Automatic cover dismounting system and method for cylindrical workpiece with large length-diameter ratio

Abstract

The invention discloses an automatic cover dismounting system and method for a large-length-diameter-ratio cylindrical workpiece. A first end cover dismounting mechanism and a second end cover dismounting mechanism of the automatic cover dismounting system are oppositely arranged in the length direction of a base, are mounted at the top of the base and are used for dismounting end covers at the two ends of the workpiece; the two first supporting wheels are used for supporting one end of a workpiece; the two second supporting wheels are used for supporting the other end of the workpiece; the clamping mechanism is used for clamping the workpiece to fix the workpiece; the two-dimensional code detection mechanism is used for scanning a two-dimensional code of a workpiece and reading identity information of the workpiece; the workpiece detection mechanism is used for detecting whether workpieces exist or not. The control unit is used for controlling the first end cover dismounting mechanism, the second end cover dismounting mechanism, the clamping mechanism, the end face depth measurement mechanism, the two-dimensional code detection mechanism and the workpiece detection mechanism. According to the automatic cover dismounting system, the end covers at the two ends of the cylindrical workpiece with the large length-diameter ratio can be automatically dismounted.

Description

Technical Field

[0001] The present invention belongs to the technical field of industrial automated assembly, and in particular relates to a system and method for automatically removing covers from cylindrical workpieces with a large aspect ratio. Background Art

[0002] With the increasing penetration of intelligent manufacturing technology, the demand for unmanned assembly in hazardous workspaces is growing in fields such as weapons and aerospace. For cylindrical workpieces with large aspect ratios, such as those used in weapons and ammunition, assembly preparation areas require cap removal and end-face depth measurement. However, these operations are currently primarily manual, resulting in high labor intensity and low efficiency. Therefore, there is an urgent need to develop an automated end-cap removal system for cylindrical workpieces with large aspect ratios to reduce operator workload and improve work efficiency.

[0003] In the prior art, the invention patent application with application number CN202411458921.2 discloses an online lid removal device for a coal sample barrel, and the invention patent application with application number CN202410809953.6 discloses a lid removal device for a plastic paint barrel. The above two patent applications involve the field of packaging barrel lid removal. The main working idea is to fix the packaging barrel vertically and cover or remove the lid through an external mechanism. It cannot adapt to the automatic lid removal function of cylindrical workpieces with a large aspect ratio. The inventor has not yet retrieved relevant patents or literature on the automatic lid removal system method for cylindrical workpieces with a large aspect ratio. Summary of the Invention

[0004] The invention provides a system and method for automatically removing covers of a cylindrical workpiece with a large aspect ratio. The automatic removing cover system can realize automatic removal of end covers at both ends of the cylindrical workpiece with a large aspect ratio.

[0005] In order to achieve the above object, the present invention adopts the following specific technical solutions: The present invention provides an automatic decapping system for cylindrical workpieces with a large aspect ratio, the automatic decapping system comprising a base, a first end cap removal mechanism, a second end cap removal mechanism, a clamping mechanism, a first support wheel, a second support wheel, an end face depth measurement mechanism, a QR code detection mechanism, a workpiece detection mechanism, and a control unit; The base is fixed on the ground; the first end cover removal mechanism and the second end cover removal mechanism are arranged opposite to each other along the length direction of the base and installed on the top of the base, and are used to remove the end covers at both ends of the workpiece; Two first support wheels are arranged opposite to each other in the horizontal direction and are installed on the first end cover removal mechanism, and are used to support one end of the workpiece; two second support wheels are arranged opposite to each other in the horizontal direction and are installed on the second end cover removal mechanism, and are used to support the other end of the workpiece; the clamping mechanism is fixedly installed on the first end cover removal mechanism, and is used to clamp the workpiece to fix it; The end face depth measuring mechanism is fixedly installed on the first end cover removal mechanism, and is used to measure the depth of the internal end face of the workpiece after the end cover is removed; the QR code detection mechanism is installed on the first end cover removal mechanism, and is used to scan the QR code of the workpiece and read the identity information of the workpiece; the workpiece detection mechanism is installed on the second end cover removal mechanism, and is used to detect the presence or absence of the workpiece; The control unit is used to control the first end cover disassembly mechanism, the second end cover disassembly mechanism, the clamping mechanism, the end face depth measurement mechanism, the QR code detection mechanism and the workpiece detection mechanism.

[0006] Furthermore, the first end cover disassembly mechanism includes a first frame, a clamping chuck, a first end surface rotation motor, and a first synchronous belt; The first frame is mounted on the top of the base; The clamping chuck, the first end surface rotating motor, and the first synchronous belt are integrally and movably mounted on the first frame; the clamping chuck is used to clamp the end cap at one end of the workpiece; the first end surface rotating motor is connected to the clamping chuck via the first synchronous belt, and is used to drive the clamping chuck to rotate, thereby rotating the end cap relative to the workpiece to achieve removal; The control unit is connected to the first end surface rotating motor via a signal.

[0007] Furthermore, the second end cover disassembly mechanism includes a second frame, a flexible clamping chuck, a second end surface rotation motor and a second synchronous belt; The second frame is arranged opposite to the first frame and is installed on the top of the base; The flexible clamping chuck, the second end surface rotating motor and the second synchronous belt are integrally and movably mounted on the second frame; the flexible clamping chuck is used to clamp the end cover at the other end of the workpiece and has a flexible contact function; The second end surface rotating motor is connected to the flexible clamping chuck through a second synchronous belt, and is used to drive the flexible clamping chuck to rotate, thereby rotating the end cover relative to the workpiece to realize disassembly; The control unit is connected to the second end surface rotating motor via a signal.

[0008] Furthermore, the flexible clamping chuck includes a three-jaw chuck, an end face limit plate, a spring, and three guide posts; The three guide posts are fixedly mounted on the chuck mounting surface of the three-jaw chuck; the three guide posts and the three-jaw chuck are alternately distributed in the circumferential direction; the end face limit plate slides in cooperation with the three guide posts; the three guide posts are used to guide the end face limit plate so that it moves axially along the workpiece; each guide post is provided with a spring, and both ends of the spring are fixedly connected to the chuck mounting surface and the end face limit plate; the spring is used to buffer the axial force generated when the end face limit plate contacts the workpiece, so that the flexible clamping chuck has a flexible contact function.

[0009] Furthermore, the end face depth measurement mechanism includes a primary drive cylinder, a mounting plate, a secondary drive cylinder, an end face stopper, a depth measurement sensor, and an external frame; The bottom end of the outer frame is fixedly mounted on the upper side of the first frame; The mounting plate can be slidably mounted on the outer frame in a vertical direction; The first-stage driving cylinder is fixedly mounted on the external frame and is used to drive the mounting plate to slide vertically; The end face limit block can be slidably mounted on the mounting plate in the vertical direction; The secondary driving cylinder is fixedly mounted on the mounting plate and is used to drive the end face limit block to slide vertically; The depth sensor is fixedly installed on the end face limit block and is used to measure the depth inside the workpiece after the end cover is removed; The control unit is connected with the first-stage driving cylinder, the second-stage driving cylinder and the depth sensor signal.

[0010] Furthermore, the base includes a structural member, a first mounting seat, a second mounting seat, a first driving mechanism, and a second driving mechanism; The first mounting seat and the second mounting seat are relatively movably mounted on the top surface of the structural member; the first frame is fixedly mounted on the top surface of the first mounting seat; and the second frame is fixedly mounted on the top surface of the second mounting seat. The first driving mechanism and the second driving mechanism are installed on the structural member and are connected to the control unit signal; the first driving mechanism is connected to the first mounting seat in a transmission connection, and is used to drive the first mounting seat to move along the length direction of the structural member; the second driving mechanism is connected to the second mounting seat in a transmission connection, and is used to drive the second mounting seat to move along the length direction of the structural member.

[0011] Furthermore, the first driving mechanism includes a first servo motor and a first lead screw; The top surface of the structural member is provided with a slide rail extending along the length direction thereof; The first mounting seat is located at one end of the slide rail, and the bottom thereof is slidably engaged with the slide rail; The first servo motor is fixedly mounted on the structural member and is used to drive the first lead screw to rotate; The first lead screw can be rotatably mounted on the structural member around its axis and is screw-matched with the first mounting seat to convert the rotational motion of the first servo motor into linear motion of the first mounting seat along the length direction of the structural member.

[0012] Furthermore, the second driving mechanism includes a second servo motor and a second lead screw; The second mounting seat is located at the other end of the slide rail, and the bottom thereof is in sliding engagement with the slide rail; The second servo motor is fixedly mounted on the structural member and is used to drive the second lead screw to rotate; The second lead screw can be rotatably mounted on the structural member around its axis and is screw-matched with the second mounting seat to convert the rotational motion of the second servo motor into linear motion of the second mounting seat along the length direction of the structural member.

[0013] Furthermore, it also includes an end cap buffer slot and an end cap collection frame for collecting the end caps; An end cover buffer slot is installed on the first frame on the lower side of the clamping chuck and the second frame on the lower side of the flexible clamping chuck, and an end cover collection frame is placed on the lower side of each end cover buffer slot.

[0014] In addition, the present invention also provides a decapping method using the above-mentioned automatic decapping system, the decapping method comprising the following steps: Step 1: hoist the workpiece and place one end of the workpiece on the first support wheel, and the other end of the workpiece on the second support wheel; after the workpiece detection mechanism detects the workpiece, execute step 2; Step 2: The QR code detection mechanism detects the QR code information of the workpiece and confirms whether it is a workpiece to be disassembled. If it is a workpiece to be disassembled, step 3 is executed; if it is not a workpiece to be disassembled, the workpiece is unloaded. Step 3: The clamping mechanism clamps the workpiece, the first end cap removal mechanism clamps the end cap of one end of the workpiece through the clamping chuck, and the first end surface rotation motor drives the clamping chuck to rotate to remove the end cap; the removed end cap falls into the end cap buffer slot and finally falls into the end cap collection frame; Step 4: The end face limit block of the end face depth measuring mechanism moves downward and presses against the end face of the workpiece, and the internal depth of the workpiece is measured by the depth measuring sensor; Step 5: After the measurement is completed, the end face limit plate in the second end cover removal mechanism is pressed against the end face of the workpiece, and the outer periphery of the end cover at the other end of the workpiece is clamped by the three-jaw chuck. The second end face rotation motor drives the three-jaw chuck to rotate and remove the end cover. The removed end cover falls into the end cover buffer slot and finally falls into the end cover collection frame. Step 6: After disassembly is completed, the workpiece is hoisted and unloaded.

[0015] Compared with the prior art, the technical solution of the present invention has the following beneficial effects: 1. The automatic decapping system for cylindrical workpieces with a large aspect ratio of the present invention can realize functions such as automatic positioning, automatic decapping, automatic depth measurement and automatic end cap collection of cylindrical workpieces with a large aspect ratio, and has stronger overall functionality.

[0016] 2. The automatic decapping system for cylindrical workpieces with a large aspect ratio of the present invention utilizes an end face depth measuring mechanism to achieve online measurement of the internal depth of the cylindrical workpiece after the end cap is removed, and has the advantages of high measurement accuracy and high measurement efficiency.

[0017] 3. The flexible clamping chuck in the second end cover disassembly mechanism realizes the flexible contact function of the end of the cylindrical workpiece through the end face limit plate, spring and guide column, buffers the axial force generated when the workpiece contacts, and pushes the end of the workpiece through the spring to realize automatic alignment of the workpiece, making the product more protective and safer.

[0018] 4. The positions of the first end cover removal mechanism and the second end cover removal mechanism on the base are adjustable, which can be compatible with cylindrical workpieces of different lengths to realize the removal of covers, making the automatic removal of covers for cylindrical workpieces with large aspect ratios more compatible and having a wider range of applications.

[0019] 5. The QR code detection mechanism can realize the automatic reading function of the circumference QR code of the cylindrical workpiece, identify the QR code information of the workpiece, realize the workpiece identity recognition, establish the process data card and data storage function, establish the product digital identity information, facilitate process data storage and quality data management, and have stronger digital capabilities, which is convenient for integration with external information management systems.

[0020] 6. The automatic cover removal system for cylindrical workpieces with a large aspect ratio of the present invention adopts a modular design method and has the advantages of good flexibility and strong scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic structural diagram of the automatic cover removal system for cylindrical workpieces with a large aspect ratio according to the present invention; Figure 2 It is a structural schematic diagram of the first end cover disassembly mechanism; Figure 3 is a structural schematic diagram of the second end cover disassembly mechanism; Figure 4 Schematic diagram of the structure of the flexible clamping chuck; Figure 5 It is a structural diagram of the end face depth sounding mechanism; Figure 6 is a structural diagram of the base; Figure 7 Flowchart of the cover removal method of the present invention.

[0022] Among them, A-workpiece, 1-first end cover disassembly mechanism, 2-second end cover disassembly mechanism, 3-end face depth measurement mechanism, 4-base, 5-QR code detection mechanism, 6-clamping mechanism, 7-first support wheel, 8-workpiece detection mechanism, 9-end cover cache slot, 10-end cover collection frame, 11-first frame, 12-first end face rotation motor, 13-first synchronous belt, 14-clamping chuck, 21-second frame, 22-second end face rotation motor, 23-second synchronous Belt, 24-flexible clamping chuck, 31-external frame, 32-first drive cylinder, 33-mounting plate, 34-secondary drive cylinder, 35-end face limit block, 36-depth sensor, 41-structural part, 42-first mounting seat, 43-second mounting seat, 44-first drive mechanism, 45-second drive mechanism, 46-slide rail, 241-three-jaw chuck, 242-chuck mounting surface, 243-end face limit plate, 244-spring, 245-guide column. DETAILED DESCRIPTION

[0023] 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] The purpose of the present invention is to solve the problem that there is currently no end cover disassembly system for a cylindrical workpiece A with a large aspect ratio.

[0025] Example 1 like Figure 1 As shown, an embodiment of the present invention provides an automatic decapping system for a cylindrical workpiece A with a large aspect ratio. The automatic decapping system includes a first end cap removal mechanism 1, a second end cap removal mechanism 2, an end face depth measurement mechanism 3, a base 4, a QR code detection mechanism 5, a clamping mechanism 6, a first support wheel 7, a second support wheel (not shown in the figure), a workpiece detection mechanism 8, and a control unit. The base 4 is fixed on the ground; Figure 6As shown, the base 4 includes a structural member 41, a first mounting seat 42, a second mounting seat 43, a first driving mechanism 44 and a second driving mechanism 45; the first mounting seat 42 and the second mounting seat 43 can be mounted on the top surface of the structural member 41 so as to be relatively movably; the first mounting seat 42 and the second mounting seat 43 are arranged relative to each other along the length direction of the base 4, that is, when the two ends of the cylindrical workpiece A are mounted between the first end cover disassembly mechanism 1 and the second end cover disassembly mechanism 2, the length direction of the base 4 is consistent with the axial direction of the cylindrical workpiece A; the first driving mechanism 44 and the second driving mechanism 45 are mounted on the structural member 41 and are connected to the control unit signal; the first driving mechanism 44 is transmission-connected to the first mounting seat 42 for driving the first mounting seat 42 to move along the length direction of the structural member 41; the second driving mechanism 45 is transmission-connected to the second mounting seat 43 for driving the second mounting seat 43 to move along the length direction of the structural member 41.

[0026] The first end cover removal mechanism 1 and the second end cover removal mechanism 2 are arranged opposite to each other along the length direction of the base 4 and installed on the top of the base 4, and are used to remove the end covers at both ends of the workpiece A; wherein: like Figure 2 As shown, the first end cap removal mechanism 1 includes a first frame 11, a first end face rotation motor 12, a first synchronous belt 13, and a clamping chuck 14. The first frame 11 is fixedly mounted on the top surface of the first mounting seat 42, so that the first end cap removal mechanism 1 can move with the first mounting seat 42. The clamping chuck 14, the first end face rotation motor 12, and the first synchronous belt 13 can be mounted on the first frame 11 so as to be movably mounted as a whole. The clamping chuck is used to clamp the end cap at one end of the workpiece. The first end face rotation motor 12 is connected to the clamping chuck 14 through the first synchronous belt 13 to drive the clamping chuck 14 to rotate, thereby rotating the end cap relative to the workpiece A for removal. A control unit is connected to the first end face rotation motor 12 for signal communication. The first end cap removal mechanism 1 may also include a first bracket, which is movably mounted on the first frame 11. The first bracket can be moved on the first frame 11 by a motor screw. The clamping chuck 14 is rotatably mounted on the first bracket. The first end face rotation motor 12 is fixedly mounted on the first bracket.

[0027] like Figure 3As shown, the second end cover disassembly mechanism 2 includes a second frame 21, a second end face rotation motor 22, a second synchronous belt 23 and a flexible clamping chuck 24; the second frame 21 is arranged opposite to the first frame 11, and the second frame 21 is fixedly mounted on the top surface of the second mounting seat 43, so that the second end cover disassembly mechanism 2 can move with the second mounting seat 43; the second end face rotation motor 22, the second synchronous belt 23 and the flexible clamping chuck 24 can be mounted on the second frame 21 movably as a whole; the flexible clamping chuck 24 is used to clamp the end cover at the other end of the workpiece A and has a flexible contact function; the second end face rotation motor 22 is connected to the flexible clamping chuck 24 through the second synchronous belt 23, and is used to drive the flexible clamping chuck 24 to rotate, so that the end cover rotates relative to the workpiece A to achieve disassembly; the control unit is connected to the second end face rotation motor 22 signal. The second end cover removal mechanism 2 can also include a second bracket, which can be movably mounted on the second frame 21; the second bracket can be moved on the second frame 21 through a motor screw; the flexible clamping chuck 24 can be rotatably mounted on the second bracket; and the second end face rotation motor 22 is fixedly mounted on the second bracket.

[0028] The two first support wheels 7 are arranged opposite to each other in the horizontal direction and are installed on the first end cover removal mechanism 1 to support one end of the workpiece A. The two second support wheels are arranged opposite to each other in the horizontal direction and are installed on the second end cover removal mechanism 2 to support the other end of the workpiece A. The two first support wheels 7 and the two second support wheels are arranged in the width direction of the base 4, that is, there can be a gap between the two first support wheels 7 and the two second support wheels, and an arc-shaped groove for supporting the workpiece A is formed between the two first support wheels 7 and the two second support wheels to achieve bottom support for both ends of the workpiece A. The two first support wheels 7 and the two second support wheels can be fixedly installed or movably installed. When the support wheels can move relative to each other, the distance between the support wheels can be adjusted according to the diameter of the workpiece A, thereby ensuring that the axis of the workpiece A coincides with the axis of the clamping chuck 14 and the flexible clamping chuck 24. In order to realize the rotation of the cylindrical workpiece A after loading, an electric motor capable of driving the first support wheel 7 and the second support wheel to rotate can be installed on the first frame 11 and the second frame 21. The support wheels are driven to rotate by the motor, and the friction between the support wheels and the outer surface of the cylindrical workpiece A is used to drive the workpiece A to rotate, thereby realizing the circumferential position adjustment of the workpiece A.

[0029] The clamping mechanism 6 is fixedly installed on the first end cover disassembly mechanism 1, and is used to clamp the workpiece A to fix it; the clamping mechanism 6 can be implemented by a mechanical structure in the prior art that can clamp a cylinder, such as: a linear displacement mechanism such as a cylinder or a hydraulic cylinder drives a clamp with an arc surface to clamp the workpiece A.

[0030] The end face depth measuring mechanism 3 is fixedly installed on the first end cover disassembly mechanism 1, and is used to measure the internal end face depth of the workpiece A after the end cover is removed; the QR code detection mechanism 5 is installed on the first end cover disassembly mechanism 1, and is used to scan the QR code of the workpiece A and read the identity information of the workpiece A; the workpiece detection mechanism 8 is installed on the second end cover disassembly mechanism 2, and is used to detect whether the workpiece A is in a state. The workpiece detection mechanism 8 can use a laser sensor for detection, and detects whether the workpiece A has an interlocking function for the clamping action of the workpiece A through the laser sensor, which is safer.

[0031] The control unit is used to control the first end cover disassembly mechanism 1 , the second end cover disassembly mechanism 2 , the clamping mechanism 6 , the end face depth measuring mechanism 3 , the QR code detection mechanism 5 and the workpiece detection mechanism 8 .

[0032] In the above automatic decapping system, if Figure 3 and Figure 4 As shown, the flexible clamping chuck 24 includes a three-jaw chuck 241, an end face limit plate 243, a spring 244 and three guide posts 245; the three guide posts 245 are fixedly mounted on the chuck mounting surface 242 of the three-jaw chuck 241; the three guide posts 245 and the three-jaw chuck 241 are alternately distributed in the circumferential direction, and the alternating distribution of the three guide posts 245 and the three-jaw chuck 241 avoids interference between the end face limit plate 243 and the three-jaw chuck 241. The space between the three-jaw chuck 241 can just accommodate the end face limit plate 243, which is composed of a central circular plate and three ear plates radiating from the periphery of the circular plate; the end face limit plate 243 and the three guide posts 245 are slidably matched; the three guide posts 245 are used to adjust the end face limit plate 24 3 is guided to move along the axial direction of the workpiece A; a spring 244 is sleeved on each guide column 245, and the two ends of the spring 244 are fixedly connected to the chuck mounting surface 242 and the end limit plate 243; the spring 244 is used to buffer the axial force generated when the end limit plate 243 contacts the workpiece A, so that the flexible clamping chuck 24 has a flexible contact function; the elastic force of the spring 244 makes the end limit plate 243 always have a tendency to move toward the side away from the chuck mounting surface 242, and the three springs 244 evenly distributed along the circumference can all apply a thrust to the end limit plate 243, so that a flexible contact is formed between the end limit plate 243 and the end cover of the workpiece A, and the elastic force of the spring 244 can automatically align the workpiece A with an inclined end.

[0033] like Figure 1 and Figure 5As shown, the end face depth measurement mechanism 3 includes a first-level driving cylinder 32, a mounting plate 33, a second-level driving cylinder 34, an end face limit block 35, a depth measurement sensor 36 and an external frame 31; the bottom end of the external frame 31 is fixedly mounted on the upper side of the first frame 11; the mounting plate 33 can be slidably mounted on the external frame 31 in the vertical direction; the first-level driving cylinder 32 is fixedly mounted on the external frame 31 for driving the mounting plate 33 to slide vertically; the end face limit block 35 can be slidably mounted on the mounting plate 33 in the vertical direction; the second-level driving cylinder 34 is fixedly mounted on the external frame 31 for driving the mounting plate 33 to slide vertically; the second-level driving cylinder 34 is fixedly mounted on the mounting plate 33 A drive cylinder 34 is fixedly mounted on the mounting plate 33 and is used to drive the end face stopper 35 to slide vertically. A depth sensor 36 is fixedly mounted on the end face stopper 35 and is used to measure the depth of the interior of workpiece A after the end cap is removed. The control unit is connected to the primary drive cylinder 32, the secondary drive cylinder 34, and the depth sensor 36. This two-stage drive cylinder enables large vertical displacement of the end face stopper 35 and the depth sensor 36, allowing the end face depth measurement mechanism 3 to operate alternately with the clamping chuck 14. The depth sensor 36 can be a laser displacement sensor to detect the distance between the filler inside workpiece A and the end face.

[0034] like Figure 6 As shown, the first drive mechanism 44 includes a first servo motor and a first lead screw; the top surface of the structural member 41 is provided with a slide rail 46 extending along its length; the first mounting seat 42 is located at one end of the slide rail 46, and the bottom thereof is slidably engaged with the slide rail 46; the first servo motor is fixedly mounted on the structural member 41 for driving the first lead screw to rotate; the first lead screw is rotatably mounted on the structural member 41 about its axis and is screw-engaged with the first mounting seat 42 for converting the rotational motion of the first servo motor into linear motion of the first mounting seat 42 along the length of the structural member 41. The second drive mechanism 45 includes a second servo motor and a second lead screw; the second mounting seat 43 is located at the other end of the slide rail 46, and the bottom thereof is slidably engaged with the slide rail 46; the second servo motor is fixedly mounted on the structural member 41 for driving the second lead screw to rotate; the second lead screw is rotatably mounted on the structural member 41 about its axis and is screw-engaged with the second mounting seat 43 for converting the rotational motion of the second servo motor into linear motion of the second mounting seat 43 along the length of the structural member 41. A manual crank can also be used instead of the second servo motor to drive the second screw to rotate. The manual crank is coaxially connected to the second screw and can be rotatably mounted on the top surface of the structural member 41 to drive the second screw to rotate around its axis, thereby realizing the movement of the second mounting seat 43.

[0035] Based on the above various embodiments, Figure 1As shown, the above-mentioned automatic cap removal system also includes an end cap cache slot 9 and an end cap collection frame 10 for collecting end caps; an end cap cache slot 9 is installed on the first frame 11 on the lower side of the clamping chuck 14 and the second frame 21 on the lower side of the flexible clamping chuck 24, and an end cap collection frame 10 is placed on the lower side of each end cap cache slot 9.

[0036] like Figure 2 and Figure 3 As shown, in the first end cover disassembly mechanism 1 and the second end cover disassembly mechanism 2, the clamping chuck 14 can be movably mounted on the first frame 11, and the flexible clamping chuck 24 can be movably mounted on the second frame 21. The assembly and control of the clamping chuck 14 and the first frame 11, and the flexible clamping chuck 24 and the second frame 21 can be guided by guide rails, and the movement of the clamping chuck 14 along the first frame 11 and the movement of the flexible clamping chuck 24 along the second frame 21 can be realized by a motor + lead screw nut, a cylinder, a hydraulic cylinder, an electric push rod, etc.

[0037] like Figure 3 As shown, the second end cover disassembly mechanism 2 includes a second end face rotation motor 22 and a second synchronous belt 23; the second frame 21 is arranged opposite to the first frame 11, and the second frame 21 is fixedly mounted on the top surface of the second mounting seat 43, so that the second end cover disassembly mechanism 2 can move with the second mounting seat 43; the flexible clamping chuck 24 can be rotatably mounted on the second frame 21, for clamping the end cover at the other end of the workpiece A, and has a flexible contact function; the second end face rotation motor 22 is fixedly mounted on the second frame 21, and is connected to the flexible clamping chuck 24 through the second synchronous belt 23, for driving the flexible clamping chuck 24 to rotate, so that the end cover rotates relative to the workpiece A to achieve disassembly; the control unit is connected to the second end face rotation motor 22 signal, and this type of structure can be implemented using the mounting seat and corresponding drive mechanism in the above-mentioned base 4.

[0038] Example 2 The embodiment of the present invention provides a method for removing the cover by using the automatic removing cover system. Figure 7 As shown, the decapping method includes the following steps: Step 1: hoist the workpiece A and place one end of the workpiece A on the first support wheel 7, and the other end of the workpiece A on the second support wheel; after the workpiece detection mechanism 8 detects the workpiece A, execute step 2; Step 2: The QR code detection mechanism 5 detects the QR code information of the workpiece A and confirms whether it is the workpiece A to be disassembled. If it is the workpiece A to be disassembled, step 3 is executed; if it is not the workpiece A to be disassembled, the workpiece A is unloaded. Step 3: The clamping mechanism 6 clamps the workpiece A. The first end cap removal mechanism 1 clamps the end cap of one end of the workpiece A through the clamping chuck 14. The first end surface rotation motor 12 drives the clamping chuck 14 to rotate and remove the end cap. The removed end cap falls into the end cap buffer slot 9 and finally falls into the end cap collection frame 10. Step 4: The end face limit block 35 of the end face depth measuring mechanism 3 moves downward and abuts against the end face of the workpiece A, and the internal depth of the workpiece A is measured by the depth measuring sensor 36; Step 5: After the measurement is completed, the end face limiting plate 243 in the second end cover removal mechanism 2 is pressed against the end face of the workpiece A, and the outer periphery of the end cover at the other end of the workpiece A is clamped by the three-jaw chuck 241. The second end face rotation motor 22 drives the three-jaw chuck 241 to rotate and remove the end cover. The removed end cover falls into the end cover buffer slot 9 and finally falls into the end cover collection frame 10. Step 6: After disassembly is completed, workpiece A is hoisted and unloaded.

[0039] The above-mentioned automatic decapping system is used to execute the above-mentioned decapping method, so that the end caps at both ends of the cylindrical workpiece A can be automatically positioned, removed and collected.

[0040] Obviously, those skilled in the art may make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is intended to include such modifications and variations.

Claims

1. An automatic cover removal system for cylindrical workpieces with a large aspect ratio, characterized in that: It includes a base, a first end cover disassembly mechanism, a second end cover disassembly mechanism, a clamping mechanism, a first support wheel, a second support wheel, an end face depth measurement mechanism, a QR code detection mechanism, a workpiece detection mechanism and a control unit; The base is fixed on the ground; the first end cover removal mechanism and the second end cover removal mechanism are arranged opposite to each other along the length direction of the base and installed on the top of the base, and are used to remove the end covers at both ends of the workpiece; Two first support wheels are arranged opposite to each other in the horizontal direction and are installed on the first end cover removal mechanism, and are used to support one end of the workpiece; two second support wheels are arranged opposite to each other in the horizontal direction and are installed on the second end cover removal mechanism, and are used to support the other end of the workpiece; the clamping mechanism is fixedly installed on the first end cover removal mechanism, and is used to clamp the workpiece to fix it; The end face depth measuring mechanism is fixedly installed on the first end cover removal mechanism, and is used to measure the depth of the internal end face of the workpiece after the end cover is removed; the QR code detection mechanism is installed on the first end cover removal mechanism, and is used to scan the QR code of the workpiece and read the identity information of the workpiece; the workpiece detection mechanism is installed on the second end cover removal mechanism, and is used to detect the presence or absence of the workpiece; The control unit is used to control the first end cover disassembly mechanism, the second end cover disassembly mechanism, the clamping mechanism, the end face depth measurement mechanism, the QR code detection mechanism and the workpiece detection mechanism.

2. The automatic cover removal system according to claim 1, characterized in that: The first end cover disassembly mechanism includes a first frame, a clamping chuck, a first end surface rotating motor and a first synchronous belt; The first frame is mounted on the top of the base; The clamping chuck, the first end surface rotating motor, and the first synchronous belt are integrally and movably mounted on the first frame; the clamping chuck is used to clamp the end cap at one end of the workpiece; the first end surface rotating motor is connected to the clamping chuck via the first synchronous belt, and is used to drive the clamping chuck to rotate, thereby rotating the end cap relative to the workpiece to achieve removal; The control unit is connected to the first end surface rotating motor via a signal.

3. The automatic cover removal system according to claim 2, characterized in that: The second end cover disassembly mechanism includes a second frame, a flexible clamping chuck, a second end surface rotation motor and a second synchronous belt; The second frame is arranged opposite to the first frame and is installed on the top of the base; The flexible clamping chuck, the second end surface rotating motor and the second synchronous belt are integrally and movably mounted on the second frame; the flexible clamping chuck is used to clamp the end cover at the other end of the workpiece and has a flexible contact function; The second end surface rotating motor is connected to the flexible clamping chuck through a second synchronous belt, and is used to drive the flexible clamping chuck to rotate, thereby rotating the end cover relative to the workpiece to realize disassembly; The control unit is connected to the second end surface rotating motor via a signal.

4. The automatic cover removal system according to claim 3, characterized in that: The flexible clamping chuck includes a three-jaw chuck, an end face limit plate, a spring and three guide columns; The three guide posts are fixedly mounted on the chuck mounting surface of the three-jaw chuck; the three guide posts and the three-jaw chuck are alternately distributed in the circumferential direction; the end face limit plate slides in cooperation with the three guide posts; the three guide posts are used to guide the end face limit plate so that it moves axially along the workpiece; each guide post is provided with a spring, and both ends of the spring are fixedly connected to the chuck mounting surface and the end face limit plate; the spring is used to buffer the axial force generated when the end face limit plate contacts the workpiece, so that the flexible clamping chuck has a flexible contact function.

5. The automatic cover removal system according to claim 4, characterized in that: The end face depth measurement mechanism includes a first-stage driving cylinder, a mounting plate, a second-stage driving cylinder, an end face limit block, a depth measurement sensor and an external frame; The bottom end of the outer frame is fixedly mounted on the upper side of the first frame; The mounting plate can be slidably mounted on the outer frame in a vertical direction; The first-stage driving cylinder is fixedly mounted on the external frame and is used to drive the mounting plate to slide vertically; The end face limit block can be slidably mounted on the mounting plate in the vertical direction; The secondary driving cylinder is fixedly mounted on the mounting plate and is used to drive the end face limit block to slide vertically; The depth sensor is fixedly installed on the end face limit block and is used to measure the depth inside the workpiece after the end cover is removed; The control unit is connected with the first-stage driving cylinder, the second-stage driving cylinder and the depth sensor signal.

6. The automatic cover removal system according to claim 5, characterized in that: The base includes a structural member, a first mounting seat, a second mounting seat, a first driving mechanism and a second driving mechanism; The first mounting seat and the second mounting seat are relatively movably mounted on the top surface of the structural member; the first frame is fixedly mounted on the top surface of the first mounting seat; and the second frame is fixedly mounted on the top surface of the second mounting seat. The first driving mechanism and the second driving mechanism are installed on the structural member and are connected to the control unit signal; the first driving mechanism is connected to the first mounting seat in a transmission connection, and is used to drive the first mounting seat to move along the length direction of the structural member; the second driving mechanism is connected to the second mounting seat in a transmission connection, and is used to drive the second mounting seat to move along the length direction of the structural member.

7. The automatic cover removal system according to claim 6, characterized in that: The first driving mechanism includes a servo motor and a first lead screw; The top surface of the structural member is provided with a slide rail extending along the length direction thereof; The first mounting seat is located at one end of the slide rail, and the bottom thereof is slidably engaged with the slide rail; The servo motor is fixedly mounted on the structural member and is used for driving the first lead screw to rotate; The first lead screw can be rotatably mounted on the top surface of the structural member around its axis and is screw-matched with the first mounting seat to convert the rotational motion of the servo motor into linear motion of the first mounting seat along the length direction of the structural member.

8. The automatic cover removal system according to claim 7, characterized in that: The second driving mechanism includes a second servo motor and a second lead screw; The second mounting seat is located at the other end of the slide rail, and the bottom thereof is in sliding engagement with the slide rail; The second servo motor is fixedly mounted on the structural member and is used to drive the second lead screw to rotate; The second lead screw can be rotatably mounted on the structural member around its axis and is screw-matched with the second mounting seat to convert the rotational motion of the second servo motor into linear motion of the second mounting seat along the length direction of the structural member.

9. The automatic decapping system according to any one of claims 1 to 8, characterized in that: Also included are an end cap buffer slot and an end cap collection frame for collecting the end caps; An end cover buffer slot is installed on the first frame on the lower side of the clamping chuck and the second frame on the lower side of the flexible clamping chuck, and an end cover collection frame is placed on the lower side of each end cover buffer slot.

10. A decapping method using the automatic decapping system according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: hoist the workpiece and place one end of the workpiece on the first support wheel, and the other end of the workpiece on the second support wheel; After the workpiece detection mechanism detects the workpiece, step 2 is executed; Step 2: The QR code detection mechanism detects the QR code information of the workpiece and confirms whether it is a workpiece to be disassembled. If it is a workpiece to be disassembled, step 3 is executed; if it is not a workpiece to be disassembled, the workpiece is unloaded. Step 3: The clamping mechanism clamps the workpiece, the first end cap removal mechanism clamps the end cap of one end of the workpiece through the clamping chuck, and the first end surface rotation motor drives the clamping chuck to rotate to remove the end cap; the removed end cap falls into the end cap buffer slot and finally falls into the end cap collection frame; Step 4: The end face limit block of the end face depth measuring mechanism moves downward and presses against the end face of the workpiece, and the internal depth of the workpiece is measured by the depth measuring sensor; Step 5: After the measurement is completed, the end face limit plate in the second end cover removal mechanism is pressed against the end face of the workpiece, and the outer periphery of the end cover at the other end of the workpiece is clamped by the three-jaw chuck. The second end face rotation motor drives the three-jaw chuck to rotate and remove the end cover. The removed end cover falls into the end cover buffer slot and finally falls into the end cover collection frame. Step 6: After disassembly is completed, the workpiece is hoisted and unloaded.

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