Holding and grabbing device and tank type container assembly table

Abstract

The utility model provides an embracing and grabbing device and a tank type container assembly table. The holding and grabbing device is used for holding and grabbing the square-round end socket with the square-round section. The gripping device comprises: a chuck; the at least four clamping jaw arms are uniformly arranged at intervals in the circumferential direction of the chuck; each clamping jaw arm is movably connected with the chuck, and the clamping jaw arms can move in the radial direction of the chuck; a plurality of pressing heads used for being attached to the periphery of the square and round sealing head are arranged at the tail ends of the clamping jaw arms at intervals. The at least four connecting rod mechanisms are connected with the at least four clamping jaw arms in a one-to-one correspondence manner; and the driving mechanism is connected with the connecting rod mechanisms and drives the at least four connecting rod mechanisms to move at the same time so as to drive the at least four clamping jaw arms to synchronously move in the radial direction of the chuck, and then the multiple clamping jaw arms jointly hold or loosen the square and round end socket.

Description

Technical Field

[0001] The utility model relates to the field of tooling equipment and processing, in particular to a grasping device and a tank container assembly platform. Background Art

[0002] The tank container is mainly composed of a cylinder and heads at both ends of the closed cylinder, and the cylinder and the heads are welded and fixed. During the production process of the tank container, the heads need to be docked with the cylinder and then welded and fixed. At present, in the production process, when it comes to the assembly of square and round heads, the simple method of crane hoisting the heads is generally used for auxiliary assembly. However, the assembly and assembly operation method of crane hoisting not only has low production efficiency, but also has many safety hazards and high risk factors. Utility Model Content

[0003] The utility model aims to provide a grasping device and a tank container assembly platform to solve the problems of low production efficiency and high risk factor of square round heads in the prior art.

[0004] In order to solve the above technical problems, the utility model provides a grasping device capable of grasping a square head with a square cross section, and the grasping device comprises:

[0005] Chuck;

[0006] At least four claw arms are spaced and evenly arranged along the circumference of the chuck; each of the claw arms is movably connected to the chuck, and the claw arm can move along the radial direction of the chuck; the ends of the claw arms are provided with a plurality of pressure heads for fitting the outer circumference of the square and round head, and the plurality of pressure heads are spaced apart;

[0007] At least four connecting rod mechanisms are connected to the at least four claw arms in a one-to-one correspondence;

[0008] A driving mechanism is connected to the connecting rod mechanism and drives at least four of the connecting rod mechanisms to move simultaneously, thereby driving at least four of the claw arms to move synchronously along the radial direction of the chuck, thereby enabling multiple claw arms to jointly grasp the square and circular head or release the square and circular head.

[0009] In one embodiment, the distance between two adjacent pressure heads on each of the claw arms along the circumferential direction of the chuck is 320 mm to 360 mm.

[0010] In one embodiment, along the axial direction of the chuck, among the plurality of pressing heads on each of the claw arms, the pressing head located in the middle is farther away from the chuck than the pressing head located at the end;

[0011] Along the axial direction of the chuck, among the multiple pressing heads on each of the claw arms, the distance between two pressing heads with a height difference is 20 mm to 40 mm.

[0012] In one embodiment, the driving mechanism comprises:

[0013] A rotating disk, on which at least four through holes are arranged at intervals along the circumference, and the at least four through holes are arranged in one-to-one correspondence with the at least four connecting rod mechanisms; the cross section of each through hole is a long arc, and there is an angle between the arc where the through hole is located and the circumference of the rotating disk;

[0014] A plurality of driving members are arranged at intervals along the circumference of the rotating disk; the plurality of driving members jointly drive the rotating disk to rotate around its own axis;

[0015] Wherein, each of the connecting rod mechanisms passes through the corresponding through-hole and is connected to the corresponding claw arm; the rotation of the turntable drives each of the connecting rod mechanisms to move along the through-hole, thereby driving the claw arm to move.

[0016] In one embodiment, the arc of the through hole extends from the outer edge of the turntable to the center of the turntable, and when the turntable rotates and drives the connecting rod mechanism to move in the through hole, the connecting rod mechanism moves gradually closer to the center of the turntable and drives the claw arm to move radially toward the center of the chuck.

[0017] In one embodiment, the driving member includes a fixed end and a telescopic end, the fixed end and the telescopic end are both located on a plane parallel to the turntable, and the fixed end of the driving member is mounted on the chuck;

[0018] The plurality of telescopic ends are always located on the same circumference.

[0019] In one embodiment, the connecting rod mechanism is detachably connected to the claw arm;

[0020] The connecting rod mechanism includes a connecting rod and a connecting plate fixed to one end of the connecting rod, the claw arm includes a base body and a support arm arranged on the base body, the connecting rod is located on the inner side of the support arm, the connecting plate is provided with a connecting hole, the base body is provided with a mounting hole, the fastener is simultaneously passed through the connecting hole and the mounting hole to realize a detachable connection, and the end of the connecting rod facing away from the connecting plate is connected to the driving mechanism.

[0021] In one embodiment, an elastic member is further provided between each of the pressing heads and the claw arm, so that each of the pressing heads can be extended and retracted along the radial direction of the chuck.

[0022] In one embodiment, the grasping device further comprises at least four support members spaced and evenly arranged along the circumference of the chuck;

[0023] Each of the support members is arranged at intervals on the inner circumference of the claw arm, and each of the support members includes a retractable support rod, which is inclined relative to the axis of the chuck and is used to fit the outer circumference of the square round head to support the square round head.

[0024] In one embodiment, one of the ends of the chuck and the claw arm facing away from the pressure head is provided with a guide rail and the other is provided with a slider. The guide rail and the slider are slidably connected to achieve a movable connection between the chuck and the claw arm. The guide rail and the slider both extend radially along the chuck.

[0025] In one embodiment, the grasping device also includes a plurality of clamping arms that are spaced apart and evenly arranged along the circumference of the chuck, and the plurality of clamping arms are used to jointly clamp a round head with a circular cross-section, and the height of the claw arm along the axial direction of the chuck is greater than the height of the clamping arm along the axial direction of the chuck.

[0026] The utility model also provides a tank container assembly platform, which is used for butt-jointing and assembling a cylinder and a head of a tank container. The tank container assembly platform comprises:

[0027] Base;

[0028] A bracket, arranged on the base;

[0029] A turning mechanism is hinged on the support and can turn relative to the support between a loading position and a working position;

[0030] A rotating mechanism, which is arranged on the flipping mechanism and can flip along with the flipping mechanism;

[0031] The grasping device adopts the grasping device as described above; the chuck is arranged on the rotating mechanism and can rotate around its own axis with the rotating mechanism and flip between the loading position and the working position.

[0032] It can be seen from the above technical solution that the advantages and positive effects of the utility model are:

[0033] The grasping device in the utility model grasps and holds the square-circular head with a square cross-section through a chuck, a claw arm, a connecting rod mechanism and a driving mechanism, thereby improving the safety and assembly efficiency of the square-circular head during assembly with the cylinder.

[0034] Furthermore, the grasping device can also grasp the circular head, so that the tank container assembly station can be compatible with the mixed-line production of square and round tank containers and circular tank containers, greatly improving the production capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1It is a structural schematic diagram of a tank container assembly station in one embodiment of the utility model.

[0036] Figure 2 It is a schematic diagram of one viewing angle of the holding and grasping device in the utility model.

[0037] Figure 3 It is a schematic diagram of another viewing angle of the holding and grabbing device in the utility model.

[0038] Figure 4 It is a schematic diagram of one viewing angle of the clamping claw arm in the utility model.

[0039] Figure 5 It is a schematic diagram of another viewing angle of the clamping claw arm in the utility model.

[0040] Figure 6 It is a schematic diagram of another viewing angle of the clamping claw arm in the utility model.

[0041] Figure 7 It is a schematic diagram of a driving mechanism, a connecting rod mechanism and a chuck in the utility model from one viewing angle.

[0042] Figure 8 It is a schematic diagram of another embodiment of the holding and grabbing device in the utility model.

[0043] The following are the descriptions of the reference numerals:

[0044] 10. Round head; 20. Square and round head;

[0045] 30. Tank container assembly table; 4. Base; 5. Bracket; 6. Flipping mechanism; 7. Rotating mechanism; 8. Grasping device; 81. Chuck; 82. Claw arm; 821. Support arm; 822. Connecting arm; 823. Base; 824. Press head; 825. Elastic member; 83. Connecting rod mechanism; 831. Connecting rod; 832. Connecting plate; 84. Driving mechanism; 841. Turntable; 842. Driving member; 85. Support member; 86. Clamping arm. DETAILED DESCRIPTION

[0046] Although the present invention can be easily embodied as embodiments of different forms, only some of the specific embodiments are shown in the drawings and described in detail in this specification. It should be understood that this description should be regarded as an exemplary description of the principles of the present invention and is not intended to limit the present invention to that described herein.

[0047] Thus, a feature indicated in this specification will be used to illustrate one of the features of an embodiment of the utility model, rather than implying that each embodiment of the utility model must have the described feature. In addition, it should be noted that this specification describes many features. Although some features can be combined together to illustrate possible system designs, these features can also be used in other combinations that are not explicitly described. Thus, unless otherwise stated, the described combinations are not intended to be limiting.

[0048] In the embodiments shown in the drawings, the indications of directions (such as up, down, left, right, front and back) used to explain the structure and movement of various elements of the utility model are not absolute but relative. These descriptions are appropriate when these elements are in the positions shown in the drawings. If the descriptions of the positions of these elements change, the indications of these directions also change accordingly.

[0049] In conjunction with the accompanying drawings, some embodiments of the present application are described in detail below. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0050] The utility model first introduces a tank container assembly method, the method comprising:

[0051] S00: A roller frame is provided to support the cylinder of the tank container, and a gripping device is provided to fix the head of the tank container at both ends of the cylinder.

[0052] The roller frame supports the cylinder horizontally thereon, and the roller frame can be set as an adjustable structure to adapt to tank containers of different specifications. The gripping device is located outside the two ends of the roller frame, so that the end cap is located at the two ends of the cylinder correspondingly.

[0053] S10: When the gripping device is located at the loading position, the head is placed on the gripping device and gripped.

[0054] When the end cap is grasped by the grasping device, the central axis of the end cap coincides with the axis of the chuck of the grasping device. Preferably, the loading position is a horizontal position, at which time the axis of the chuck of the grasping device is in a vertical state. Correspondingly, the end cap can be placed on the grasping device in a horizontal state, which is convenient for the loading device to hoist the end cap, reduce manual and driving operations, reduce labor intensity, and improve work efficiency.

[0055] S20: Flip the grasping device to the working position so that the head is opposite to the cylinder supported on the roller frame.

[0056] The working position is the vertical position. At this time, the head is in the vertical position, and the central axis of the head will coincide with the central axis of the cylinder.

[0057] S30: docking the end cap with the cylinder, and after docking, the holding device holds the end cap and the cylinder at the same time.

[0058] In this step, the end cap is preferably moved closer to the cylinder body by moving the gripping device toward the roller frame until the two are butted. After the end cap and the cylinder body are butted, the end cap and the cylinder body are fixed and clamped together by the gripping device.

[0059] S40: Rotate the gripping device to drive the head and the cylinder to rotate, and weld the butt joint between the head and the cylinder. In this step, the head and the cylinder rotate around their own central axis.

[0060] In the method, the roller frame and the grasping device are the basis for the implementation of the method. The roller frame and the grasping device are used to hold the cylinder and the head, thereby facilitating the docking and assembly of the two. Then, the head and the cylinder are spot welded and fixed through the operations of steps S10 to S40.

[0061] Through this method, the welding operation position can be set to a fixed position outside the circumference of the joint between the cylinder and the head. When the part to be welded between the head and the cylinder rotates to the welding operation position, the part to be welded is welded. After the grasping device grasps the head and the cylinder, within a 360-degree rotation cycle, the parts to be welded on the entire circumference of the joint between the head and the cylinder can reach the welding operation position in turn to complete the welding, thereby improving production efficiency; during the entire welding operation process, the operator does not need to change the working position or perform high-altitude operations, thereby reducing labor intensity. According to this method, the joint between the head and the cylinder is welded at a fixed point, which is also conducive to the realization of automated welding production.

[0062] However, in the above method, due to the special shape of the square round head, the current grasping device cannot grasp and hold it.

[0063] Therefore, the utility model provides a tank container assembly station which can hold and grasp the square round end cap to carry out docking of the square round end cap with the cylinder.

[0064] Among them, when the cross section of the head is square-circular, the cross section of the cylinder is also square-circular, and the tank container is a square-circular tank container. When the cross sections of the head and the cylinder are both circular, the tank container is a circular tank container.

[0065] Figure 1 A schematic diagram of a tank container assembly station is shown, see Figure 1 The tank container assembly platform 30 includes a base 4, a bracket 5, a turning mechanism 6, a rotating mechanism 7 and a grasping device 8. The cylinder of the tank container is supported by a roller frame, and the end cap is fixed to the end of the cylinder by the grasping device 8. The turning mechanism 6 and the rotating mechanism 7 are used to drive the grasping device 8 to turn over and rotate, thereby achieving docking between the cylinder and the end cap.

[0066] The grasping device 8 in the present application can grasp the square-circular head 20 with a square cross-section, thereby improving the safety and assembly efficiency of the square-circular head 20 during the assembly process with the cylinder.

[0067] Furthermore, the grasping device 8 can also grasp the circular head 10 with a circular cross section. That is, the grasping device 8 can not only grasp the square and round heads 20, but also grasp the circular heads 10. Therefore, the tank container assembly station 30 can be compatible with the mixed production of square and round tank containers and circular tank containers, greatly improving the production capacity.

[0068] The grasping device 8 is described in detail below.

[0069] Figure 2 A schematic diagram of a grasping device 8 from one viewing angle is shown. Figure 3 A schematic diagram of another perspective of the grasping device 8 is shown, combined with Figure 2 and Figure 3 The grasping device 8 includes a chuck 81, at least four claw arms 82, at least four connecting rod mechanisms 83 and a driving mechanism 84.

[0070] Specifically, the cross section of the chuck 81 is circular.

[0071] At least four claw arms 82 are spaced and evenly arranged along the circumference of the chuck 81. In the present embodiment, the number of claw arms 82 is four. The four claw arms 82 correspond to the four sides of the square and circular head 20, respectively. In other embodiments, the claw arms 82 can also be other numbers, which are specifically set according to actual needs. For example, the number of claw arms 82 is six, and the two opposite sides of the square and circular head 20 correspond to two claw arms 82, respectively, and the other two opposite sides correspond to one claw arm 82, respectively. The number of claw arms 82 is five, and the two opposite sides of the square and circular head 20 correspond to one claw arm 82, respectively, and of the other two opposite sides, one of them corresponds to one claw arm 82, and the other corresponds to two claw arms 82, and the two claw arms 82 are symmetrically arranged with respect to the opposite claw arm 82.

[0072] When the claw arm 82 is installed on the chuck 81 , the height of the claw arm 82 extends along the axial direction of the chuck 81 .

[0073] Each claw arm 82 is movably connected to the chuck 81. Specifically, on the chuck 81 and at the end of the claw arm 82 away from the pressure head 824, one of them is provided with a guide rail, and the other is provided with a slider, and the guide rail and the slider are slidably connected to realize the movably connection between the chuck 81 and the claw arm 82. The guide rail or the slider extends in the radial direction of the chuck 81.

[0074] Figure 4 A schematic diagram showing one viewing angle of the claw arm 82 is shown. Figure 5 A schematic diagram showing another perspective of the claw arm 82 is shown. Figure 6A schematic diagram showing another perspective of the claw arm 82 is shown, combined with Figure 4-Figure 6 The claw arm 82 includes a support arm 821 and a connecting arm 822 and a seat body 823 arranged at both ends of the support arm 821. The support arm 821 extends approximately along the axial direction of the chuck 81. The seat body 823 extends approximately along the radial direction of the chuck 81. A guide rail is provided on the seat body 823. The guide rail is in a straight line shape.

[0075] A slider is convexly provided on one surface of the chuck 81, and the length of the slider extends along the radial direction of the chuck 81. The slider is slidably matched with the guide rail to realize the movable connection between the claw arm 82 and the chuck 81.

[0076] Furthermore, the guide rail adopts a dovetail groove form, and the slider adopts a structure matching therewith.

[0077] A plurality of pressure heads 824 are provided at the end of each claw arm 82. The end refers to the end away from the chuck 81. Specifically, the plurality of pressure heads 824 are provided on the connecting arm 822. The connecting arm 822 is substantially perpendicular to the supporting arm 821. In this embodiment, the connecting arm 822 and the supporting arm 821 are substantially T-shaped.

[0078] The plurality of pressing heads 824 are arranged at intervals, and the plurality of pressing heads 824 are used to fit the outer circumference of the square round head 20 and then hold the head.

[0079] Furthermore, on the same claw arm 82, a plurality of pressure heads 824 are arranged at intervals along the circumference of the chuck 81. Specifically, the distance L between any two adjacent pressure heads 824 along the circumference of the chuck 81 is 320 mm to 360 mm. The above design can better support the square round head 20.

[0080] Along the axial direction of the chuck 81, a plurality of press heads 824 are located in at least two different planes. Specifically, among the plurality of press heads 824 on each claw arm 82, the press head 824 located in the middle is farther from the chuck 81 than the press head 824 located at the end. Exemplarily, in the present embodiment, the number of press heads 824 is three, the two press heads 824 located at the end are defined as the end press heads 824, the intermediate press head 824 located between the two end press heads 824 is defined as the intermediate press head 824, and the dimension between the intermediate press head 824 and the chuck 81 along the axial direction is greater than the dimension between the end press heads 824 and the chuck 81 along the axial direction. The two end press heads 824 are located in the same plane, that is, the dimensions between the two end press heads 824 and the chuck 81 along the axial direction are the same. In other embodiments, when the number of press heads 824 is four, that is, an even number, the intermediate press heads 824, that is, two intermediate press heads 824, are located between the two end press heads 824, and the two intermediate press heads 824 at this time are located in the same plane, and the two end press heads 824 are located in the same plane.

[0081] That is, when the number of the pressure heads 824 is an odd number, the pressure head 824 located in the middle is the symmetry axis, and the other pressure heads 824 are symmetrically arranged about the symmetry axis. When the number of the pressure heads 824 is an even number, the even number of pressure heads 824 are symmetrically arranged about the symmetry axis located in the middle.

[0082] Along the axial direction of the chuck 81, the distance between two pressure heads 824 with a height difference among the multiple pressure heads 824 on each claw arm 82 is 20 mm to 40 mm. That is, there may be no height difference between the pressure heads 824. For example, in the case of the even number of pressure heads 824 mentioned above, the two middle pressure heads 824 located in the middle are located at the same height, so there is no height difference, while there is a height difference between the middle pressure head 824 and the end pressure head 824, that is, 20 mm to 40 mm.

[0083] That is, the claw arm 82 is movably connected to the chuck 81 , so that the plurality of pressing heads 824 can approach each other to jointly grasp the square circular head 20 or move away from each other to release the square circular head 20 .

[0084] The multiple pressure heads 824 on the multiple claw arms 82 are all facing the axis of the chuck 81, so that they can jointly grasp a square circular head 20.

[0085] Furthermore, an elastic member 825 is provided between the pressure head 824 and the claw arm 82. The elastic member 825 allows a radial movable space between the pressure head 824 and the claw arm 82 to accommodate the manufacturing error of the cylindrical head 20 of the same size. In this embodiment, the elastic member 825 is a spring.

[0086] At least four connecting rod mechanisms 83 are arranged in a one-to-one correspondence with at least four claw arms 82 .

[0087] Each link mechanism 83 is connected to the claw arm 82. The claw arm 82 is driven to move by the link mechanism 83. Figure 5 The connecting rod mechanism 83 includes a connecting rod 831 and a connecting plate 832 fixed to one end of the connecting rod 831 , and the connection between the connecting rod mechanism 83 and the claw arm 82 is achieved through the connection between the connecting plate 832 and the seat body 823 of the claw arm 82 .

[0088] The connecting rod 831 is located on the inner side of the supporting arm 821. The inner and outer sides are based on the use state of the grasping device 8, and the direction toward the center of the rotating disk 841 is the inner side, and the direction toward the center of the rotating disk 841 is the outer side. That is, the connecting rod 831 is closer to the center of the rotating disk 841.

[0089] The driving mechanism 84 is connected to the connecting rod mechanism 83 to drive at least four connecting rod mechanisms 83 to move simultaneously. When the at least four connecting rod mechanisms 83 move, at least four claw arms 82 are driven to move radially along the chuck 81 at the same time, so that the multiple claw arms 82 hold the square and round head 20 together or release the square and round head 20.

[0090] Figure 7 A schematic diagram showing a driving mechanism 84, a connecting rod mechanism 83 and a chuck 81 from one viewing angle is shown. Figure 7 The driving mechanism 84 includes a rotating disk 841 and a plurality of driving members 842. The rotating disk 841 is provided with at least four through holes spaced apart along the circumferential direction. The at least four through holes are arranged correspondingly to the at least four connecting rod mechanisms 83. The plurality of through holes are arranged in parallel and spaced apart.

[0091] In this embodiment, the chuck 81 is coaxially arranged with the rotating disk 841. The outer periphery of the chuck 81 protrudes outward from the rotating disk 841, so that the perforation can be located on the inner side of the edge of the chuck 81, so that the connecting rod 831 is located on the inner side of the support arm 821.

[0092] The cross section of each perforation is in the shape of a long arc, and there is an angle between the arc where the perforation is located and the circumference of the rotating disk 841. Specifically, the arc of the perforation extends from the outer edge close to the rotating disk 841 to the direction close to the center of the rotating disk 841, and when the rotating disk 841 rotates and drives the connecting rod mechanism 83 to move in the perforation, the connecting rod mechanism 83 moves along a direction gradually close to the center of the rotating disk 841 and drives the claw arm 82 to move radially toward the center of the chuck 81.

[0093] The connecting rod 831 is inserted into the through hole, so as to move with the rotation of the rotating disk 841. Specifically, a stopper is provided at the end of the connecting rod 831 away from the connecting plate 832. The stopper cannot pass through the through hole and restricts the connecting rod 831 from being separated from the through hole.

[0094] The driving member 842 is arranged in one-to-one correspondence with the connecting rod mechanism 83. The driving member 842 includes a fixed end and a telescopic end, and both the fixed end and the telescopic end are located on a plane parallel to the rotating disk 841. The fixed end of the driving member 842 is installed on the chuck 81. The multiple telescopic ends are always located on the same circumference.

[0095] Specifically, the fixed end is mounted on the chuck 81 through a transition block. The transition block is fixed on the chuck 81, and the fixed end of the driving member 842 is fixed on the transition block, so that the fixed end and the telescopic end of the driving member 842 are located on the same plane. That is, the rotating disk 841 is arranged parallel to the chuck 81 and spaced apart.

[0096] The telescopic ends of the multiple driving members 842 are extended at the same time, causing the turntable 841 to rotate clockwise or counterclockwise. During the rotation of the turntable 841, the multiple connecting rod mechanisms 83 are driven to move along the perforations, thereby causing the multiple claw arms 82 to move at the same time.

[0097] Furthermore, the connecting rod mechanism 83 is detachably connected to the claw arm 82, thereby realizing a detachable connection between the claw arm 82, the connecting rod mechanism 83 and the chuck 81. Therefore, the tank container assembly station 30 can select claw arms 82 of different sizes according to the size of the square round head 20. The different sizes here mainly refer to the radial distance between the pressure heads 824 on the multiple claw arms 82, and the axial distance between the pressure heads 824 and the chuck 81.

[0098] Specifically, the connecting plate 832 is provided with a connecting hole, the seat body 823 is provided with a mounting hole, and the fastener is inserted into the connecting hole and the mounting hole at the same time to achieve a detachable connection. The end of the connecting rod 831 away from the connecting plate 832 is connected to the driving mechanism 84, that is, the end of the connecting rod 831 close to the limit block is inserted into the through hole of the rotating disk 841. The limit block and the seat body 823 are arranged on opposite sides of the rotating disk 841.

[0099] The disassembly and installation of the claw arm 82 are as follows:

[0100] Release the fasteners between the connecting plate 832 and the seat body 823, slide the claw arm 82 radially outward, so that the guide rail of the claw arm 82 is separated from the slider on the chuck 81, so that the claw arm 82 is separated from the chuck 81, and the disassembly of the claw arm 82 is completed.

[0101] Connect the guide rail on the claw arm 82 to the slider on the chuck 81, and push the claw arm 82 to a suitable position so that the connecting hole on the connecting plate 832 and the mounting hole on the seat body 823 correspond to each other, and connect them through fasteners to complete the installation of the claw arm 82.

[0102] Furthermore, the grasping device 8 also includes at least four support members 85 that are spaced and evenly arranged along the circumference of the chuck 81 .

[0103] Each support member 85 includes a retractable support rod, which is inclined relative to the axis of the chuck 81 and is used to fit the outer circumference of the square round head 20 to support the square round head 20. Specifically, the support rod includes a fixed end and a support end that can be retracted relative to the fixed end, the fixed end is fixed on the chuck 81, and the support end extends to support the square round head 20.

[0104] The support member 85 is mainly used to support the square head 20 during the turning and rotation of the grasping device 8.

[0105] Figure 8 A schematic diagram showing another embodiment of the grasping device 8 is shown, see Figure 8The grasping device 8 also includes a plurality of clamping arms 86 that are spaced and evenly arranged along the circumference of the chuck 81. The plurality of clamping arms 86 are used to jointly clamp the circular head 10 with a circular cross-section, so that the grasping device 8 can grasp both the square head 20 and the circular head 10.

[0106] The clamping arm 86 is movably connected to the chuck 81, and the clamping arm 86 can move in the radial direction of the chuck 81. The clamping arm 86 is connected to the connecting rod mechanism 83, and moves in the radial direction of the chuck 81 with the movement of the connecting rod mechanism 83. The structure of the clamping arm 86 is substantially the same as that of the claw arm 82, and the description of the claw arm 82 can be referred to, and will not be repeated here.

[0107] The difference between the clamping arm 86 and the claw arm 82 is that the height of the claw arm 82 along the axial direction of the chuck 81 is greater than the height of the clamping arm 86 along the axial direction of the chuck 81. That is, the clamping arm 86 and the claw arm 82 are staggered in the axial direction of the chuck 81.

[0108] Therefore, by providing the claw arm 82 and the clamping arm 86 on the chuck 81 , the grasping device 8 can grasp both the circular head 10 and the square head 20 .

[0109] The method for the grabbing device 8 to grab the head includes:

[0110] 1. The driving mechanism 84 drives the link mechanism 83 to move so that the claw arms 82 move away from each other.

[0111] 2. Place the head on multiple claw arms 82.

[0112] 3. Start the driving mechanism 84 to move the connecting rod mechanism 83 so that the multiple claw arms 82 are close to each other and grasp the head.

[0113] Before step 1, that is, before the driving mechanism 84 drives the connecting rod mechanism 83 to move and the claw arms 82 move away from each other, the appropriate size of the claw arms 82 is selected according to the size of the square round head 20 to be grasped, and the claw arms 82 are installed on the chuck 81.

[0114] Furthermore, whether to install or remove the claw arm 82 is determined according to the shape of the head to be grasped.

[0115] The above-mentioned grasping method can not only grasp the square and round heads 20 , but also grasp the round heads 10 . Different claw arms 82 can be selected according to the size of the square and round heads 20 .

[0116] The base 4 is divided into two parts which are spaced apart longitudinally, and each part supports a bracket 5, a grasping device 8, a turning mechanism 6 and a rotating mechanism 7.

[0117] The bracket 5 can preferably move longitudinally along the base 4, so that the grasping device 8 can move closer to or farther away from the roller frame longitudinally along the base 4. The flipping mechanism 6 is hinged on the bracket 5 and can rotate between the loading position and the working position relative to the bracket 5. The swivel mechanism 7 supports the grasping device 8 and can drive the chuck 81 of the grasping device 8 to rotate around the axis of the chuck 81. The swivel mechanism 7 is arranged on the flipping mechanism 6, and drives the chuck 81 to flip between the loading position and the working position when the flipping mechanism 6 flips. The flipping mechanism 6 can adopt the structure in the related art, and can achieve 90-degree flipping. Similarly, the swivel mechanism 7 can also adopt the structure in the related art, and can achieve 360-degree rotation of the chuck 81 around its own axis.

[0118] When the gripping device 8 is in the loading position, it can receive the loaded head and hold it; when the gripping device 8 is turned to the working position, the head held thereon is opposite to the cylinder carried by the roller frame, and the head and the cylinder can be brought close to docking with the longitudinal movement of the bracket 5. After the head and the cylinder are docked, the gripping device 8 simultaneously holds the opposite head and cylinder; when the gripping device 8 is driven to rotate by the rotary mechanism 7, the held head and cylinder can be driven to rotate. When the part of the joint between the head and the cylinder to be welded is rotated to the welding operation position, the operator can perform the welding operation.

[0119] The operation process of the tank container assembly station 30 in this embodiment is roughly as follows:

[0120] 1. Depending on the shape of the end cap, choose whether to install the claw arm 82 on the chuck 81.

[0121] Specifically, when the end cap is a square end cap 20, the claw arm 82 is installed on the chuck 81. When the end cap is a round end cap 10, the claw arm 82 is removed from the chuck 81.

[0122] 2. Place the chuck 81 in a horizontal position, hoist the end cap horizontally onto a plurality of claw arms 82 or a plurality of clamping arms 86, and transport the cylinder onto the roller frame.

[0123] 3. The driving mechanism 84 drives the connecting rod mechanism 83 to move, thereby causing the pressure head 824 to clamp the sealing head, and the turning mechanism 6 works to turn the chuck 81 to a vertical position.

[0124] 4. Drive the bracket 5 forward in the direction of the roller frame, thereby translating the grasping device 8 together with the head to the specified position, so that the front end of the head is parallel to the end face of the cylinder.

[0125] 5. Adjust the positions of the head and the cylinder so that their axes are on the same straight line, and then adjust the pressure head 824 so that the pressure head 824 holds the head and the cylinder at the same time.

[0126] Specifically, the claw arm 82 is slightly loosened to allow a certain gap between the pressure head 824 and the head, the gap between the cylinder and the head is adjusted, and then the claw arm 82 is adjusted to allow the pressure head 824 to seal the head and the cylinder at the same time.

[0127] 6. The other end head and the cylinder are assembled simultaneously according to the above steps 3-5.

[0128] 7. Adjust the wheelbase of the roller frame to make the cylinder separate from the roller frame, so that the end caps and the cylinder can move in a circular motion as a whole along with the grabbing device 8, adjust the spot welding position, and complete the assembly spot welding operation in the circumferential direction manually or automatically.

[0129] 8. After the positioning spot welding is completed, the gripping device 8 releases the sealing head, moves the gripping device 8 back to the original position, turns the chuck 81 to a horizontal state, and starts the chuck 81 to rotate 360° and automatically reset.

[0130] 9. The docked tank body is transferred to the next workstation by a conveyor vehicle, thus completing the assembly of a tank container.

[0131] Repeat the above steps to assemble multiple tank containers.

[0132] Although the utility model has been described with reference to several typical embodiments, it should be understood that the terms used are illustrative and exemplary, rather than restrictive. Since the utility model can be implemented in a variety of forms without departing from the spirit or essence of the utility model, it should be understood that the above-mentioned embodiments are not limited to any of the aforementioned details, but should be widely interpreted within the spirit and scope defined by the attached claims, so all changes and modifications falling within the scope of the claims or their equivalents should be covered by the attached claims.

Claims

1. A gripping device capable of gripping a square head with a square cross section, characterized in that: The holding and grasping device comprises: Chuck; At least four claw arms are spaced and evenly arranged along the circumference of the chuck; each of the claw arms is movably connected to the chuck, and the claw arm can move along the radial direction of the chuck; the ends of the claw arms are provided with a plurality of pressure heads for fitting the outer circumference of the square and round head, and the plurality of pressure heads are spaced apart; At least four connecting rod mechanisms are connected to the at least four claw arms in a one-to-one correspondence; A driving mechanism is connected to the connecting rod mechanism and drives at least four of the connecting rod mechanisms to move simultaneously, thereby driving at least four of the claw arms to move synchronously along the radial direction of the chuck, thereby enabling multiple claw arms to jointly grasp the square and circular head or release the square and circular head.

2. The grasping device according to claim 1, characterized in that: The distance between two adjacent pressure heads on each of the claw arms along the circumference of the chuck is 320 mm to 360 mm.

3. The grasping device according to claim 1, characterized in that: Along the axial direction of the chuck, among the multiple pressing heads on each of the claw arms, the pressing head located in the middle is farther away from the chuck than the pressing head located at the end; Along the axial direction of the chuck, among the multiple pressing heads on each of the claw arms, the distance between two pressing heads with a height difference is 20 mm to 40 mm.

4. The grasping device according to claim 1, characterized in that: The driving mechanism comprises: A rotating disk, on which at least four through holes are arranged at intervals along the circumference, and the at least four through holes are arranged in one-to-one correspondence with the at least four connecting rod mechanisms; the cross section of each through hole is a long arc, and there is an angle between the arc where the through hole is located and the circumference of the rotating disk; A plurality of driving members are arranged at intervals along the circumference of the rotating disk; the plurality of driving members jointly drive the rotating disk to rotate around its own axis; Wherein, each of the connecting rod mechanisms passes through the corresponding through-hole and is connected to the corresponding claw arm; the rotation of the turntable drives each of the connecting rod mechanisms to move along the through-hole, thereby driving the claw arm to move.

5. The grasping device according to claim 4, characterized in that: The arc of the perforation extends from the outer edge of the turntable to the center of the turntable, and when the turntable rotates and drives the connecting rod mechanism to move in the perforation, the connecting rod mechanism moves gradually closer to the center of the turntable and drives the claw arm to move radially toward the center of the chuck.

6. The grasping device according to claim 4, characterized in that: The driving member includes a fixed end and a telescopic end, the fixed end and the telescopic end are both located on a plane parallel to the rotating disk, and the fixed end of the driving member is mounted on the chuck; The plurality of telescopic ends are always located on the same circumference.

7. The grasping device according to claim 1, characterized in that: The connecting rod mechanism is detachably connected to the claw arm; The connecting rod mechanism includes a connecting rod and a connecting plate fixed to one end of the connecting rod, the claw arm includes a base body and a support arm arranged on the base body, the connecting rod is located on the inner side of the support arm, the connecting plate is provided with a connecting hole, the base body is provided with a mounting hole, the fastener is simultaneously passed through the connecting hole and the mounting hole to realize a detachable connection, and the end of the connecting rod facing away from the connecting plate is connected to the driving mechanism.

8. The grasping device according to claim 1, characterized in that: An elastic member is also provided between each of the pressing heads and the claw arm, so that each of the pressing heads can be extended and retracted along the radial direction of the chuck.

9. The grasping device according to claim 1, characterized in that: The grasping device further comprises at least four support members spaced and evenly arranged along the circumference of the chuck; Each of the support members is arranged at intervals on the inner circumference of the claw arm, and each of the support members includes a retractable support rod, which is inclined relative to the axis of the chuck and is used to fit the outer circumference of the square round head to support the square round head.

10. The grasping device according to claim 1, characterized in that: On the chuck and the end of the claw arm facing away from the pressure head, one of them is provided with a guide rail and the other is provided with a slider. The guide rail and the slider are slidably connected to achieve a movable connection between the chuck and the claw arm. The guide rail and the slider both extend radially along the chuck.

11. The grasping device according to claim 1, characterized in that: The grasping device also includes a plurality of clamping arms spaced and evenly arranged along the circumference of the chuck, the plurality of clamping arms are used to jointly clamp a round head with a circular cross-section, and the height of the claw arm along the axial direction of the chuck is greater than the height of the clamping arm along the axial direction of the chuck.

12. A tank container assembly station, used for butt assembly of a cylinder and a head of a tank container, characterized in that: The tank container assembly station comprises: Base; A bracket, arranged on the base; A turning mechanism is hinged on the support and can turn relative to the support between a loading position and a working position; A rotating mechanism, which is arranged on the flipping mechanism and can flip along with the flipping mechanism; A grasping device, which adopts the grasping device as described in any one of claims 1 to 11; the chuck is arranged on the rotating mechanism and can rotate around its own axis with the rotating mechanism and flip between a loading position and a working position.

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