An automatic disassembly and installation device for a sealed tank

Abstract

The present invention relates to an automatic disassembly and installation device for a sealed can, and belongs to the technical field of automated mechanical operations. A clamping mechanism for clamping and fixing the sealed can is installed on the support platform of the device, and a disassembly and assembly mechanism that can be raised and lowered is installed on the support platform; the disassembly and assembly mechanism includes a group of circumferentially distributed power-driven screwing sleeves installed on the lower mounting flange and corresponding to the positions of corresponding connecting bolts respectively, the lower mounting flange is fixedly connected to the upper mounting flange through connecting rods distributed at intervals around the circumference, and each screwing sleeve is respectively connected to the driving motor through the corresponding screwing sleeve shaft supported on the upper mounting flange and the lower mounting flange; the clamping mechanism consists of a pair of left clamping units and right clamping units. After adopting the present invention, automatic disassembly or installation is carried out in groups, and the torque is precisely controllable, which not only significantly improves efficiency and greatly reduces labor intensity, but also ensures consistency, thereby ensuring safe and reliable sealing.

Description

Technical Field

[0001] The invention relates to an automatic disassembly and assembly device, in particular to an automatic disassembly and assembly device for a sealed can, and belongs to the technical field of automated mechanical operations. Background Art

[0002] The sealed tank for special materials is mainly composed of a tank body, a cover, and connecting bolts with hinge shafts around the sealed tank. In the process of manually opening and installing the cover, the fastening bolts with tightening torque between the tank body and the cover are not only difficult to remove and install, but also time-consuming and labor-intensive, and the consistency of their tightening torque cannot be guaranteed. As a result, for sealed tanks containing harmful substances with a certain pressure, manual cover installation is difficult to prevent leakage, which poses a safety hazard.

[0003] According to the search, patent documents with application numbers CN201920457362.1 and CN201820484457.8 respectively disclose an automatic lid opening mechanism for a sealed can and an automatic lid opening mechanism for a betel nut can. The former can realize the work of opening the lid and unloading at the same time, effectively reducing the labor intensity of workers; the latter changes the manual lid opening to a cylinder push-pull knife gate valve to realize automatic lid opening, which reduces the time of feeding and unloading, reduces labor intensity, and improves efficiency. However, both of them focus on automatic can opening, and cannot solve the problem of automatic disassembly and installation of sealed can bolts, especially the hinge shaft connecting bolts that need to be turned. Summary of the invention

[0004] The primary purpose of the present invention is to provide an automatic disassembly and installation device for a sealed tank which can properly solve the problem of automatic disassembly and installation of bolts, thereby not only significantly improving work efficiency but also preventing leakage and ensuring safety.

[0005] A further object of the present invention is to propose an automatic disassembly and installation device for a sealed tank with a rotating hinge shaft connecting bolt that can properly solve the problem of automatic disassembly and installation, thereby realizing the automation of complex disassembly and installation actions, further improving work efficiency, preventing leakage and ensuring safety.

[0006] In order to achieve the above primary purpose, the basic technical scheme of the automatic disassembly and installation device of the sealed can of the present invention is: comprising a support platform for placing the sealed can, a clamping mechanism for clamping and fixing the sealed can is installed on the support platform, and a disassembly and installation mechanism that can be raised and lowered is installed above the support platform;

[0007] The disassembly and assembly mechanism comprises a group of power-driven screwing sleeves which are circumferentially distributed and respectively correspond to the positions of corresponding connecting bolts and are mounted on the lower mounting flange. The lower mounting flange is fixedly connected to the upper mounting flange through connecting rods which are spaced apart around the circumference. Each screwing sleeve is respectively connected to the driving motor through a corresponding screwing sleeve shaft supported on the upper mounting flange and the lower mounting flange.

[0008] The clamping mechanism is composed of a pair of left clamping units and right clamping units. The left clamping unit includes a left cylinder mounting frame installed on the support platform, on which a left telescopic cylinder is placed, and the telescopic end of the left telescopic cylinder is equipped with a left clamping claw; the right clamping unit includes a right cylinder mounting frame installed on the support platform, on which a right telescopic cylinder is placed, and the telescopic end of the right telescopic cylinder is equipped with a right clamping claw.

[0009] A further improvement of the present invention is that the upper mounting flange is suspended on the horizontal truss rail through a central rotating mechanism and a truss mechanical arm with a vertical track, so that it can be flexibly and conveniently shifted and rotated as needed to achieve accurate positioning.

[0010] A further improvement of the present invention is that the driving motor is connected to the floating eccentric output shaft with the screw sleeve installed at the lower end through a planetary gear reduction transmission mechanism, and a measuring sensor is installed in the transmission connection link. This can ensure the alignment of the sleeve and the bolt and facilitate the control of the screwing torque.

[0011] The main process of installing (or removing) the cover is that when the support platform carrying the sealed can is in place, the left and right clamping units on both sides hold the sealed can tightly to achieve the initial positioning of the sealed can. At the same time, the disassembly mechanism moves to the top of the target sealed can for precise positioning. After that, each screwing sleeve is lowered and sleeved on the corresponding bolt to be installed (or removed), and under the power drive, it is automatically and controlled to complete the required automatic cover installation (or removal) operation. In this way, each sleeve is screwed at the same time, which significantly improves the work efficiency, and the torque consistency of the automatic screwing is easy to control, so the seal can be ensured.

[0012] In order to achieve a further purpose: the outer side of each screw sleeve is respectively provided with a bolt straightening mechanism through a lower bracket fixedly connected to the lower mounting flange;

[0013] The upper end of the lower bracket is hinged with the cylinder body of the straightening cylinder, and the piston rod end of the straightening cylinder is hinged with the lower connecting rod and one end of the short connecting rod at the same time; the other end of the lower connecting rod is hinged with the lower end of the lower bracket, the other end of the short connecting rod is hinged with the middle part of the claw frame, the high end of the claw frame is hinged with the lower part of the lower bracket, and the lower end of the claw frame is equipped with a straightening claw adjacent to the hinge pin connecting bolt to be straightened;

[0014] When the lower bracket is in a low position and the straightening cylinder is in a piston rod extended position, the claw tip of the straightening claw is located below the horizontal connecting bolt of the hinge pin to be straightened;

[0015] When the lower bracket rises and the piston rod of the straightening cylinder is in the process of retracting, the claw tip of the straightening claw moves the connecting bolt of the hinge pin to be straightened to rotate around its hinge axis;

[0016] When the lower bracket is in a high position and the straightening cylinder is in a piston rod retracted position, the claw tip of the straightening claw is located at one side of the vertical straightening hinge pin connecting bolt.

[0017] In this way, the main process of capping is that when the sealed can is held tightly and initially positioned, and the disassembly mechanism is accurately positioned, the composite movement of the lower bracket rising and the piston rod of the straightening cylinder extending drives the straightening claw to turn the horizontal hinge pin connecting bolt to the straightening position. Then, the sleeve is screwed down and tightened to complete the automatic capping operation. The action of disassembling the cap is the opposite, which can be inferred.

[0018] A further improvement of the present invention is that the lower end of the claw frame is also equipped with a tipping claw in the opposite direction of the straightening claw. When the lower bracket is in the upper limit position and the straightening cylinder is in the piston rod retraction limit position, the claw tip of the tipping claw is located on the inner side of the vertical straightening hinge pin connecting bolt; when the lower bracket descends and the straightening cylinder is in the process of extending the piston rod, the claw tip of the tipping claw pushes the straightening hinge pin connecting bolt to rotate around its hinge axis and fall to a horizontal position by itself.

[0019] In this way, with the help of the composite movement of the lower bracket descending and the piston rod of the straightening cylinder extending, the tipping claw is driven to turn the vertical straightening hinge pin connecting bolt to a horizontal position, thereby creating conditions for automatically opening the cover after loosening the connecting bolt.

[0020] The present invention is further improved in that: the lower end of the claw frame has an adjustment slot, and the two ends of the screw rod which passes through the adjustment slot and is positioned by a nut are respectively equipped with a straightening claw and a tipping claw adjacent to the hinge pin connecting bolt to be straightened.

[0021] A further improvement of the present invention is that the other end of the lower connecting rod is hingedly mounted on the double-side supporting plates fixedly connected to the lower end of the lower bracket. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The present invention will be further described below in conjunction with the accompanying drawings.

[0023] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the present invention.

[0024] Figure 2 yes Figure 1 A schematic diagram of the usage status structure of an embodiment.

[0025] Figure 3 yes Figure 1 A schematic diagram of the three-dimensional structure of the embodiment from another perspective without the support platform and the clamping mechanism.

[0026] Figure 4 yes Figure 1 Schematic diagram of the structure of the screw sleeve assembly in the embodiment.

[0027] Figure 5 is Figure 1 Schematic three - dimensional structure diagram of the clamping mechanism in the embodiment.

[0028] Figure 6 is Figure 1 Schematic structure diagram of the aligning mechanism in the embodiment.

[0029] Figure 7 is Figure 6 Schematic three - dimensional structure diagram of

[0030] Figure 8 is Figure 1 Schematic three - dimensional structure diagram of the position of the aligning mechanism and the sealed tank in the embodiment.

[0031] Figure 9 is Figure 1 Schematic structure diagram of the starting position of the aligning mechanism for alignment in the embodiment.

[0032] Figure 10 is Figure 1 Schematic structure diagram of the position of the aligning mechanism during the alignment process in the embodiment.

[0033] Figure 11 is Figure 1 Schematic structure diagram of the ending position of the aligning mechanism for alignment in the embodiment.

[0034] Figure 12 is Figure 1 Schematic structure diagram of the aligning mechanism at the upper limit position in the embodiment.

[0035] Figure 13 is Figure 1 Schematic structure diagram of the starting position of the reverse - dialing of the aligning mechanism in the embodiment. Detailed implementation mode

[0036] Embodiment 1

[0037] The automatic disassembly and installation device of the sealed tank in this embodiment is as shown in Figure 1 (see Figure 2 , Figure 3 ). On the platform 17 for placing the sealed tank 13, there is a clamping mechanism 15 for clamping and fixing the sealed tank 13. The clamping mechanism 15 includes paired left clamping units 152 and right clamping units 153. Above the platform 17, there is a liftable disassembly and assembly mechanism 12, and below it, there is a stop cylinder 14 for positioning after reaching the position and a photoelectric sensor 16 for detecting the arrival of the position.

[0038] The disassembly and assembly mechanism 12 includes a group of circumferentially distributed power-driven screw sleeves 127 mounted on the lower mounting flange 125, which correspond to the positions of the corresponding connecting bolts. The lower mounting flange 125 and the upper mounting flange 122 are fixedly connected by connecting rods 124 distributed at intervals around the circumference. Each screw sleeve 127 is connected to the driving motor through a corresponding screw sleeve shaft 123 supported on the upper mounting flange 122 and the lower mounting flange 125. The upper mounting flange 122 is suspended on the horizontal truss rail through the central rotating mechanism 121 and the truss mechanical arm 11 with a vertical track. Figure 3 Among them, 128 is a visual sensor, and 129 is a pneumatic pressure relief mechanism.

[0039] Screw the sleeve shaft 123 assembly as Figure 4 As shown, the rotational power is connected to the floating eccentric output shaft 12311 with a screw sleeve 127 installed at the lower end through a planetary gear 12313 reduction transmission mechanism, and a measuring sensor 12312 is also installed in the transmission connection link.

[0040] The clamping mechanism 15 is as follows Figure 5 As shown, it contains a pair of left clamping units 152 and right clamping units 151. The left clamping unit 152 includes a left cylinder mounting frame 1523 mounted on the support platform 17, and a left telescopic cylinder 1521 is placed on the left cylinder mounting frame 1523. The telescopic end of the left telescopic cylinder is equipped with an arc-shaped left rubber-coated clamping claw 1522; the structure of the right clamping unit 151 is similar, including a right cylinder mounting frame 1513, a right cylinder, a right telescopic cylinder 1511, and a right rubber-coated clamping claw 1512.

[0041] The outer side of each screw sleeve 127 is respectively provided with a bolt straightening mechanism 126 through a lower bracket 126.1 fixedly connected to the lower mounting flange 125. The specific structure of the bolt straightening mechanism 126 is as follows: Figure 6 , Figure 7 Shown and see Figure 8 The upper end of the liftable lower bracket 126.1 is hinged to the cylinder body 131 of the straightening cylinder 1261 through the first pin 1265, and the piston rod end of the straightening cylinder 1261 is hinged to the lower connecting rod 126.2 and one end of the short connecting rod 126.3 through the second pin 1263. The other end of the lower connecting rod 126.2 is hinged to the double-side support plates 126.6 fixedly connected to the lower end of the lower bracket 126.1. The other end of the short connecting rod 126.3 is hinged to the middle of the claw frame 126.4 through the third pin shaft 1264, and the high end of the claw frame 126.4 is hinged to the lower part of the lower bracket 126.1 through the fourth pin shaft 1262. The lower end of the claw frame 126.4 has an adjustment groove 126.5. The two ends of the screw rod 126.7, which passes through the adjustment groove 126.5 and is positioned by a nut, are respectively provided with an outwardly hooked straightening claw 1266 and a reverse hooked overturning claw 1267 adjacent to the hinge pin connecting bolt 133 to be straightened. Figure 8 134 is a pressure gauge.

[0042] Since the complex connecting rod mechanism reasonably arranged between the lower bracket and the straightening cylinder realizes the compound movement of the lower bracket rising and the straightening cylinder piston rod extending, during the capping operation, as long as the lower bracket is properly controlled to rise and fall with the whole device and the straightening cylinder is extended and retracted as needed, the bolt straightening mechanism 126 can realize the following control actions, laying the foundation for the subsequent automatic tightening of the capping:

[0043] like Figure 9 As shown, when the lower bracket 126.1 is in a low position and the straightening cylinder 1261 is in a piston rod extended position, the claw tip of the straightening claw 1266 is located below the horizontal hinge pin connecting bolt 133 to be straightened;

[0044] like Figure 8 and Figure 10 As shown, when the lower bracket 126.1 rises and the piston rod of the straightening cylinder 1261 is in the process of retracting, the claw tip of the straightening claw 1266 moves the hinge pin connecting bolt 133 to be straightened to rotate around its hinge axis;

[0045] like Figure 11 As shown, when the lower bracket 126.1 is in a high position and the straightening cylinder 1261 is in a piston rod retracted position, the claw tip of the straightening claw 1266 is located on one side of the vertical straightening hinge pin connecting bolt 133, completing the straightening so that the nut on the straightening hinge pin connecting bolt is located above the upper cover of the tank body.

[0046] Afterwards, each screwing sleeve 127 descends with the entire device and is respectively sleeved on the nuts on the corresponding stabilizing hinge pin connecting bolts. By driving the tightening shaft 123 to rotate, the nuts of each stabilizing hinge pin connecting bolt can be simultaneously pressed against the upper cover with appropriate pressing force to ensure the sealing of the tank body.

[0047] When removing the cover, loosen the nut on the connecting bolt of the hinge pin in the reverse order of the above process. Figure 12 As shown, the lower bracket 126.1 is in the upper limit position and the straightening cylinder 1261 is in the piston rod retracted limit position, and the claw tip of the tipping claw 1267 is located on the inner side of the vertical straightening hinge pin connecting bolt 133; Figure 13 As shown, when the lower bracket 126.1 descends and the straightening cylinder 1261 is in the process of extending the piston rod, the claw tip of the overturning claw 1267 pushes the straightening hinge pin connecting bolt 133 to reversely rotate around its hinge axis and fall to a horizontal position by itself.

[0048] The specific process of the automatic disassembly and installation device for sealed cans in this embodiment when disassembling the cover is as follows: when the photoelectric detection sensors 16 on both sides of the assembly line detect that the support platform 17 carrying the sealed can 13 is in place, the stop cylinder 14 below the assembly line extends the piston rod to stop the support platform 17 carrying the sealed can 13 at the specified position, and the clamping mechanism 15 on both sides of the assembly line clamps the sealed can 13 to achieve the initial rough positioning of the sealed can 13. At the same time, the disassembly and assembly mechanism 12 of the sealed can is driven by the truss mechanical arm 11 and moves to the top of the target sealed can 13 (accurate positioning of the coordinate point), and the visual sensor 128 installed thereon checks and confirms whether the pressure indication value of the sealed can 13 meets the requirements. After confirming the pressure value of the sealed can 13, the visual sensor 128 installed thereon guides the central rotary mechanism 121 to rotate circumferentially at a suitable angle, so that the screw sleeve on the disassembly and assembly mechanism 12 of the sealed can is accurately positioned relative to the circumferential connecting bolt 133 of the sealed can 13. Next, the truss robot arm 11 drives the sealing tank disassembly and assembly mechanism 12 to move vertically downward until the screwing sleeve clamps the corresponding bolt 133 on the sealing tank 13, and each screwing sleeve loosens the bolt 133 at the corresponding position at the same time, and then the circumferentially arranged bolts 133 are flattened by the circumferentially arranged straightening mechanism 126 at the corresponding position.

[0049] The process of installing the bolts 133 on the upper cover 132 of the sealing tank 13 can be inferred from the above description and will not be described in detail.

[0050] Experiments show that the main beneficial effects of adopting this embodiment are:

[0051] 1) The truss robot arm installation structure greatly enhances the maneuverability and rapid and accurate positioning capabilities of the work.

[0052] 2) Automatic disassembly or installation is carried out in groups, and the torque is precisely controllable, which not only significantly improves efficiency and greatly reduces labor intensity, but also ensures consistency, thereby ensuring safe and reliable sealing.

[0053] 3) The straightening or overturning of multiple bolts can be completed at one time, which is not only efficient, but also the same mechanism can achieve both the straightening and overturning of the bolts, killing two birds with one stone.

[0054] 4) The photoelectric sensor, stop cylinder and left and right clamping units perform rough positioning on the pallet carrying the sealed can. After the robotic arm moves to the top of the target sealed can, it rotates to the appropriate angle for precise positioning under the guidance of the visual sensor, ensuring high-precision positioning.

[0055] In addition to the above embodiments, the present invention may also have other implementation modes. Any technical solution formed by equivalent replacement or equivalent transformation falls within the protection scope required by the present invention.

Claims

1. An automatic disassembly and installation device for a sealed tank, comprising a support table for placing the sealed tank, and a clamping mechanism for clamping and fixing the sealed tank is installed on the support table, characterized in that: A lifting and lowering disassembly and assembly mechanism is installed above the support platform; The disassembly and assembly mechanism comprises a group of power-driven screwing sleeves which are circumferentially distributed and respectively correspond to the positions of corresponding connecting bolts and are mounted on the lower mounting flange. The lower mounting flange is fixedly connected to the upper mounting flange through connecting rods which are spaced apart around the circumference. Each screwing sleeve is respectively connected to the driving motor through a corresponding screwing sleeve shaft supported on the upper mounting flange and the lower mounting flange. The clamping mechanism is composed of a pair of left clamping units and right clamping units. The left clamping unit includes a left cylinder mounting frame mounted on the support platform, a left telescopic cylinder is mounted on the left cylinder mounting frame, and a left clamping claw is mounted on the telescopic end of the left telescopic cylinder; the right clamping unit includes a right cylinder mounting frame mounted on the support platform, a right telescopic cylinder is mounted on the right cylinder mounting frame, and a right clamping claw is mounted on the telescopic end of the right telescopic cylinder; the outer sides of each screw sleeve are respectively equipped with a bolt straightening mechanism through a lower bracket fixedly connected to the lower mounting flange; The upper end of the lower bracket is hinged with the cylinder body of the straightening cylinder, and the piston rod end of the straightening cylinder is hinged with the lower connecting rod and one end of the short connecting rod at the same time; the other end of the lower connecting rod is hinged with the lower end of the lower bracket, the other end of the short connecting rod is hinged with the middle part of the claw frame, the high end of the claw frame is hinged with the lower part of the lower bracket, and the lower end of the claw frame is equipped with a straightening claw adjacent to the hinge pin connecting bolt to be straightened; When the lower bracket is in a low position and the straightening cylinder is in a piston rod extended position, the claw tip of the straightening claw is located below the horizontal connecting bolt of the hinge pin to be straightened; When the lower bracket rises and the piston rod of the straightening cylinder is in the process of retracting, the claw tip of the straightening claw moves the connecting bolt of the hinge pin to be straightened to rotate around its hinge axis; When the lower bracket is in a high position and the straightening cylinder is in a piston rod retracted position, the claw tip of the straightening claw is located at one side of the vertical straightening hinge pin connecting bolt.

2. The automatic disassembly and installation device for the sealed tank according to claim 1, characterized in that: 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.

3. The automatic disassembly and installation device for the sealed tank according to claim 1, characterized in that: The driving motor is connected to the floating eccentric output shaft with a screw sleeve installed at the lower end through a planetary gear reduction transmission mechanism, and a measuring sensor is installed in the transmission connection link.

4. The automatic disassembly and installation device for the sealed tank according to claim 3, wherein: The lower end of the claw frame is also equipped with a tipping claw in the opposite direction of the straightening claw. When the lower bracket is in the upper limit position and the straightening cylinder is in the piston rod retraction limit position, the claw tip of the tipping claw is located on the inner side of the vertical straightening hinge pin connecting bolt; when the lower bracket descends and the straightening cylinder is in the process of extending the piston rod, the claw tip of the tipping claw pushes the straightening hinge pin connecting bolt to rotate around its hinge axis and fall to a horizontal position by itself.

5. The automatic disassembly and installation device for the sealed tank according to claim 4, characterized in that: The lower end of the claw frame is provided with an adjustment slot, and the two ends of the screw rod which passes through the adjustment slot and is positioned by a nut are respectively provided with a straightening claw and a tipping claw adjacent to the hinge pin connecting bolt to be straightened.

6. The automatic disassembly and installation device for a sealed tank according to claim 5, wherein: The other end of the lower connecting rod is hingedly mounted on the double-side supporting plates fixedly connected to the lower end of the lower bracket.

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