CN110642206B - A drum lid opening and removing device suitable for factory automation - Google Patents

Abstract

The present invention discloses a drum cover opening and removing device suitable for factory automation, comprising an axis, a cutting knife, a rotating part, a clamp and a fixing part, wherein the cutting knife is mounted on the rotating part in a manner that it can rotate around the axis, and the clamp is mounted on the fixing part in a manner that it is stationary relative to the axis. The device can be used in conjunction with automation equipment such as a robot or a three-dimensional coordinate measuring machine to realize the automation process of opening and removing the barrel cover.

Description

A drum lid opening and removing device suitable for factory automation

Technical Field

The invention relates to the field of automated tooling, and more particularly to a drum cover opening and removing device suitable for factory automation.

Background Art

The following background art is used to help readers understand the present invention and is not to be regarded as prior art.

In the production process of chemical plant products, many chemical raw materials are needed, and many chemical raw materials are contained in round iron barrels or plastic barrels. In the traditional production process, workers manually cut the barrel cover and pour the raw materials into the chemical reactor. Many of these chemical raw materials are toxic or highly toxic substances. Workers who engage in such work for a long time will cause great harm to their bodies.

With the introduction of the concepts of Industry 4.0 and unmanned chemical factories, this special working environment urgently needs a device that can replace manual automation to complete the relevant barrel lid opening function. Currently, there is no such device on the market that can automatically cut and pick up the barrel lid for the closed round barrels in chemical plants, and it is required that no iron filings or other debris are generated during the cutting process to ensure that the chemical raw materials are not contaminated.

Summary of the invention

The object of the present invention is to provide a drum lid opening and removing device suitable for factory automation. The device can be used in conjunction with automated equipment such as a robot or a three-dimensional coordinate measuring machine to realize the automated process of opening and removing the drum lid.

The technical solution adopted by the present invention to solve the technical problem is:

A device for opening and removing lids of drums suitable for factory automation, characterized in that it comprises an axis, a cutting knife, a rotating part, a clamp and a fixed part, wherein the cutting knife is mounted on the rotating part in a manner that it can rotate around the axis, and the clamp is mounted on the fixed part in a manner that it is stationary relative to the axis. The cutting knife takes the axis as its axis center and performs circular cutting motion with the horizontal distance from the axis to the cutting knife, which is equivalent to the horizontal distance from the axis to the edge of the drum lid as its radius. After the cutting is completed, the clamp clamps and removes the drum lid. It should be noted that the device for opening and removing lids is only for drum lids of a specific specification and a circular shape, where the specific specification refers to a certain radius. Of course, the device for opening and removing lids can be adaptively adjusted to meet drum lids of different specifications, that is, it is only necessary to change the horizontal distance between the axis and the cutting knife.

The drum cover opening and removing device comprises a positioning mechanism, a cover opening mechanism and a cover removing mechanism. The positioning mechanism is used to guide the robot to position so that the axis is located at the center of the barrel. The cover opening mechanism is used to pierce the drum cover and penetrate to a certain depth, and then cut the drum cover along the edge of the drum cover. The cover removing mechanism is used to clamp and remove the cut drum cover.

Connection between the cover opening mechanism and the cover removal mechanism

The device includes an electrical slip ring, which includes a rotor and a stator. The rotor is a rotating part, and the stator is a fixed part. The rotor is on the top and the stator is on the bottom. The cover opening mechanism is installed on the rotor, and the cover removal mechanism is installed on the stator. The axial center line of the electrical slip ring is the axis. The cover opening mechanism rotates, and the rotor rotates accordingly. The stator and the cover removal mechanism remain stationary. It should be noted that the electrical slip ring is a precision power transmission device that realizes data signal, power transmission and medium transmission of two relatively rotating mechanisms. It is used for unlimited continuous 360° rotation. The medium can be gas, liquid, etc. It is a mature existing technology. Of course, the connection between the cover opening mechanism and the cover removal mechanism can also use a bearing assembly. The bearing assembly includes an outer ring and an inner ring. The inner ring is the rotating part and the outer ring is the fixed part. The cover opening mechanism is installed on the inner ring, and the clamp is installed on the outer ring.

Positioning mechanism

The positioning mechanism is used to guide the robot to position so that the axis is located in the center of the barrel.

Preferably, the positioning mechanism includes a visual recognition camera, and the visual recognition camera is located below the stator.

Preferably, the device is provided with a support plate, the support plate is located below the stator, the support plate is coaxial with the electrical slip ring, the stator and the support plate are connected by a support shaft, and the visual recognition camera is located at the top center of the support plate. The visual recognition camera can guide the robot to position so that the cover opening and removing device is automatically positioned with the center of the barrel. Preferably, the support plate is circular. It is understandable that the shape of the support plate is not limited to a circle, but can also be a regular shape such as a diamond or a square. Preferably, four groups of support shafts are evenly arranged along the circumference of the support plate. To improve the stability of the support.

Preferably, a ring-shaped fill light is provided at the center of the bottom of the support plate to provide fill light for the visual recognition camera.

Opening mechanism

The cover opening mechanism includes a base, a cutting knife, a driving assembly for driving the cutting knife to move up and down, a knife holder on which the cutting knife is installed and moves up and down driven by the driving assembly, and a guide rail, which is used to pierce the barrel cover and penetrate to a certain depth, and then cut the barrel cover along the edge of the barrel cover.

As a preferred solution, the base includes a top plate, two rib plates and a bottom plate, the two rib plates are located on both sides of the bottom of the top plate, and are fixed to the top plate by bolts respectively, and the two rib plates are connected by the bottom plate. Preferably, each rib plate is positioned with a positioning pin between the top plate. Preferably, two groups of positioning pins are provided.

Preferably, the top plate is fixed to the rotor. The top plate and the rotor have the same motion state, that is, when the top plate rotates, the rotor rotates; when the top plate is stationary, the rotor is stationary. Specifically, the rotor is fixed to the bottom of the top plate by bolts.

Preferably, a manipulator quick change device is provided above the top plate, the manipulator quick change device is fixed to the top plate by bolts, the manipulator quick change device and the rotor are coaxial, and the axial center line of the manipulator quick change device and the rotor is the axis. An automated device such as a robot or a three-dimensional coordinate measuring machine rotates the top plate through the manipulator quick change device, and the rotor fixed to the top plate rotates accordingly, and both the top plate and the rotor rotate along the axis.

Specifically, the manipulator quick change device includes a robot side and a tool side, the robot side is connected to the automation equipment, and the tool side is fixed to the upper surface of the top plate. It should be noted that the automation equipment and the manipulator quick change device are both mature existing technologies, and the automation equipment includes a manipulator, a three-dimensional coordinate measuring machine, etc.

As a preferred solution, the cover opening mechanism includes a driving assembly, which includes a motor, a cylindrical cam, a rotating shaft and a follower arranged on the top plate. The axial hole of the cylindrical cam matches the axial diameter of the rotating shaft and transmits power through a transmission key. The rotating shaft has a power transmission end and a fixed end. The power transmission end is connected to the motor output shaft through a power key, and the fixed end is fixed to the bottom plate through a ball bearing assembly. The follower matches the curved groove on the cylindrical surface of the cylindrical cam. The output shaft of the motor drives the rotating shaft to rotate, and the cylindrical cam also rotates accordingly, and the follower moves up and down along the curved groove on the cylindrical surface of the cylindrical cam. Specifically, the power transmission end is provided with a mounting shaft hole, the motor output shaft is installed in the mounting shaft hole, and power is transmitted through a key. The driving assembly includes a thrust ball needle bearing assembly, the thrust ball needle bearing assembly is installed in the top plate shaft hole of the top plate, and the power transmission end is installed in the shaft hole of the thrust ball needle bearing assembly.

Preferably, the driving assembly includes a top screw, a mounting hole for mounting the top screw is opened on the side wall of the top plate shaft hole, the top plate shaft hole is orthogonal to the mounting hole, the thrust ball needle bearing assembly includes a bearing outer ring, a groove is provided on the outer surface of the bearing outer ring, and the shaft end of the top screw is located in the groove. The top screw is located in the mounting hole of the top plate, and the shaft end of the top screw is exposed and just located in the groove to support the thrust ball needle bearing assembly to prevent it from slipping.

Preferably, the rotating shaft has a locking section, the locking section is located between the bottom of the cylindrical cam and the ball bearing assembly, and an upper locking ring and a lower locking ring are sleeved on the outer portion of the locking section. The upper locking ring is used to lock the cylindrical cam to prevent the cylindrical cam from sliding down. The lower locking ring is used to lock the ball bearing assembly.

As a preferred solution, the cover opening mechanism includes a guide rail and a knife holder with a cutting knife installed, the guide rail is arranged on the side of the rib plate, the knife holder moves up and down along the guide rail, and the follower is arranged at the center of the knife holder. The guide rail has a guiding function, so that the cutting knife can move in a straight line. The motor drives the cylindrical cam to rotate, and the follower moves up and down under the rotation of the cylindrical cam, thereby driving the knife holder to move up and down along the guide rail to realize the up and down movement of the cutting knife. It should be noted that the cutting knife pierces the barrel cover and penetrates to a certain depth under the drive of the driving assembly. The penetration depth should be within a suitable range, which not only satisfies that the end of the cutting knife does not contact the liquid in the barrel, but also satisfies that the barrel cover should be at the blade. Specifically, guide rails are provided on the sides of the two rib plates, and sliders are provided on both sides of the knife holder, and the sliders correspond to the guide rails. With guide rails on both sides, the movement of the cutting knife is more stable.

Preferably, the knife holder is provided with a mounting groove, the cutting knife includes a knife handle and a cutting knife, and the knife handle is located in the mounting groove. Preferably, the knife handle is provided with a bolt hole. The knife handle is fixed in the mounting groove by bolts, which is more stable during cutting. Preferably, the knife handle has a positioning hole, and the bottom surface of the mounting groove is provided with a corresponding hole corresponding to the positioning hole. The knife handle and the mounting groove are first positioned with a positioning pin, and then fastened with a bolt to ensure accurate installation. Specifically, the bolt hole is on the top, the positioning hole is on the bottom, and the bolt hole and the positioning hole are located on the same vertical line.

Preferably, the cutter has a first plane, a second plane, a third plane and a fourth plane, the first plane is a vertical plane, the second plane is an inclined plane, the first plane and the second plane are opposite, the third plane is a vertical plane, the fourth plane is an inclined plane, the third plane and the fourth plane are opposite, the tip formed by the first plane, the second plane, the third plane and the fourth plane is a puncture part, and a blade is provided at the junction of the second plane and the fourth plane. During installation, the first plane faces outward and the second plane faces inward, so that the maximum cutting of the barrel cover can be guaranteed, otherwise too much cutting residue will cause the material in the barrel to be not poured cleanly and cause waste, and the residual highly toxic substances will also affect the environment, wherein outward refers to the back of the barrel cover, and inward refers to facing the barrel cover. It should be noted that the direction of the blade is consistent with the cutting direction. In the initial state, the puncture part is higher than the surface of the barrel cover. As the cylindrical cam rotates, the cutting knife moves down to make the puncture part contact with the surface of the barrel cover until it pierces the barrel cover, and then the robot makes the top plate rotate in a circle with the axis as the center, and the cutting knife rotates accordingly and cuts the barrel cover.

Preferably, the cutting blade has a certain thickness. Because it is affected by the material and thickness of the barrel cover, a certain thickness is set to prevent the cutting blade from breaking.

Preferably, the cutting knife has an anti-mistake installation part, and the installation groove has a corresponding part that matches the anti-mistake installation part. Preferably, the anti-mistake installation part is a notch provided on the knife handle, and the corresponding part is a protrusion correspondingly, and the notch and the protrusion are adapted, or the anti-mistake installation part is a protrusion provided on the knife handle, and the corresponding part is a notch correspondingly. During installation, the notch corresponds to the protrusion, ensuring that the vertical plane of the cutting knife faces outward, ensuring accurate installation.

Capping mechanism

The cover removal mechanism includes a clamp for clamping and removing the cut barrel cover.

There are many types of fixtures, the first one is:

The fixture is a vacuum suction cup, and the cover removal mechanism includes a vacuum generator installed on the support plate. The air inlet interface of the vacuum generator is connected to an external air source, and the vacuum interface of the vacuum generator is connected to the vacuum suction cup. Before cutting, the vacuum suction cup tightly sucks the barrel cover. After cutting, the robot removes the entire cover opening and removing device to remove the barrel cover. When it is a vacuum suction cup, it can suck barrel covers of various materials, such as iron and plastic, and has a wide range of applications.

Preferably, when it is an electrical slip ring, the robot side, tool side, rotor, stator, vacuum generator and vacuum suction cup are connected in sequence. Specifically, the robot side is connected to an external air source, the robot side and the tool side can be ventilated, the air outlet on the tool side is connected to the air inlet of the rotor through a connecting pipe, the rotor and the stator can be ventilated, the air outlet of the stator is connected to the air inlet interface of the vacuum generator through a connecting pipe, and the vacuum interface of the vacuum generator is connected to the vacuum suction cup. It should be noted that the use of an electrical slip ring can not only drive the cover opening mechanism to rotate, but also meet the transmission of electricity, signals and gas, and will not cause entanglement of power cables, control cables and connecting pipes.

Preferably, a height compensator is provided between the support plate and the vacuum suction cup, the height compensator is fixed to the support plate, the air inlet of the height compensator is connected to the vacuum interface of the vacuum generator through a connecting pipe, and the air outlet of the height compensator is connected to the vacuum suction cup. The height compensator can ensure that the vacuum suction cup can firmly hold the barrel cover when the barrel cover is uneven or there is vibration when cutting the barrel cover. The height compensator is a prior art, which is composed of a bellows (an elastic element) constituting its working body and accessories such as end pipes, brackets, flanges, and conduits, and utilizes the effective telescopic deformation of the bellows of its working body to compensate for the axial displacement of the conduit.

Preferably, three groups of vacuum suction cups are evenly arranged in the circumferential direction, and three groups of height compensators are correspondingly arranged, and the vacuum suction cups correspond one to one with the height compensators. The suction force is improved, and the heavier bung lid can be sucked, and the bung lid can be stably sucked to avoid tilting. It should be noted that there is no limit to the number of vacuum suction cups, as long as the bung lid can be sucked. There is no limit to the number of vacuum generators, and when it is a group, multiple groups of vacuum suction cups can be used by adding air distributors; it can also correspond one to one with the vacuum suction cups, that is, each vacuum suction cup is equipped with a vacuum generator.

The second type: The fixture is an electromagnetic suction cup, the barrel cover is made of iron, and the electromagnetic suction cup is fixed to the support plate. The barrel cover can be sucked or put down by turning on or off the power.

Preferably, an electrical slip ring is used as a connection device between the cover opening mechanism and the cover removing mechanism. The electromagnetic chuck needs to be connected to the power supply cable and the control cable. The electrical slip ring serves as a power supply and signal transmission medium, which can satisfy the rotation of the rotor without causing entanglement of the power supply cable and the control cable.

Preferably, a height compensator is provided between the electromagnetic suction cup and the support plate, one end of the height compensator is fixed to the support plate, and the other end is fixed to the electromagnetic suction cup. Alternatively, an elastic component is used instead of the height compensator, and the elastic component includes a telescopic rod and a spring sleeved on the outside of the telescopic rod, one end of the telescopic rod is fixed to the stator, and the other end is fixed to the electromagnetic suction cup, and the spring is located between the stator and the electromagnetic suction cup. The height compensator or the elastic component has the function of compensating for axial displacement, which can ensure that the vacuum suction cup can firmly hold the barrel cover when the barrel cover is uneven or there is vibration when cutting the barrel cover. It should be noted that the device for compensating axial displacement is not limited to the above examples.

It is understandable that the form of the clamp is not limited to the above examples, and it only needs to be able to clamp the barrel cover. For example, glue is applied to the barrel cover, and the clamp should be made of a material that can bond with the glue, such as iron; or a hook that pierces the barrel cover to hook the barrel cover.

Preferably, the robot quick-change device, the electrical slip ring, and the support plate are coaxially arranged, and in this case are coaxial with the axis.

The working process of this device is as follows: first, the round barrel is placed at the designated position and fixed. Under the guidance of the visual camera of the cover opening and removing device, the robot automatically positions itself with the center of the round barrel with the cover opening and removing device. After positioning, the clamp of the cover removing mechanism clamps the barrel cover. The height compensator ensures that the clamp can firmly hold the barrel cover when the barrel cover is uneven or there is vibration when cutting the barrel cover; then, the cutting knife moves downward under the rotation of the cylindrical cam to pierce the barrel cover, and then the robot drives the cutting knife to rotate around the axis to cut the barrel cover. After cutting, the clamp places the barrel cover at the designated position.

Beneficial effects of the present invention:

1. The present invention is used in conjunction with automated equipment such as a robot or a three-dimensional coordinate measuring machine to achieve an automated process of opening and removing the barrel cover.

2. The cover opening mechanism of the present invention can automatically pierce the barrel cover and penetrate to a certain depth, and then cut the barrel cover along the edge of the barrel cover.

3. When the cover removal mechanism of the present invention is a vacuum suction cup or an electromagnetic suction cup, it can automatically clamp and remove the cut barrel cover.

4. The electrical slip ring is used to ensure the rotation of the cover opening mechanism and the stationary state of the cover removing mechanism, while also meeting the requirements of the transmission of electricity, signals and gas, and will not cause entanglement of power cables, control cables and connecting pipes.

5. The cutting knife has a puncturing part and a blade, which can not only puncture the barrel cover with higher hardness, but also cut the barrel cover; the cutting knife has an anti-misinstallation part to ensure the accurate installation of the cutting knife.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic structural diagram of a cover opening and removing device.

FIG. 2 is a schematic structural diagram of a cover opening and removing device.

FIG. 3 is a schematic structural diagram of a cover opening and removing device having an axis.

FIG4 is an exploded view of the base.

FIG. 5 is a schematic structural diagram of the cover opening mechanism.

FIG. 6 is an exploded view of the cover opening mechanism.

FIG. 7 is a cross-sectional view of the drive assembly.

FIG. 8 is a schematic structural diagram of a tool holder.

FIG. 9 is a schematic diagram of the structure of a cutting knife.

Figure 10 is three views of the cutting knife in Figure 9, a is a front view, b is a rear view, and c is a right view.

FIG. 11 is a schematic structural diagram of the cover removal mechanism.

FIG. 12 is an exploded view of the cover removal mechanism.

FIG13 is a structural diagram showing that the robot side, tool side, electrical slip ring, vacuum generator, height compensator and vacuum suction cup are connected in sequence.

FIG. 14 is a schematic diagram of the structure of the elastic component and the electromagnetic chuck.

FIG. 15 is a schematic diagram of the structure of the robot, the cover opening and removing device and the barrel.

Symbols in the figure: robot 0, cover opening and removing device 1, axis A, barrel 2, base 100, top plate 101, top plate shaft hole 1011, rib plate 102, bottom plate 103; cover opening mechanism 200, cutting knife 201, knife handle 2011, bolt hole 2013, positioning hole 2014, corresponding hole 2015, installation error prevention part 2016, cutting knife 2012, bolt hole 2013, positioning hole 2014, first plane 20121, second plane 20122, third plane 20123, fourth plane 20124, piercing part 20125, blade 20126, driving assembly 202, motor 2021, cylindrical cam 2022, rotating shaft 2023, driven member 2024, power transmission end 20231, fixed end 20232, locking section 20233 , power key 2025, thrust ball and needle bearing assembly 2026, bearing outer ring 20261, groove 20262, top screw 2027, ball bearing assembly 2028, upper locking ring 2029, lower locking ring 2020, guide rail 203, slider 2031, tool holder 204, mounting groove 2041, corresponding part 2042; cover removal mechanism 300, clamp 301, vacuum generator 302, connecting pipe 303, height compensator 304, elastic component 305, telescopic rod 3051, spring 3052; positioning mechanism 400, support plate 401, support shaft 402, visual recognition camera 403, annular fill light 404; manipulator quick change device 500, robot side 501, tool side 502; electrical slip ring 600, rotor 601, stator 602.

DETAILED DESCRIPTION

The following further describes the structures involved in the present invention or the technical terms used in these descriptions. These descriptions are only used as examples to illustrate how the methods of the present invention are implemented, and cannot constitute any limitation to the present invention.

The present invention is further described below in conjunction with the accompanying drawings and specific embodiments. In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left" and "right" indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the positions or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limitations of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

In the present invention, unless otherwise clearly specified and limited, "connection", "fixation" and the like should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

As shown in Fig. 1-15, a barrel lid opening and removing device 1 suitable for factory automation is characterized in that it includes an axis A, a cutting knife 201, a rotating part 601, a clamp 301 and a fixed part 602, wherein the cutting knife 201 is mounted on the rotating part 601 in a manner that it can rotate around the axis A, and the clamp 301 is mounted on the fixed part 602 in a manner that it is stationary relative to the axis A. The cutting knife 201 takes the axis A as the axis center, and performs a circular cutting motion with the horizontal distance from the axis A to the cutting knife 201, which is equivalent to the horizontal distance from the axis A to the edge of the barrel lid as the radius. After the cutting is completed, the clamp 301 clamps and removes the barrel lid. It should be noted that the lid opening and removing device 1 is only for a barrel lid of a specific specification and a circular shape, where the specific specification refers to a certain radius. Of course, the lid opening and removing device 1 can be adaptively adjusted to meet barrel lids of different specifications, that is, it is only necessary to change the horizontal distance between the axis A and the cutting knife 201.

The drum cover opening and removing device 1 comprises a positioning mechanism 400, a cover opening mechanism 200 and a cover removing mechanism 300. The positioning mechanism 400 is used to guide the robot to position so that the axis A is located at the center of the barrel 2. The cover opening mechanism 200 is used to pierce the drum cover and penetrate to a certain depth, and then cut the drum cover along the edge of the drum cover. The cover removing mechanism 300 is used to clamp and remove the cut drum cover.

Connection between the cover opening mechanism and the cover removal mechanism

As shown in FIG. 11 , the device includes an electrical slip ring 600, which includes a rotor 601 and a stator 602. The rotor 601 is a rotating part 601, and the stator 602 is a fixed part 602. The rotor 601 is on top and the stator 602 is on the bottom. The cover opening mechanism 200 is mounted on the rotor 601, and the cover removal mechanism 300 is mounted on the stator 602. The axial center line of the electrical slip ring 600 is the axis A. When the cover opening mechanism 200 rotates, the rotor 601 rotates accordingly, and the stator 602 and the cover removal mechanism 300 remain stationary. It should be noted that the electrical slip ring 600 is a precision power transmission device that realizes data signal, power transmission and medium transmission of two relative rotating mechanisms. It is used for unlimited continuous 360° rotation. The medium can be gas, liquid, etc. It is a mature existing technology. For example, various types of electrical slip rings produced by KOSMEK of Japan. Of course, the connection between the cover opening mechanism 200 and the cover removal mechanism 300 can also adopt a bearing assembly, which includes an outer ring and an inner ring. The inner ring is the rotating part 601, and the outer ring is the fixed part 602. The cover opening mechanism 200 is installed on the inner ring, and the clamp 301 is installed on the outer ring.

Positioning mechanism

As shown in FIG. 11 , the positioning mechanism 400 is used to guide the robot 0 to position so that the axis A is located at the center of the barrel 2 .

As shown in Fig. 10-11, the positioning mechanism 400 includes a visual recognition camera 403, and the visual recognition camera 403 is displaced below the stator 602. The visual recognition camera 403 can guide the robot to perform positioning, so that the cover opening and removing device 1 is automatically positioned with the center of the barrel 2.

As shown in Figs. 11-12, the device is provided with a support plate 401, the support plate 401 is located below the stator 602, the stator 602 and the support plate 401 are connected by a support shaft 402, and the visual recognition camera 403 is located at the center of the support plate 401. Preferably, the support plate 401 is circular, and the support plate 401 is coaxial with the electrical slip ring 600. It is understandable that the shape of the support plate 401 is not limited to a circle, but can also be a regular shape such as a diamond or a square. Preferably, four groups of support shafts 402 are evenly arranged along the circumference of the support plate 401. Improve the stability of the support.

A ring-shaped fill light 404 is provided at the bottom center of the support plate 401 to fill light for the visual recognition camera 403, see Figures 10-11.

Opening mechanism

As shown in Figures 4-10, the lid opening mechanism 200 includes a base 100, a cutting knife 201, a driving assembly 202 that drives the cutting knife 201 to move up and down, a knife holder 204 and a guide rail 203 on which the cutting knife 201 is installed and moves up and down under the drive of the driving assembly 202, and is used to pierce the barrel cover and penetrate to a certain depth, and then cut the barrel cover along the edge of the barrel cover.

As shown in FIG4 , the base 100 includes a top plate 101, two ribs 102 and a bottom plate 103. The two ribs 102 are located at both sides of the bottom of the top plate 101 and are fixed to the top plate 101 by bolts respectively. The two ribs 102 are connected by the bottom plate 103. Preferably, each rib 102 is positioned with a positioning pin between the top plate 101. Preferably, two groups of positioning pins are provided.

As shown in Fig. 11, the top plate 101 is fixed to the rotor 601. The top plate 101 and the rotor 601 have the same motion state, that is, when the top plate 101 rotates, the rotor 601 rotates; when the top plate 101 is stationary, the rotor 601 is stationary. Specifically, the rotor 601 is fixed to the bottom of the top plate 101 by bolts.

As shown in FIG5 , a manipulator quick change device 500 is provided above the top plate 101, and the manipulator quick change device 500 is fixed to the top plate 101 by bolts. The manipulator quick change device 500 and the rotor 601 are coaxial, and the axial center line of the manipulator quick change device 500 and the rotor 601 is the axis A. An automated device such as a robot or a three-dimensional coordinate measuring machine rotates the top plate 101 through the manipulator quick change device 500, and the rotor 601 fixed to the top plate 101 rotates accordingly, and both the top plate 101 and the rotor 601 rotate along the axis A.

Specifically, as shown in Figures 1 and 2, the manipulator quick change device 500 includes a robot side 501 and a tool side 502, the robot side 501 is connected to the automation equipment, and the tool side 502 is fixed to the upper surface of the top plate 101. It should be noted that the automation equipment and the manipulator quick change device are both mature existing technologies, and the automation equipment includes manipulators, three-dimensional coordinate measuring machines, etc. In this embodiment, the manipulator quick change device 500 can be a manipulator quick change device produced by KOSMEK of Japan, which can transmit electricity and gas; and a manipulator of the model KUKA KR200 is used.

As shown in Fig. 5-6, the cover opening mechanism includes a driving assembly 202, which includes a motor 2021, a cylindrical cam 2022, a rotating shaft 2023 and a driven member 2024 arranged on the top plate 101. The shaft hole of the cylindrical cam 2022 matches the shaft diameter of the rotating shaft 2023, and transmits power through the transmission key 2024. The rotating shaft 2023 has a power transmission end 20231 and a fixed end 20232. The power transmission end 20231 is connected to the motor output shaft through the power key 2025, and the fixed end 20232 is fixed to the bottom plate 103 through the ball bearing assembly 2028. The driven member 2024 matches the curved groove on the cylindrical surface of the cylindrical cam 2022. The output shaft of the motor 2021 drives the rotating shaft 2023 to rotate, and the cylindrical cam 2022 also rotates accordingly, and the driven member 2024 moves up and down along the curved groove on the cylindrical surface of the cylindrical cam. Specifically, the power transmission end 20231 is provided with a mounting shaft hole, the motor output shaft is installed in the mounting shaft hole, and power is transmitted through the power key 2025. The driving assembly 202 includes a thrust ball needle bearing assembly 2026, and the thrust ball needle bearing assembly 2026 is installed in the top plate shaft hole 1011 of the top plate 101, and the power transmission end 20231 is installed in the shaft hole of the thrust ball needle bearing assembly 2026.

As shown in FIG7 , the driving assembly 202 includes a top screw 2027, and a mounting hole 20271 for mounting the top screw 2027 is formed on the side wall of the top plate shaft hole 1011, and the top plate shaft hole 1011 is orthogonal to the mounting hole 20271. The thrust ball needle bearing assembly 2026 includes a bearing outer ring 20261, and a groove 20262 is formed on the outer surface of the bearing outer ring, and the shaft end of the top screw 2027 is located in the groove. The top screw 116 is located in the mounting hole of the top plate 101, and the shaft end of the top screw 2027 is exposed and just located in the groove 20262 to support the thrust ball needle bearing assembly 2026 to prevent it from slipping.

As shown in FIG. 7 , the rotating shaft 2023 has a locking section 20233, which is located between the bottom of the cylindrical cam 2022 and the ball bearing assembly 2028. The locking section 20233 is sleeved with an upper locking ring 2029 and a lower locking ring 2020. The upper locking ring 2029 is used to lock the cylindrical cam 2022 to prevent the cylindrical cam 2022 from sliding down. The lower locking ring 2020 is used to fix the rotating shaft 2023 to prevent the rotating shaft 2023 from moving up and down in the ball bearing assembly 2028.

As shown in FIG6 , the cover opening mechanism 200 includes a guide rail 203 and a knife holder 204 on which a cutting knife 201 is installed. The guide rail 203 is arranged on the side of the rib plate 102, and the knife holder 204 moves up and down along the guide rail 203. The follower 2024 is arranged at the center of the knife holder 204. The guide rail 203 has a guiding function, so that the cutting knife 201 can move linearly. The motor 2021 drives the cylindrical cam 2022 to rotate, and the follower 2024 moves up and down under the rotation of the cylindrical cam 2022, thereby driving the knife holder 204 to move up and down along the guide rail 203, so as to realize the up and down movement of the cutting knife 201. It should be noted that the cutting knife 201 pierces the barrel cover and penetrates to a certain depth under the drive of the driving assembly 202, and the penetration depth should be within a suitable range to ensure that the end of the cutting knife 201 does not contact the liquid in the barrel. Specifically, guide rails 203 are provided on the sides of the two ribs 102, and sliders 2031 are provided on both sides of the knife holder 204, and the sliders 2031 correspond to the guide rails 203. With the guide rails 203 provided on both sides, the movement of the cutting knife 201 is more stable.

As shown in Figure 6, the knife holder 204 is provided with a mounting groove 2041, and the cutting knife 201 includes a knife handle 2011 and a cutting knife 2012, and the knife handle 2012 is located in the mounting groove 2041. Preferably, the knife handle 2011 is provided with a bolt hole 2013. The knife handle 2011 is installed in the mounting groove 2041 by bolts for fixing, which is more stable during cutting. Preferably, the knife handle 2011 has a positioning hole 2014, and the groove bottom surface of the mounting groove 2041 is provided with a corresponding hole 2015 corresponding to the positioning hole 2014. First, the knife handle 2011 and the mounting groove 2041 are positioned by a positioning pin, and then tightened by a bolt to ensure accurate installation. Specifically, the bolt hole 2013 is on the top, and the positioning hole 2014 is on the bottom, and the bolt hole 2013 and the positioning hole 2014 are located on the same vertical straight line.

As shown in Figures 8-9, the cutter 2012 has a first plane 20121, a second plane 20122, a third plane 20123 and a fourth plane 20124. The first plane 20121 is a vertical plane, the second plane 20122 is an inclined plane, the first plane 20121 and the second plane 20122 are opposite to each other, the third plane 20123 is a vertical plane, the fourth plane 20124 is an inclined plane, the third plane 20123 and the fourth plane 20124 are opposite to each other, the tip formed by the first plane 20121, the second plane 20122, the third plane 20123 and the fourth plane 20124 is a piercing part 20125, and a blade 20126 is provided at the junction of the second plane 20122 and the fourth plane 20124. During installation, the first plane 20121 faces outwards and the second plane 20122 faces inwards, so as to ensure the maximum cutting of the barrel cover. Otherwise, too much cutting residue will cause the material in the barrel to be not emptied cleanly and cause waste. The residual highly toxic substances will also affect the environment. Among them, outwards refers to the back of the barrel cover, and inwards refers to facing the barrel cover. It should be noted that the direction of the blade is consistent with the cutting direction, and the rotation direction of the cutting knife shown in Figure 3 is consistent with the direction of the blade. In the initial state, the piercing portion 20125 is higher than the surface of the barrel cover. As the cylindrical cam 2022 rotates, the cutting knife 201 moves down to make the piercing portion 20125 contact the surface of the barrel cover until it pierces the barrel cover, and then the robot 0 makes the top plate 101 rotate in a circle with the axis A as the center, and the cutting knife 201 rotates accordingly and cuts the barrel cover.

The cutter 2012 has a certain thickness. Because it is affected by the material and thickness of the barrel cover, a certain thickness is set to prevent the cutter from breaking.

As shown in FIG11 , the cutting knife 201 has an anti-mistake installation part 2016, and the mounting groove 2041 is provided with a corresponding part 2042 that matches the anti-mistake installation part 2016. Preferably, the anti-mistake installation part 2016 is a notch provided on the handle 2011, and the corresponding part 2042 is correspondingly a protrusion, and the notch and the protrusion are adapted, or the anti-mistake installation part 2016 is a protrusion provided on the handle 2011, and the corresponding part 2042 is correspondingly a notch. During installation, the notch corresponds to the protrusion, ensuring that the vertical plane of the cutting knife 201 faces outward, ensuring accurate installation. Specifically, the handle 2011 is provided with an oblique opening, and the mounting groove 2041 is provided with an inclined block that matches the oblique opening.

Capping mechanism

As shown in FIGS. 11-14 , the cover removal mechanism 300 includes a clamp 301 for clamping and removing the cut barrel cover.

There are many types of fixture 301, the first type:

As shown in FIG11 , the fixture 301 is a vacuum suction cup 301, and the cover removal mechanism 300 includes a vacuum generator 302 disposed on the support plate 401, the air inlet interface of the vacuum generator 302 is connected to the air outlet of the stator 602, and the vacuum interface of the vacuum generator 302 is connected to the vacuum suction cup 301. Before cutting, the vacuum suction cup 301 tightly sucks the barrel cover, and after cutting, the robot removes the entire cover opening and removing device 1 to remove the barrel cover. When it is a vacuum suction cup 301, it can suck barrel covers of various materials, such as iron and plastic, and has a wide range of applications.

As shown in FIG13 , when an electrical slip ring 600 is used as a connection device between the cover opening mechanism 200 and the cover removal mechanism 300, the robot side 501, the tool side 502, the rotor 601, the stator 602, the vacuum generator 302 and the vacuum suction cup 301 are connected in sequence. Specifically, the robot side 501 is connected to an external air source, the robot side 501 and the tool side 502 can both be ventilated, the air outlet of the tool side 502 is connected to the air inlet of the rotor 601 through a connecting pipe 303, the rotor 601 and the stator 602 can be ventilated, the air outlet of the stator 602 is connected to the air inlet interface of the vacuum generator 302 through a connecting pipe 303, and the vacuum interface of the vacuum generator 302 is connected to the vacuum suction cup 301. It should be noted that the use of the electrical slip ring 600 not only drives the cover opening mechanism 200 to rotate, but also meets the transmission of power, signals and gas, and will not cause entanglement of power cables, control cables and connecting pipes.

As shown in FIG11 , a height compensator 304 is provided between the support plate 401 and the vacuum suction cup 301. The height compensator 304 is fixed to the support plate 401. The air inlet of the height compensator 304 is connected to the vacuum interface of the vacuum generator 302 through the connecting pipe 303, and the air outlet of the height compensator 304 is connected to the vacuum suction cup 301. The height compensator 304 can ensure that the vacuum suction cup can firmly hold the barrel cover when the barrel cover is uneven or there is vibration when cutting the barrel cover. The height compensator is a prior art, which is composed of a bellows (an elastic element) constituting its working body and accessories such as end pipes, brackets, flanges, and conduits. The effective telescopic deformation of the bellows of its working body is used to compensate for the axial displacement of the conduit. In this embodiment, a height compensator of model VAL-M5-5 produced by FESTO is used.

As shown in FIG. 11 , three groups of vacuum suction cups 301 are evenly arranged in the circumferential direction, and three groups of height compensators 304 are correspondingly arranged, and the vacuum suction cups 301 correspond one to one with the height compensators 304. The suction force is improved, and the heavier bung lid can be sucked, and the bung lid can be stably sucked to avoid tilting. It should be noted that there is no limit to the number of vacuum suction cups 301, as long as the bung lid can be sucked. There is no limit to the number of vacuum generators 302. When it is a group, the use of multiple groups of vacuum suction cups 301 can be met by adding gas distribution blocks; it can also correspond one to one with the vacuum suction cups 301, that is, each vacuum suction cup 301 is equipped with a vacuum generator 302.

The second type: the fixture 301 is an electromagnetic suction cup, the barrel cover is made of iron, and the electromagnetic suction cup is fixed to the support plate 401. The barrel cover can be sucked or put down by powering on or off.

An electrical slip ring 600 is used as a connection device between the cover opening mechanism 200 and the cover removing mechanism 300. The electromagnetic chuck needs to be connected to the power supply cable and the control cable. The electrical slip ring 600 serves as a power supply and signal transmission medium, which can satisfy the rotation of the rotor 601 without causing the power supply cable and the control cable to be entangled.

A height compensator 304 is provided between the electromagnetic suction cup 301 and the support plate 401. One end of the height compensator 304 is fixed to the support plate 401, and the other end is fixed to the electromagnetic suction cup 301. Alternatively, an elastic component 305 is used to replace the height compensator 304. The elastic component 305 includes a telescopic rod 3051 and a spring 3052 sleeved on the outside of the telescopic rod 3051. One end of the telescopic rod 3051 is fixed to the stator 602, and the other end is fixed to the electromagnetic suction cup. The spring 3052 is located between the stator 602 and the electromagnetic suction cup, see FIG14. The height compensator or the elastic component has the function of compensating for axial displacement, which can ensure that the vacuum suction cup can firmly hold the barrel cover when the barrel cover is uneven or there is vibration when cutting the barrel cover. It should be noted that the device with the function of compensating for axial displacement is not limited to the above examples.

It is understandable that the form of the clamp 301 is not limited to the above example, and it only needs to be able to clamp the barrel cover. For example, glue is applied on the barrel cover, and the clamp 301 should be made of a material that can be bonded with the glue, such as iron; or it can be a hook that pierces the barrel cover to hook the barrel cover.

The robot quick-change device 500 , the electrical slip ring 600 , and the support plate 401 are coaxially arranged, and are coaxial with the axis A at this time.

The working process of this device is as follows: first, the circular material barrel is placed at the designated position and fixed. Under the guidance of the visual camera 403 of the cover opening and removing device 1, the robot 0 automatically positions itself at the center of the circular material barrel 2 with the cover opening and removing device 1. After positioning, the clamp 301 of the cover removing mechanism 300 clamps the barrel cover. The height compensator 304 ensures that the clamp 301 can firmly hold the barrel cover when the barrel cover is uneven or there is vibration when cutting the barrel cover; then, the cutting knife 201 moves downward under the rotation of the cylindrical cam 2022 to pierce the barrel cover, and then the robot 0 drives the cutting knife 201 to rotate around the axis A to cut the barrel cover. After cutting, the clamp 301 places the barrel cover at the designated position, see Figure 15.

The invention shown and described herein can be implemented in the absence of any element, limitation specifically disclosed herein. The terms and expressions used are used as illustrative terms rather than limiting, and it is not intended to exclude any equivalents of the features shown and described or parts thereof in the use of these terms and expressions, and it should be recognized that various modifications are feasible within the scope of the present invention. It should therefore be understood that, although the present invention is specifically disclosed through various embodiments and optional features, modifications and variations of the concepts described herein can be adopted by those of ordinary skill in the art, and it is believed that these modifications and variations fall within the scope of the present invention as defined in the appended claims.

The contents of the articles, patents, patent applications, and all other documents and electronically available information described or recorded herein are incorporated by reference in their entirety to the same extent as if each individual publication was specifically and individually indicated to be incorporated by reference. Applicants reserve the right to incorporate into this application any and all materials and information from any such article, patent, patent application, or other document.

Claims (4)

1. A drum cover opening and removing device suitable for factory automation, characterized in that it comprises: an axis, a cutting knife, a rotating part, a clamp and a fixed part, the cutting knife is mounted on the rotating part in a manner that it can rotate around the axis, and the clamp is mounted on the fixed part in a manner that it is stationary relative to the axis; The cover opening and removing device comprises: an electrical slip ring, a cover opening mechanism and a cover removing mechanism, the electrical slip ring comprises a rotor and a stator, the rotor is a rotating part, the stator is a fixed part, the rotor is on the top, the stator is on the bottom, the cover opening mechanism is installed on the rotor, the cover removing mechanism is installed on the stator, and the axial center line of the electrical slip ring is the axis; The cover opening mechanism comprises: a base and a driving assembly for driving the cutting knife to move up and down, the rotor is installed on the base, the driving assembly comprises a motor, a cylindrical cam, a rotating shaft and a driven member arranged on the base, the shaft hole of the cylindrical cam matches with the shaft diameter of the rotating shaft, and transmits power through a transmission key, the rotating shaft has a power transmission end and a fixed end, the power transmission end is connected with the motor output shaft through the power key, the fixed end is fixed to the base through a ball bearing assembly, and the driven member matches with the curved groove on the cylindrical surface of the cylindrical cam; The cover opening mechanism includes a guide rail and a knife holder with a cutting knife installed, the guide rails are arranged on both sides of the base, the knife holder moves up and down along the guide rails, and the follower is arranged at the center of the knife holder; The knife holder is provided with a mounting groove, the cutting knife has a knife handle and a cutting knife, the knife handle is located in the mounting groove; the cutting knife has a first plane, a second plane, a third plane and a fourth plane, the first plane is a vertical plane, the second plane is an inclined plane, the first plane and the second plane are opposite, the third plane is a vertical plane, the fourth plane is an inclined plane, the third plane and the fourth plane are opposite, the tip formed by the first plane, the second plane, the third plane and the fourth plane is a piercing part, and a blade is provided at the intersection of the second plane and the fourth plane; The cutting knife has an anti-mistake installation part, the installation groove is provided with a corresponding part matched with the anti-mistake installation part, the anti-mistake installation part is a notch provided on the knife handle, and the corresponding part is a protrusion correspondingly, or the anti-mistake installation part is a protrusion provided on the knife handle, and the corresponding part is a notch correspondingly, and the notch and the protrusion are adapted; The cover opening and removing device also includes: a positioning mechanism, which includes a visual recognition camera and an annular fill light, and the visual recognition camera and the annular fill light are both located below the stator. 2. The drum cover opening and removing device suitable for factory automation according to claim 1, characterized in that: The fixture is a vacuum suction cup, and the cover removal mechanism comprises: a vacuum generator, an air inlet interface of the vacuum generator is communicated with an air outlet of the stator, and a vacuum interface of the vacuum generator is connected with the vacuum suction cup. 3. The drum cover opening and removing device suitable for factory automation according to claim 2, characterized in that: The capping mechanism further comprises: a height compensator, an air inlet of the height compensator is communicated with a vacuum interface of the vacuum generator, and an air outlet of the height compensator is connected with the vacuum suction cup. 4. The drum cover opening and removing device suitable for factory automation according to claim 2, characterized in that: The clamp is an electromagnetic suction cup, and the device includes a barrel cover, which is made of iron; an elastic component is provided between the electromagnetic suction cup and the stator, and the elastic component includes a telescopic rod and a spring sleeved on the outside of the telescopic rod, one end of the telescopic rod is fixed to the stator, and the other end is fixed to the electromagnetic suction cup, and the spring is located between the stator and the electromagnetic suction cup.