Automatic head handling device

Abstract

The present invention discloses an automatic head conveying device, comprising a gantry, wherein the top end of the gantry is provided with an I-shaped slide driven by a winch for displacement, an electric hoist is installed at the bottom end of the I-shaped slide, and an output end drum of the electric hoist is connected to a cross-shaped hanging plate by a steel rope; the present invention connects the lifting arm by sliding at all four ends of the cross-shaped hanging plate, and connects the head suction cup for adsorbing and fixing the head through a telescopic adjusting piece at the bottom end of the lifting arm, so that the lifting device of the automatic head conveying device is easy to be adaptively adjusted according to the specifications and dimensions of the head, and the cylinder body is clamped and fixed by L-shaped clamps on both sides of the top end of the cylinder body placement plate, and the head is detected during the conveying process by a laser sensor on the top end of the L-shaped clamp, so that the head can automatically stop moving when it moves to just above the cylinder body, and at the same time, arc-shaped guide plates are provided on both sides above the cylinder body to limit and guide the head during the descending process, so that the head can achieve automatic and precise docking with the cylinder body.

Description

Technical Field

[0001] The present invention relates to the technical field of end cap transportation, and in particular to an automatic end cap transportation device. Background Art

[0002] A head is a component used to seal the end of a container to isolate the media inside and outside it, also known as an end cover. The head of a cylindrical container is generally a rotating shell. According to the shape of the head surface, it can be divided into convex, conical, flat and combined shapes. A convex head refers to a head with a convex outer surface, such as a hemispherical, elliptical, dished and spherical head without folded edges. Some gas cylinders use a combined bottom head with the convex surface inward, which can not only ensure strength but also meet the needs of safe use. The head is an indispensable and important component of pressure vessel equipment in many industries from petrochemicals, atomic energy to food and pharmaceuticals.

[0003] At present, due to the large weight of the head, it is inconvenient to carry it manually. Therefore, before the head is welded and installed, it is necessary to use lifting and handling equipment to lift the head and connect it with the cylinder body of the pressure vessel equipment. However, the existing head lifting and handling equipment is mostly single in structure, and the lifting tools for lifting the head are mostly fixed structures, which cannot be adaptively adjusted, making it inconvenient to lift and fix heads of different specifications and sizes, and the applicability is low. In addition, the accuracy of the existing head lifting and handling equipment is not enough. After the head is lifted, the head cannot be accurately transported to the top of the cylinder body, so that automatic and precise docking with the cylinder body cannot be achieved. Manual assistance is often required to adjust the position of the head, which is inconvenient to use. Therefore, the present invention proposes an automatic head handling device to solve the problems existing in the prior art. Summary of the Invention

[0004] In response to the above problems, the purpose of the present invention is to propose an automatic head handling device to solve the problem that the existing head handling device is not convenient for lifting and fixing heads of different specifications and sizes, and after the head is lifted, it cannot be accurately transported to the top of the cylinder body for precise docking with the cylinder body.

[0005] To achieve the objectives of the present invention, the present invention is implemented through the following technical solutions: an automatic head handling device, comprising a gantry, an I-shaped slide slidably provided at the top of the gantry and driven by a winch, an electric hoist installed at the bottom end of the I-shaped slide, an output drum of the electric hoist being connected to a cross-shaped hanging plate by a steel rope, a lifting arm slidably connected to the inner sides of the four ends of the cross-shaped hanging plate, the bottom end of the lifting arm located on the outer side of the cross-shaped hanging plate being connected to the head suction cup through a telescopic adjustment member, a barrel placement plate being provided on the side of the gantry below away from the cross-shaped hanging plate, L-shaped clamping plates slidably provided on both sides of the top of the barrel placement plate, two sets of L-shaped clamping plates having an arc-shaped opposite side, a laser sensor electrically connected to the winch installed on the top of the L-shaped clamping plate, a lifting support frame plate being fixed on both sides of the top of the barrel placement plate, a cylinder being installed on the opposite side of the two sets of lifting support frames, an output end of the cylinder being fixed with an inclined arc-shaped guide plate, a through slot adapted to the position of the laser sensor being provided at the bottom of the arc-shaped guide plate.

[0006] A further improvement is that the winch is symmetrically arranged on both sides of the top of the gantry, pull rings are fixed on both sides of the top of the I-shaped slide, a steel wire is wound around the output end wheel of the winch, and the end of the steel wire away from the winch is fixedly connected to the pull ring.

[0007] Further improvements are as follows: the top inner side of the I-shaped slide is provided with a first sliding roller which is evenly distributed and in contact with the top surface of the gantry; the bottom end of the steel rope is symmetrically fixed with a steel chain; the steel chain is provided with four groups and the bottom ends are respectively connected to the four ends of the cross-shaped hanger plate.

[0008] Further improvements are as follows: one side of the hanging arm located inside the cross-shaped hanging plate is provided with grooves symmetrically distributed in the upper and lower directions; the bottom end of the groove is connected to a positioning boss that slides through the outside of the cross-shaped hanging plate through a first limit spring; and positioning holes that are adapted to the positioning bosses are equidistantly provided on the upper and lower sides of the four ends of the cross-shaped hanging plate.

[0009] A further improvement is that the telescopic adjustment member includes a threaded rod connected to the bottom end of the cross-shaped hanging plate and a threaded sleeve threadedly sleeved on the lower part of the threaded rod, and the bottom end of the threaded sleeve is connected to the top end of the head suction cup through a ball head connector.

[0010] A further improvement is that a buffer cavity is opened on the side of the boom close to the threaded rod, the top of the threaded rod slides through the buffer cavity and is fixed with a buffer block adapted to the buffer cavity, and the top of the buffer block is connected to the top of the buffer cavity through a second limit spring.

[0011] Further improvements are: second sliding rollers are evenly distributed on the top of the cylinder body placing plate, T-shaped slide rails are symmetrically opened on the top of the cylinder body placing plate, T-shaped sliders adapted to the T-shaped slide rails are symmetrically fixed to the bottom of the L-shaped clamping plate, and fixed blocks are fixed on the front and rear side walls of the L-shaped clamping plate, and positioning bolts are threaded through the fixing blocks, and the bottom end of the positioning bolts is connected to the positioning block.

[0012] Further improvements are: the lifting support frame plate includes a support plate and a support rod symmetrically arranged at the bottom end of the support plate, the bottom end of the support rod is fixed to the top end of the cylinder body placement plate, the top end of the support rod is slidably arranged inside the support plate, bolt holes are equidistantly opened on the support rod, and the support plate is threadedly connected with a locking bolt that is adapted to the bolt hole.

[0013] A further improvement is that the head suction cup is an electromagnetic suction cup, and a power supply for supplying power to the head suction cup is installed on the top of the cross-shaped hanging plate.

[0014] A further improvement is that the head suction cup is a vacuum suction cup, and a vacuum pump for evacuating the head suction cup is installed on the top of the cross-shaped hanging plate.

[0015] The beneficial effects of the present invention are as follows: the present invention includes a gantry, which is connected to the boom by sliding at the four ends of the cross-shaped hanging plate and is positioned by using the positioning bosses, and the head suction cup for adsorbing and fixing the head is connected at the bottom end of the boom through a telescopic adjustment piece, so that the hanger of the head automatic handling device is easy to adapt to the specifications and dimensions of the head, and can be suitable for handling heads of different sizes, and has high applicability. The cylinder body is clamped and fixed by the L-shaped clamps on both sides of the top of the cylinder body placement plate, and the head is detected during the handling process by the laser sensor on the top of the L-shaped clamp, so that the head can automatically stop moving when it moves to the top of the cylinder body, and at the same time, arc-shaped guide plates are set on both sides above the cylinder body to limit and guide the head during the descending process, so that the head can be accurately transported to the top of the cylinder body and realize automatic and precise docking with the cylinder body, without manual operation, and is easy to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a front view of the first embodiment of the present invention;

[0017] Figure 2 This is an enlarged view of point A in Example 1 of the present invention;

[0018] Figure 3 1 is a side view of a barrel placement plate according to a first embodiment of the present invention;

[0019] Figure 4 is a front sectional view of a cross-shaped hanging plate according to a first embodiment of the present invention;

[0020] Figure 5is a top view of the arc-shaped guide plate of the first embodiment of the present invention;

[0021] Figure 6 1 is a side view of an I-shaped slide according to a first embodiment of the present invention;

[0022] Figure 7 It is a front view of the second embodiment of the present invention.

[0023] Wherein: 1. Gantry; 2. Winch; 3. I-shaped slide; 4. Electric hoist; 5. Steel rope; 6. Cross-shaped hanging plate; 7. Boom; 8. Head suction cup; 9. Cylinder body placement plate; 10. L-shaped clamping plate; 11. Laser sensor; 12. Lifting support frame plate; 13. Cylinder; 14. Arc guide plate; 15. Through groove; 16. Pull ring; 17. Steel wire; 18. First slide roller; 19. Steel chain; 20. Groove; 21. First limit spring 22. Positioning boss; 23. Positioning hole; 24. Threaded rod; 25. Threaded sleeve; 26. Buffer chamber; 27. Buffer block; 28. Second limit spring; 29. Second roller; 30. T-type slide rail; 31. T-type slider; 32. Fixing block; 33. Positioning bolt; 34. Positioning block; 35. Power supply; 36. Vacuum pump; 1201. Bracket plate; 1202. Support rod; 1203. Bolt hole; 1204. Locking bolt. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0025] In the description of the present invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and "fourth," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0026] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0027] Example 1

[0028] See also Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 、 Figure 6The present embodiment provides an automatic head handling device, including a gantry 1. Universal wheels are installed on both sides of the bottom end of the gantry 1 to facilitate the movement of the device. Winches 2 are installed on both sides of the top of the gantry 1. An I-shaped slide 3 is slidingly provided at the top of the gantry 1. A slide groove adapted to the I-shaped slide 3 is opened at the top of the gantry 1. The I-shaped slide 3 is driven to move by the winch 2. An electric hoist 4 is installed at the bottom end of the I-shaped slide 3. A steel rope 5 is connected to the output end drum of the electric hoist 4. A cross-shaped hanging plate 6 is suspended at the bottom end of the steel rope 5. The inner sides of the four ends of the cross-shaped hanging plate 6 are slidably connected to the boom 7. The boom 7 is located at the cross-shaped hanging plate 6. The bottom end of one side of the outside is connected with a telescopic adjustment piece, and the ball head at the bottom end of the telescopic adjustment piece is connected with a head suction cup 8 for adsorbing the head. The four ends of the cross-shaped hanging plate 6 are slidably connected to the hanging arm 7, and the bottom end of the hanging arm 7 is connected to the head suction cup 8 for adsorbing and fixing the head through the telescopic adjustment piece, so that the sling of the head automatic handling device can be adaptively adjusted according to the specifications of the head. A cylinder placement plate 9 is provided on the side of the gantry 1 away from the cross-shaped hanging plate 6. The cylinder placement plate 9 is used to place the cylinder of the pressure vessel equipment for waiting for the head to be installed and docked. The left and right sides of the top of the cylinder placement plate 9 are slidably provided with clamps for clamping The L-shaped splint 10 holding the barrel body, the two sets of L-shaped splints 10 have an arc-shaped design on one side to facilitate the L-shaped splint 10 to fit the barrel body, a laser sensor 11 is installed on the top of the L-shaped splint 10, the laser sensor 11 is connected to the PLC control system of the device, and is used to detect that the head is between the two sets of laser sensors 11 and shut down the winch 2, the left and right sides of the top of the barrel placement plate 9 are fixed with lifting support frames 12, the two sets of lifting support frames 12 are installed on the opposite side of the cylinder 13, the output end of the cylinder 13 is fixed with a curved guide plate 14 for guiding the head, and the curved guide plate 14 is set at an angle The lower part of the arc-shaped guide plate 14 is provided with a through groove 15 adapted to the position of the laser sensor 11 to avoid obstruction to the laser emission of the laser sensor 11. The cylinder body is clamped and fixed by the L-shaped clamps 10 on both sides of the top of the cylinder body placement plate 9, and the laser sensor 11 on the top of the L-shaped clamp 10 is used to detect the head during the transportation process, so that the head can automatically stop moving when it moves to the top of the cylinder body. At the same time, the arc-shaped guide plates 14 are set on both sides above the cylinder body to limit and guide the head during the descending process, so that the head can be accurately transported to the top of the cylinder body and realize automatic and precise docking with the cylinder body.

[0029] Pull rings 16 are fixed on the left and right sides of the top of the I-shaped slide 3. A steel wire 17 fixedly connected to the left pull ring 16 is wound around the output end rotary wheel of the winch 2 on the left, and a steel wire 17 fixedly connected to the right pull ring 16 is wound around the output end rotary wheel of the winch 2 on the right. The I-shaped slide 3 is pulled left and right by the two groups of winches 2 to reel in and out the steel wire 17.

[0030] A first sliding roller 18 is provided at the inner top of the I-shaped slide 3. The first sliding rollers 18 are evenly distributed at the inner top of the I-shaped slide 3 and are in contact with the top surface of the gantry 1 to make the displacement of the I-shaped slide 3 smoother. A cross-shaped steel chain 19 is symmetrically fixed to the bottom end of the steel rope 5. The bottom ends of the cross-shaped steel chains 19 are respectively connected to the four ends of the cross-shaped hanger plate 6.

[0031] A groove 20 is provided on one side of the boom 7 located inside the cross-shaped hanger plate 6. There are two groups of grooves 20 and they are symmetrically distributed on the boom 7. The bottom end of the groove 20 is connected to a positioning boss 22 through a first limit spring 21. The positioning boss 22 slides through the end away from the groove 20 to the outside of the cross-shaped hanger plate 6. Positioning holes 23 that are adapted to the positioning boss 22 are equidistantly provided on the upper and lower sides of the four ends of the cross-shaped hanger plate 6. By pressing the positioning boss 22 into the groove 20, the boom 7 can be slidably adjusted, and the positioning boss 22 rebounds and passes through the positioning hole 23 to achieve the positioning of the boom 7.

[0032] The telescopic adjustment member includes a threaded rod 24 and a threaded sleeve 25. The threaded rod 24 is connected to the bottom end of the cross-shaped hanger 6, and the threaded sleeve 25 is threadedly sleeved on the lower part of the threaded rod 24. The telescopic adjustment of the telescopic adjustment member is achieved by rotating the threaded sleeve 25. The telescopic adjustment member is telescopically adjusted according to the height of the head to adjust the distance between the head suction cup 8 and the cross-shaped hanger 6 to avoid the pointed cone at the top of some conical heads from obstructing the cross-shaped hanger 6. The bottom end of the threaded sleeve 25 is connected to the top of the head suction cup 8 through a ball head connector, so that the head suction cup 8 can be slightly tilted to adapt to the inclined surfaces of different heads.

[0033] A buffer cavity 26 is provided on one side of the boom 7 close to the threaded rod 24. The top end of the threaded rod 24 slides through the buffer cavity 26 and is fixed with a buffer block 27 adapted to the buffer cavity 26. The top end of the buffer block 27 is connected to the top end of the buffer cavity 26 through a second limit spring 28. The second limit spring 28 provides a buffering force to the buffer block 27 and the threaded rod 24 to prevent the head suction cup 8 from causing excessive hard impact on the head when the cross-shaped hanging plate 6 descends.

[0034] A second sliding roller 29 is evenly distributed on the top of the cylinder body placement plate 9 to facilitate the sliding displacement of the cylinder body. A T-shaped slide rail 30 is symmetrically provided on the top of the cylinder body placement plate 9, and a T-shaped slider 31 adapted to the T-shaped slide rail 30 is symmetrically fixed to the bottom of the L-shaped splint 10. The L-shaped splint 10 can slide on the top of the cylinder body placement plate 9 through the cooperation of the T-shaped slide rail 30 and the T-shaped slider 31. Fixed blocks 32 are fixed on the front and rear side walls of the L-shaped splint 10, and a positioning bolt 33 is threaded through the fixing block 32. The bottom end of the positioning bolt 33 is connected to a positioning block 34. By rotating the positioning bolt 33, the positioning block 34 is driven to press against the cylinder body placement plate 9 to achieve positioning and fixation of the L-shaped splint 10.

[0035] The lifting support frame 12 includes a support plate 1201 and a support rod 1202 symmetrically arranged at the bottom end of the support plate 1201. The bottom end of the support rod 1202 is fixed to the top of the cylinder body placement plate 9, and the top of the support rod 1202 is slidably arranged inside the support plate 1201. Bolt holes 1203 are equidistantly provided on the support rod 1202, and locking bolts 1204 that are adapted to the bolt holes 1203 are threadedly connected on the support plate 1201. By providing threaded holes 1203 on the support rod 1202 and threading the locking bolts 1204 through the support plate 1201, the support plate 1201 can be easily lifted and lowered according to the height of the cylinder body. A sliding rod fixed on the arc guide plate 14 is slid through the support plate 1201 to play a limiting role.

[0036] The head suction cup 8 is an electromagnetic suction cup, and a power supply 35 is installed on the top of the cross-shaped hanging plate 6. The power supply 35 energizes the internal coil of the head suction cup 8 and generates magnetic force to adsorb and fix the head made of magnetic conductive material.

[0037] Example 2

[0038] See also Figure 7The present embodiment provides an automatic head conveying device, comprising a gantry 1, with universal wheels installed on both sides of the bottom end of the gantry 1 to facilitate the movement of the device, winches 2 installed on both sides of the top end of the gantry 1, an I-shaped slide 3 slidingly provided on the top end of the gantry 1, a slide groove adapted to the I-shaped slide 3 is opened on the top end of the gantry 1, the I-shaped slide 3 is driven to move by the winch 2, an electric hoist 4 is installed on the bottom end of the I-shaped slide 3, a steel rope 5 is connected to the output end drum of the electric hoist 4, a cross-shaped hanging plate 6 is suspended at the bottom end of the steel rope 5, and a lifting arm is slidably connected to the inner sides of the four ends of the cross-shaped hanging plate 6 7. The bottom end of the boom 7 located on the outer side of the cross-shaped hanging plate 6 is connected with a telescopic adjustment piece, and the ball head at the bottom end of the telescopic adjustment piece is connected with a head suction cup 8 for adsorbing the head. The boom 7 is slidably connected to the four ends of the cross-shaped hanging plate 6, and the head suction cup 8 for adsorbing and fixing the head is connected to the bottom end of the boom 7 through the telescopic adjustment piece, so that the sling of the head automatic handling device can be adaptively adjusted according to the specifications of the head. A cylinder placement plate 9 is provided on the side of the gantry 1 away from the cross-shaped hanging plate 6. The cylinder placement plate 9 is used to place the cylinder of the pressure vessel equipment for waiting for the head to be installed and docked. The left and right sides of the top of the cylinder placement plate 9 The sides are both slidably provided with L-shaped splints 10 for clamping the cylinder body. The opposite sides of the two groups of L-shaped splints 10 are arc-shaped, which is convenient for the L-shaped splints 10 to fit together with the cylinder body. A laser sensor 11 is installed on the top of the L-shaped splint 10. The laser sensor 11 is connected to the PLC control system of the device and is used to shut down the winch 2 when the head is detected to be between the two groups of laser sensors 11. The left and right sides of the top of the cylinder body placement plate 9 are fixed with lifting support frames 12. The opposite sides of the two groups of lifting support frames 12 are installed with cylinders 13. The output end of the cylinder 13 is fixed with an arc-shaped guide plate 14 for guiding the head. The arc-shaped guide plate 14 is It is set at an angle, and a through groove 15 is provided at the lower part of the arc-shaped guide plate 14 to match the position of the laser sensor 11, so as to avoid obstruction to the laser emission of the laser sensor 11. The cylinder body is clamped and fixed by the L-shaped clamps 10 on both sides of the top of the cylinder body placement plate 9, and the laser sensor 11 on the top of the L-shaped clamp 10 is used to detect the head during the transportation process, so that the head can automatically stop moving when it moves to the top of the cylinder body. At the same time, the arc-shaped guide plates 14 are set on both sides above the cylinder body to limit and guide the head during the descending process, so that the head can be accurately transported to the top of the cylinder body and realize automatic and precise docking with the cylinder body.

[0039] Pull rings 16 are fixed on the left and right sides of the top of the I-shaped slide 3. A steel wire 17 fixedly connected to the left pull ring 16 is wound around the output end rotary wheel of the winch 2 on the left, and a steel wire 17 fixedly connected to the right pull ring 16 is wound around the output end rotary wheel of the winch 2 on the right. The I-shaped slide 3 is pulled left and right by the two groups of winches 2 to reel in and out the steel wire 17.

[0040] A first sliding roller 18 is provided at the inner top of the I-shaped slide 3. The first sliding rollers 18 are evenly distributed at the inner top of the I-shaped slide 3 and are in contact with the top surface of the gantry 1 to make the displacement of the I-shaped slide 3 smoother. A cross-shaped steel chain 19 is symmetrically fixed to the bottom end of the steel rope 5. The bottom ends of the cross-shaped steel chains 19 are respectively connected to the four ends of the cross-shaped hanger plate 6.

[0041] A groove 20 is provided on one side of the boom 7 located inside the cross-shaped hanger plate 6. There are two groups of grooves 20 and they are symmetrically distributed on the boom 7. The bottom end of the groove 20 is connected to a positioning boss 22 through a first limit spring 21. The positioning boss 22 slides through the end away from the groove 20 to the outside of the cross-shaped hanger plate 6. Positioning holes 23 that are adapted to the positioning boss 22 are equidistantly provided on the upper and lower sides of the four ends of the cross-shaped hanger plate 6. By pressing the positioning boss 22 into the groove 20, the boom 7 can be slidably adjusted, and the positioning boss 22 rebounds and passes through the positioning hole 23 to achieve the positioning of the boom 7.

[0042] The telescopic adjustment member includes a threaded rod 24 and a threaded sleeve 25. The threaded rod 24 is connected to the bottom end of the cross-shaped hanger 6, and the threaded sleeve 25 is threadedly sleeved on the lower part of the threaded rod 24. The telescopic adjustment of the telescopic adjustment member is achieved by rotating the threaded sleeve 25. The telescopic adjustment member is telescopically adjusted according to the height of the head to adjust the distance between the head suction cup 8 and the cross-shaped hanger 6 to avoid the pointed cone at the top of some conical heads from obstructing the cross-shaped hanger 6. The bottom end of the threaded sleeve 25 is connected to the top of the head suction cup 8 through a ball head connector, so that the head suction cup 8 can be slightly tilted to adapt to the inclined surfaces of different heads.

[0043] A buffer cavity 26 is provided on one side of the boom 7 close to the threaded rod 24. The top end of the threaded rod 24 slides through the buffer cavity 26 and is fixed with a buffer block 27 adapted to the buffer cavity 26. The top end of the buffer block 27 is connected to the top end of the buffer cavity 26 through a second limit spring 28. The second limit spring 28 provides a buffering force to the buffer block 27 and the threaded rod 24 to prevent the head suction cup 8 from causing excessive hard impact on the head when the cross-shaped hanging plate 6 descends.

[0044] A second sliding roller 29 is evenly distributed on the top of the cylinder body placement plate 9 to facilitate the sliding displacement of the cylinder body. A T-shaped slide rail 30 is symmetrically provided on the top of the cylinder body placement plate 9, and a T-shaped slider 31 adapted to the T-shaped slide rail 30 is symmetrically fixed to the bottom of the L-shaped splint 10. The L-shaped splint 10 can slide on the top of the cylinder body placement plate 9 through the cooperation of the T-shaped slide rail 30 and the T-shaped slider 31. Fixed blocks 32 are fixed on the front and rear side walls of the L-shaped splint 10, and a positioning bolt 33 is threaded through the fixing block 32. The bottom end of the positioning bolt 33 is connected to a positioning block 34. By rotating the positioning bolt 33, the positioning block 34 is driven to press against the cylinder body placement plate 9 to achieve positioning and fixation of the L-shaped splint 10.

[0045] The lifting support frame 12 includes a support plate 1201 and a support rod 1202 symmetrically arranged at the bottom end of the support plate 1201. The bottom end of the support rod 1202 is fixed to the top of the cylinder body placement plate 9, and the top of the support rod 1202 is slidably arranged inside the support plate 1201. Bolt holes 1203 are equidistantly provided on the support rod 1202, and locking bolts 1204 that are adapted to the bolt holes 1203 are threadedly connected on the support plate 1201. By providing threaded holes 1203 on the support rod 1202 and threading the locking bolts 1204 through the support plate 1201, the support plate 1201 can be easily raised and lowered according to the height of the cylinder body. A sliding rod fixed on the arc guide plate 14 is slid through the support plate 1201 to play a limiting role.

[0046] The head suction cup 8 is a vacuum suction cup, and a vacuum pump 36 is installed on the top of the cross-shaped hanging plate 6. The vacuum pump 36 evacuates the head suction cup 8 through the suction pipe to generate a vacuum negative pressure inside the head suction cup 8 to adsorb and fix the head made of non-magnetic material.

[0047] The lifting mechanism 11 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder 10, and the lifting mechanism 12 is fixed on the upper surface of the cylinder When the head is above the left laser sensor 11, the two groups of laser sensors 11 are started at the same time to emit lasers vertically upward. The two groups of laser sensors 11 detect whether the head is between the two groups of laser sensors 11 according to the reflection of the laser (because the two groups of laser sensors are started at the same time when the head moves above the left laser sensor 11, when the lasers emitted by the two groups of laser sensors 11 do not touch the head, it means that the head is between the two groups of laser sensors 11). That is, it judges whether the head is directly above the cylinder body, and closes the winch 2 when it detects that the head is between the two groups of laser sensors 11. At this time, the head is directly above the cylinder body, and then the electric hoist 4 is started to drive the cross-shaped hanging plate 6 to descend, and the head is more accurately docked at the top of the cylinder body under the action of the two groups of arc guide plates 14. Finally, the head suction cup 8 is driven to release the head, and the automatic transportation work of docking the head and the cylinder body is completed.

[0048] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. An automatic head handling device, characterized by: The utility model comprises a gantry (1), wherein the top end of the gantry (1) is provided with an I-shaped slide (3) driven by a winch (2) for displacement, the bottom end of the I-shaped slide (3) is provided with an electric hoist (4), the output end drum of the electric hoist (4) is connected to a cross-shaped hanging plate (6) through a steel rope (5), the inner sides of the four ends of the cross-shaped hanging plate (6) are all slidably connected to a hanging arm (7), the bottom end of the hanging arm (7) located on the outer side of the cross-shaped hanging plate (6) is connected to a head suction cup (8) through a telescopic adjustment member, and the bottom of the gantry (1) is away from the cross-shaped hanging plate (6). A barrel placing plate (9) is provided on one side, and L-shaped clamping plates (10) are slidably provided on both sides of the top of the barrel placing plate (9), and the opposite sides of the two groups of L-shaped clamping plates (10) are both arc-shaped. A laser sensor (11) electrically connected to the hoist (2) is installed on the top of the L-shaped clamping plates (10), and a lifting support frame plate (12) is fixed on both sides of the top of the barrel placing plate (9), and a cylinder (13) is installed on the opposite side of the two groups of lifting support frames (12), and an arc-shaped guide plate (14) arranged in an inclined manner is fixed on the output end of the cylinder (13). The arc-shaped guide plate (14) is provided with a through slot (15) adapted to the position of the laser sensor (11) at the lower part, the top of the barrel placing plate (9) is equidistantly provided with a second sliding roller (29), the top of the barrel placing plate (9) is symmetrically provided with a T-shaped slide rail (30), the bottom of the L-shaped clamping plate (10) is symmetrically fixed with a T-shaped slider (31) adapted to the T-shaped slide rail (30), the front and rear side walls of the L-shaped clamping plate (10) are both fixed with a fixing block (32), a threaded positioning bolt (33) is passed through the fixing block (32), and the positioning bolt (33) is screwed through the fixing block (32). 3) A positioning block (34) is connected to the bottom end, and the lifting support frame plate (12) includes a bracket plate (1201) and a support rod (1202) symmetrically arranged at the bottom end of the bracket plate (1201), the bottom end of the support rod (1202) is fixed to the top end of the barrel placement plate (9), and the top end of the support rod (1202) is slidably arranged inside the bracket plate (1201), and bolt holes (1203) are equidistantly opened on the support rod (1202), and locking bolts (1204) adapted to the bolt holes (1203) are threadedly connected to the bracket plate (1201).

2. The automatic head handling device according to claim 1, characterized in that: The hoist (2) is symmetrically arranged on both sides of the top of the gantry (1); pull rings (16) are fixed on both sides of the top of the I-shaped slide (3); a steel wire (17) is wound around the output end wheel of the hoist (2); and the end of the steel wire (17) away from the hoist (2) is fixedly connected to the pull ring (16).

3. The automatic head handling device according to claim 1, characterized in that: The inner top end of the I-shaped slide (3) is provided with first sliding rollers (18) which are evenly distributed and in contact with the top surface of the gantry (1). The bottom end of the steel rope (5) is symmetrically fixed with steel chains (19). The steel chains (19) are provided in four groups and the bottom ends are respectively connected to the four ends of the cross-shaped hanging plate (6).

4. The automatic head handling device according to claim 1, characterized in that: The arm (7) is provided with grooves (20) symmetrically distributed in the upper and lower directions on one side of the interior of the cross-shaped hanging plate (6); the bottom end of the interior of the groove (20) is connected to a positioning boss (22) that slides through the exterior of the cross-shaped hanging plate (6) through a first limit spring (21); and positioning holes (23) that are adapted to the positioning boss (22) are equidistantly provided on the upper and lower sides of the four ends of the cross-shaped hanging plate (6).

5. The automatic head handling device according to claim 1, characterized in that: The telescopic adjustment member comprises a threaded rod (24) connected to the bottom end of the cross-shaped hanging plate (6) and a threaded sleeve (25) threadedly sleeved on the lower part of the threaded rod (24); the bottom end of the threaded sleeve (25) is connected to the top end of the head suction cup (8) through a ball head connector.

6. The automatic head handling device according to claim 5, characterized in that: A buffer cavity (26) is provided on one side of the boom (7) close to the threaded rod (24); the top end of the threaded rod (24) slides through the buffer cavity (26) and is fixed with a buffer block (27) adapted to the buffer cavity (26); the top end of the buffer block (27) is connected to the top end of the buffer cavity (26) via a second limit spring (28).

7. The automatic head handling device according to claim 1, characterized in that: The end cap sucker (8) is an electromagnetic sucker, and a power supply (35) for supplying power to the end cap sucker (8) is installed on the top of the cross-shaped hanging plate (6).

8. The automatic head handling device according to claim 1, characterized in that: The sealing head sucker (8) is a vacuum sucker, and a vacuum pump (36) for evacuating the sealing head sucker (8) is installed on the top of the cross-shaped hanging plate (6).

Images