workstation and a lower workstation respectively.

[0012] A further improvement of the present invention is that the alignment support plate has a central boss and circumferentially evenly distributed lightening holes around the central boss.

[0013] During operation, the automatic edge trimming function is realized by the following steps:

[0014] Step 1: Feeding the head - the sliding base moves to the upper workstation of the transplanting base extending out of the truss, and the convex head to be cut is placed on the universal ball bearing with the convex shape facing downward, and the sliding base is driven to move to the cutting station inside the truss;

[0015] The second step is to transfer the alignment support plate - the positioning and clamping mechanism of the alignment support plate is moved from its starting position along the transverse track with the clamping lifting arm, and moves along the longitudinal track with the transverse track to the top of the cutting station;

[0016] Step 3: Positioning and Alignment - The clamping lifting arm lowers the positioning clamping mechanism, puts the alignment support plate into the convex head to be chamfered, and gently presses the alignment support plate to automatically center and level the convex head to be chamfered on the universal ball bearing;

[0017] Step 4: Clamping and returning to position: the clamping rod of the clamping mechanism clamps the outer side of the convex head to be chamfered, the clamping lifting arm lifts the positioning clamping mechanism, and moves along the transverse and longitudinal tracks back to its starting position;

[0018] Step 5, cutting positioning - the cutting manipulator moves from its starting position along the transverse track with the cutting lifting arm, and moves along the longitudinal track with the transverse track to above the cutting station;

[0019] Step 6: Head edge trimming - the cutting lifting arm lowers the cutting manipulator, and the cutting manipulator starts to cut the excess periphery of the convex head to be trimmed;

[0020] Step 7: Return after cutting - the cutting lifting arm lifts the cutting manipulator and moves along the transverse and longitudinal tracks back to its starting position;

[0021] Step 8: Clamping in place - the positioning clamping mechanism moves again from the starting position along the transverse track with the clamping lifting arm, and moves along the longitudinal track with the transverse track to above the cutting station;

[0022] Step 9. Clamping the waste material - the clamping lifting arm lowers the positioning clamping mechanism, the suction head of the positioning clamping mechanism sucks the alignment support plate, and the telescopic joint adjusts the clamping claw to retract and clamp the cut head waste material;

[0023] Step 10: Take out the waste materials - the clamping lifting arm rises, and the positioning clamping mechanism moves along the transverse track with the clamping lifting arm, and moves along the longitudinal track with the transverse track to the discarding position above the storage tray, and then releases the waste materials;

[0024] Step 11. Discharging the head - the sliding base moves to the lower workstation of the transplanting base extending out of the truss (this position can be the same as the upper workstation or different), and after taking out the chamfered convex head, prepare for the next feeding.

[0025] The beneficial effects of the present invention are: not only the automatic circulation of the heads at various workstations is realized, but also the automatic positioning and edge trimming of the heads are realized, which is efficient and high-quality, saves labor costs, and is conducive to the intelligent control of the production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0027] Figure 2 for Figure 1 Schematic diagram of the plane projection structure of an embodiment.

[0028] Figure 3 for Figure 2 Top view of the .

[0029] Figure 4 for Figure 2 Right view of .

[0030] Figure 5 for Figure 1 A schematic diagram of the three-dimensional structure of the clamping mechanism of an embodiment.

[0031] Figure 6 for Figure 1 Schematic diagram of the alignment support plate structure of the embodiment.

[0032] Figure 7 for Figure 1 A schematic structural diagram of the positioning and clamping mechanism of an embodiment.

[0033] Figure 8 for Figure 7 Top view of the .

[0034] In the figure: 1-transplanting base, 1.1-driving mechanism, 1.2-slide rail, 2-sliding base, 3-support mechanism, 4-clamping mechanism, 4.2-clamping rod, 4.3-sliding plate, 4.4-guide rail, 4.5-belt transmission part, 4.6-fixed seat, 4.7-nut, 4.8-screw rod, 5-truss, 5.1-longitudinal track, 5.2-transverse track, 6-gripping lifting arm, 7-positioning clamping mechanism, 7.1-central disc, 7.2-telescopic joint, 7.3-gripping claw, 7.4-electromagnetic suction head, 7.5-aligning support plate, 9-cutting robot, 10-industrial camera, 11-visual bracket, 12-storage tray. DETAILED DESCRIPTION Example

[0035] The basic structure of the automatic edge trimming device for end caps in this embodiment is as follows: Figures 1 to 4 As shown, the top of the truss 5 of the frame mechanism is provided with two parallel longitudinal rails 5.1, and a transplanting base 1 extending in a length direction perpendicular to the longitudinal rail 5.1 is placed on one side of the bottom of the truss 5. The two ends of the transplanting base 1 extend out of the truss 5, which are the upper workstation and the lower workstation, respectively. A pallet 12 is installed on the other side of the bottom of the truss 5. The longitudinal rail 5.1 supports two parallel transverse rails 5.2 that form a longitudinal moving pair and are driven by horizontal cylinders respectively. The two transverse rails 5.2 are respectively equipped with a clamping lifting arm 6 and a cutting lifting arm 6' that form a transverse moving pair and are driven by lifting cylinders respectively. The lower end of the clamping lifting arm 6 is installed with a positioning clamping mechanism 7, and the lower end of the cutting lifting arm 6' is installed with a cutting manipulator 9, which is the ER10-900-MI model of Nanjing Estun Robot Engineering Co., Ltd. The industrial camera 10 is installed next to the bottom of the truss 5 through a visual bracket 11.

[0036] The sliding rails 1.2 on both sides of the transplanting base 1 support a sliding base 2 which forms a longitudinal moving pair and is driven by a driving mechanism 1.1. The driving mechanism 1.1 is essentially a screw nut mechanism driven by a motor. The sliding base 2 is equipped with an annularly distributed universal ball bearing and a clamping mechanism 4 composed of clamping devices located on both sides of the annular ring.

[0037] Clamping mechanism 4 Figure 5As shown, the clamping device comprises a rectangular frame structure fixing seat 4.6 for installation on the sliding base 2, guide rails 4.4 are respectively installed on both sides of the fixing seat 4.6, and a sliding plate 4.3 is installed on the guide rail 4.4 to form a radial moving pair with it, and vertical clamping rods 4.2 are fixed on both ends of the sliding plate 4.3, and a nut 4.7 is installed in the middle, and the nut 4.7 and the screw rod 4.8 axially constrained and supported on the fixing seat 4.6 form a spiral pair; the screw rod 4.8 is connected to the driving motor through a belt transmission member 4.5.

[0038] Positioning and clamping mechanism 7 Figure 6 , 7 As shown in , 8, it includes a central disc 7.1 with an electromagnetic suction head 7.4 on the lower surface and a circular alignment support plate 7.5 whose outer contour matches the inner contour of the end face of the head. The alignment support plate 7.5 has a central boss and circumferentially uniformly distributed lightening holes around the central boss. Four circumferentially uniformly distributed pneumatic expansion joints 7.2 radially extend from the central disc 7.1, and the outer end of each expansion joint 7.2 has a clamping claw 7.3 that hooks inward.

[0039] The specific steps of automatic edge trimming of the head are as follows:

[0040] The first step, feeding the head - the sliding base 2 is driven by the driving mechanism 1.1 to move to the loading station at one end of the transplanting base 1 extending out of the truss 5, and the convex head FT to be chamfered is placed with the convex shape facing downward on the universal ball bearings distributed in a ring, and the sliding base 2 is driven to move to the cutting station inside the truss 5.

[0041] The second step is to transfer the alignment support plate - the positioning clamping mechanism 7 of the alignment support plate 7.5 relies on electromagnetic suction to shift from a predetermined starting position along the transverse track 5.2 with the clamping lifting arm 6, and moves along the longitudinal track 5.1 with the transverse track to above the cutting station.

[0042] The third step is positioning and alignment - the clamping lifting arm 6 lowers the positioning clamping mechanism 7, controls the electromagnetic suction head to lose power, puts the alignment support plate 7.5 into the convex head to be chamfered FT, and lightly presses the alignment support plate 7.5 with the help of the clamping lifting arm 6. The convex head to be chamfered FT located on the annular universal ball bearing 3 will be automatically centered and leveled under the support of the universal ball bearing.

[0043] Step 4: Clamping and returning - driving the sliding plates 4.3 on both sides of the clamping mechanism 4 to move toward each other, clamping the outer side of the convex head FT to be chamfered with the help of the four clamping rods 4.2; the clamping lifting arm 6 lifts the positioning clamping mechanism 7, and moves along the transverse track 5.2 and the longitudinal track 5.1 back to the predetermined starting position.

[0044] Step 5: Cutting Positioning: The cutting robot 9 moves from its predetermined starting position along the transverse track 5.2 along the cutting lifting arm 6', and moves along the transverse track 5.2 along the longitudinal track 5.1 to above the cutting station.

[0045] Step 6. Head trimming - the cutting lifting arm is lowered 6' to the cutting robot, and the cutting robot 9 is started to cut the excess periphery of the convex head FT to be trimmed according to the predetermined cutting path; when necessary, the industrial camera 10 can also be turned on to scan the convex head FT to be trimmed to generate an actual contour curve, and then cut after determining the cutting path according to the actual contour curve.

[0046] Step 7: Return after cutting - the cutting lifting arm 6' lifts the cutting robot 9 and moves it along the transverse track 5.2 and the longitudinal track 5.1 back to its predetermined starting position.

[0047] Step 8: Clamping in place - the positioning clamping mechanism 7 is displaced again from its starting position along the transverse track 5.2 with the clamping lifting arm 6, and moves along the longitudinal track 5.1 with the transverse track 5.2 to above the cutting station.

[0048] The ninth step is to clamp the waste material - the clamping lifting arm 6 lowers the positioning clamping mechanism 7, and the electromagnetic suction head 7.4 of the positioning clamping mechanism 7 is electrically sucked to the alignment support plate 7.5, and at the same time, the telescopic joint 7.2 is driven by the screw nut mechanism to adjust the clamping claw 7.3 to expand and contract, so as to clamp the cut head waste material.

[0049] Step 10: Remove the waste - the clamping lifting arm 6 is raised, and the positioning clamping mechanism 7 moves along the transverse track 5.2 with the clamping lifting arm 6, and moves along the longitudinal track 5.1 with the transverse track 5.2 to the discarding position above the storage tray 12, and then releases the waste.

[0050] Step 11: Discharging the head: the sliding base 2 moves to the lower workstation at the other end of the transplanting base 1 extending out of the truss 5, and after taking away the convex head after edge trimming, it returns to the upper workstation at one end to prepare for the next feeding.

[0051] Compared with the prior art, this embodiment realizes the automatic flow of each station in the convex head edge trimming process, greatly reduces the labor intensity, improves the work efficiency, ensures the quality, and has the following significant features:

[0052] 1) The sliding base on the transplanting base has upper and lower workstations, and the head flows smoothly, which is conducive to improving efficiency;

[0053] 2) The crisscross track design on the truss takes into account the positioning and clamping mechanism and the indexing movement of the cutting manipulator, and the structure is compact;

[0054] 3) With the help of the annularly distributed bull's eye bearings and the alignment support plate, the automatic centering and leveling of the convex head are properly solved to ensure the quality of the edge cutting;

[0055] 4) The positioning and clamping mechanism has the dual functions of head positioning and waste removal;

[0056] 5) The cutting robot and industrial camera can be used to cut the edges of heads of various specifications, and have good adaptability.

[0057] In addition to the above embodiments, the present invention may also have other implementations. For example, the drive cylinder and the linear motor may be replaced with each other as needed, or may be driven by other transmission mechanisms such as a screw nut mechanism driven by a motor; for another example, the upper and lower workstations may be located at both ends of the transplant base, or at the same end; for another example, in addition to the electromagnetic suction head, a vacuum suction head may also be used. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. A method for trimming an edge of an end cap automatic trimming device, the device comprising a truss (5) with a longitudinal track (5.1) on the top, a transplanting base (1) extending in a length direction perpendicular to the longitudinal track disposed on one side of the bottom of the truss; the longitudinal track supports two transverse tracks (5.2) forming a longitudinal moving pair therewith, the two transverse tracks are respectively provided with a clamping lifting arm (6) and a cutting lifting arm (6') forming a transverse moving pair therewith, a positioning clamping mechanism (7) being installed at the lower end of the clamping lifting arm, and a cutting manipulator (9) being installed at the lower end of the cutting lifting arm; The transplanting base supports a sliding base (2) which forms a longitudinal moving pair with the transplanting base, and the sliding base is provided with a ring-shaped universal ball bearing (3) and a clamping mechanism (4) formed by clamping devices respectively located on both sides of the ring; a guide rail (4.4) is provided on a fixed seat (4.6) of the clamping device, and a sliding plate (4.3) which forms a radial moving pair with the sliding plate is provided on the guide rail, and vertical clamping rods (4.2) are respectively fixed at both ends of the sliding plate, and a nut (4.7) is provided in the middle, and the nut and a screw rod (4.8) supported by an axial constraint on the fixed seat form a spiral pair; the screw rod and the driving motor are connected to each other through a belt transmission member (4.5); The positioning and clamping mechanism comprises a central disk (7.1) with a suction head on the lower surface and a alignment support plate (7.5) whose outer contour matches the inner contour of the end face of the head, the central disk radially extending four circumferentially evenly distributed power-driven telescopic joints (7.2), the outer ends of the telescopic joints having clamping claws (7.3) hooked inwards; Features The method comprises the following steps: Step 1: Feeding the head - the sliding base moves to the upper workstation of the transplanting base extending out of the truss, and the convex head to be cut is placed on the universal ball bearing with the convex shape facing downward, and the sliding base is driven to move to the cutting station inside the truss; The second step is to transfer the alignment support plate - the positioning and clamping mechanism of the alignment support plate is moved from its starting position along the transverse track with the clamping lifting arm, and moves along the longitudinal track with the transverse track to the top of the cutting station; Step 3: Positioning and Alignment - The clamping lifting arm lowers the positioning clamping mechanism, puts the alignment support plate into the convex head to be chamfered, and gently presses the alignment support plate to automatically center and level the convex head to be chamfered on the universal ball bearing; Step 4: Clamping and returning to position: the clamping rod of the clamping mechanism clamps the outer side of the convex head to be chamfered, the clamping lifting arm lifts the positioning clamping mechanism, and moves along the transverse and longitudinal tracks back to its starting position; Step 5, cutting positioning - the cutting manipulator moves from its starting position along the transverse track with the cutting lifting arm, and moves along the longitudinal track with the transverse track to above the cutting station; Step 6: Head edge trimming - the cutting lifting arm lowers the cutting manipulator, and the cutting manipulator starts to cut the excess periphery of the convex head to be trimmed; Step 7: Return after cutting - the cutting lifting arm lifts the cutting manipulator and moves along the transverse and longitudinal tracks back to its starting position; Step 8: Clamping in place - the positioning clamping mechanism moves again from the starting position along the transverse track with the clamping lifting arm, and moves along the longitudinal track with the transverse track to above the cutting station; Step 9. Clamping the waste material - the clamping lifting arm lowers the positioning clamping mechanism, the suction head of the positioning clamping mechanism sucks the alignment support plate, and the telescopic joint adjusts the clamping claw to retract and clamp the cut head waste material; Step 10. Take out the waste materials - the clamping lifting arm rises, and the positioning clamping mechanism moves along the transverse track with the clamping lifting arm, and moves along the longitudinal track with the transverse track to the discarding position above the storage tray to release the waste materials; Step 11. Discharging the head - the sliding base moves to the lower workstation of the transplanting base extending out of the truss, and after taking out the chamfered convex head, prepare for the next feeding.

2. The edge trimming method of the automatic edge trimming device for end caps according to claim 1, characterized in that: A cargo tray (12) is installed on the other side of the bottom of the truss.

3. The edge trimming method of the automatic edge trimming device for end caps according to claim 2 is characterized in that: An industrial camera (10) is installed next to the bottom of the truss via a visual bracket (11).

4. The edge trimming method of the automatic edge trimming device for end caps according to claim 3 is characterized by: Trusses extend out from two ends of the transplanting base to form an upper workstation and a lower workstation respectively.

5. The edge trimming method of the automatic edge trimming device for end caps according to claim 4, characterized in that: The alignment support plate has a central boss and circumferentially evenly distributed lightening holes around the central boss.

6. The edge trimming method of the automatic edge trimming device for end caps according to claim 5, characterized in that: A storage tray is installed at the other side of the bottom of the truss; in the tenth step, the waste materials are taken out and moved to the discarding position above the storage tray, and then the waste materials are released.

7. The edge trimming method of the automatic edge trimming device for end caps according to claim 6, characterized in that: The trusses extending from both ends of the transplanting base respectively form a loading station and a lowering station; in the eleventh step, the sliding base moves to the lowering station at the other end of the transplanting base extending from the truss, and after taking away the convex head after the chamfering, it returns to the loading station at one end to prepare for the next feeding.

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