CN114789983A - Flange bucket cover opening and closing manipulator and flange bucket cover opening and closing method - Google Patents

Abstract

The invention discloses a flange barrel cover opening and closing manipulator and a cover opening and closing method, wherein the flange barrel cover opening and closing manipulator comprises a barrel cover clamping device, a wrench opening and closing device and a fixed disk; the barrel cover clamping device is used for clamping the barrel cover and can drive the barrel cover to move, the wrench opening and closing device is used for opening or closing a flange barrel wrench, and the barrel cover clamping device and the wrench opening and closing device are connected together through the fixed disc; the fixing disc comprises a barrel cover clamping device fixing disc and a wrench opening and closing device fixing disc, and the wrench opening and closing device fixing disc can rotate relative to the barrel cover clamping device fixing disc so as to drive the wrench opening and closing device fixed on the wrench opening and closing device to rotate relative to the barrel cover clamping device. This patent can realize the full automatic switch of flange bucket bung, improves flange bucket bung full automatic switch's precision and degree of accuracy, improves work efficiency simultaneously.

Description

Flange bucket cover opening and closing manipulator and flange bucket cover opening and closing method

Technical Field

The embodiment of the invention relates to the technical field of packaging, in particular to a flange barrel cover opening and closing manipulator and a cover opening and closing method.

Background

The flange barrel is a common packaging container, is mainly used for storing and transporting various liquids, has good characteristics for special products, has the characteristics of being not easy to break, rust, light in weight, difficult to deform and the like, has excellent oil resistance and corrosion resistance, and can be used for packaging industrial products with the requirements of heat preservation, moisture resistance, pressure resistance and corrosion resistance. At present, the filling agent is mainly used for containing liquid and solid products in the industries of chemical raw materials, lubricants, coatings, foods and the like. The specification varies from 60mL to 200L.

At present, the flange barrel cover is mostly operated manually in the processes of opening and closing, filling and using, the industrialization degree is low, and the manpower and the time are wasted.

Disclosure of Invention

The invention provides a flange barrel cover opening and closing manipulator and a flange barrel cover opening and closing method, which are used for realizing full-automatic opening and closing of a flange barrel cover, improving the precision and accuracy of the full-automatic opening and closing of the flange barrel cover and improving the working efficiency.

In order to realize the technical problem, the invention adopts the following technical scheme:

a flange barrel cover opening and closing manipulator comprises a barrel cover clamping device, a wrench opening and closing device and a fixed disc; the barrel cover clamping device is used for clamping a barrel cover and can drive the barrel cover to move, the wrench opening and closing device is used for opening or closing a flange barrel wrench, and the barrel cover clamping device and the wrench opening and closing device are connected together through the fixed disc; the fixing disc comprises a barrel cover clamping device fixing disc and a wrench switching device fixing disc, and the wrench switching device fixing disc can rotate relative to the barrel cover clamping device fixing disc so as to drive a wrench switching device fixed on the wrench switching device fixing disc to rotate relative to the barrel cover clamping device.

Optionally, the number of the wrench opening and closing devices is one, and the number of the barrel cover clamping devices is greater than or equal to 2.

Optionally, the wrench switch device is arranged between the two barrel cover clamping devices; the positions of the barrel cover clamping devices are relatively fixed, and the barrel cover clamping devices can synchronously move under the driving of a driving mechanism.

Optionally, the barrel cover clamping device is divided into a fixed barrel cover clamping device and a limiting barrel cover clamping device, and the fixed barrel cover clamping device provides a clamping force to the flange barrel cover to fix the flange barrel cover; the limiting barrel cover clamping device provides restraint force for the flange barrel cover.

Optionally, the fixed barrel cover clamping device limits the movement of the barrel cover body and the barrel hoop, and the limiting barrel cover clamping device limits the rotation of the barrel cover and allows the barrel hoop to move circumferentially around the barrel cover.

Optionally, the barrel cover clamping device comprises a barrel cover body clamping device and a barrel hoop limiting device; the barrel cover body clamping device provides fixing force for the barrel cover body, and the barrel hoop limiting device is used for limiting expansion of the barrel hoop.

Optionally, the barrel hoop limiting device is divided into a barrel hoop full limiting device and a barrel hoop half limiting device; the barrel hoop full limiting device is applied to the fixed barrel cover clamping device, and the barrel hoop half limiting device is used for limiting the fixed barrel cover clamping device.

Optionally, the fixed barrel cover clamping device is arranged on one side of the wrench switch device, is close to the non-wrench connecting end in the flange barrel hoop, and is far from the wrench movable shaft in the flange barrel hoop.

Optionally, the wrench opening and closing device can move relative to the barrel cover clamping device, and the relative position of the wrench and the flange barrel can be adjusted by using the movement.

Optionally, the wrench switch device comprises an opening device and a closing device; the opening device is used for opening the wrench, and the closing device is used for closing the wrench; a groove for the free end of the flange barrel wrench to come in and go out is formed between the opening device and the closing device and is used for fixing the flange barrel wrench; the opening device and the closing device open or close the flange barrel wrench by translation.

A cover opening method of a flange barrel cover comprises the processes of opening a wrench and clamping the barrel cover; the method comprises the following specific steps:

s01, conveying the flange barrel to a designated position, and enabling the cover opening and closing manipulator to reach the position above the flange barrel from the initial position;

s02, the cover opening and closing manipulator rotates to a position where a wrench opening and closing device on the cover opening and closing manipulator reaches a specified position close to a flange barrel wrench, and preparation is made for opening the flange barrel wrench;

s03, the cover opening and closing manipulator descends, and a barrel cover clamping device in the cover opening and closing manipulator approaches to a barrel cover through horizontal movement until a barrel cover body clamping device and a barrel hoop limiting device in the barrel cover clamping device respectively fix the upper edge of the barrel cover and a barrel hoop to finish barrel cover clamping;

s04, the wrench opening and closing device rotates towards the direction of the free end of the flange barrel wrench, the free end of the wrench enters an internal channel of the wrench opening and closing device, and the wrench opening and closing device continues to rotate along the original direction until the free end of the flange barrel wrench is inserted into a clamping groove on the wrench opening and closing device for the free end of the flange barrel wrench to go in and out, so that the flange barrel wrench is fixed;

and S05, the wrench opening and closing device moves in the direction far away from the flange barrel to drive the flange barrel wrench to open until the flange barrel wrench reaches a preset position, and the cover opening work of the flange barrel cover is completed.

Optionally, in the processes of S04 and S05, the barrel cover body is always clamped by the barrel cover clamping device, one section of the barrel hoop is fixed, and other positions can only move circumferentially around the barrel cover of the flanged barrel to adapt to deformation of the wrench in the opening process. Optionally, after the cover opening operation is completed, the cover clamping device carries the flange barrel cover away from the flange barrel and keeps the flange barrel cover at a preset position.

A method for closing a cover of a flange barrel cover comprises a closing wrench and the following specific steps:

s01, when the flange barrel cover reaches a preset position in contact with the opening of the flange barrel, the cover opening and closing manipulator keeps clamping the barrel cover;

s02, driving a wrench to move to a closing position by a wrench opening and closing device in the opening and closing cover manipulator, rotating the wrench opening and closing device to be separated from the wrench, and finely adjusting the wrench position by the opening and closing cover manipulator in the process to enable the wrench position to be further close to the flange barrel cover body until the wrench opening and closing device is separated from the wrench;

and S03, the wrench switch device returns to the initial position, the barrel cover clamping device cancels the fixation of the flange barrel cover and returns to the initial position, and the cover closing work of the flange barrel cover is completed.

A cover opening and closing method comprises the cover opening process and the cover closing process.

By the technical scheme of the embodiment of the invention, the full-automatic opening and closing of the flange barrel cover are realized, the precision and the accuracy of the full-automatic opening and closing of the flange barrel cover are improved, and the working efficiency is improved.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present invention, nor do they necessarily limit the scope of the invention. Other features of the present invention will become apparent from the following description.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a side view of a flanged bucket of the present invention;

fig. 2 is a schematic structural view of a flange barrel uncovering manipulator provided by an embodiment of the invention;

FIG. 3 is a bottom view of a mounting plate according to a second embodiment of the present invention;

FIG. 4 is a top view of a mounting plate according to a second embodiment of the present invention;

fig. 5 is a schematic view of a clamping device for a drum lid according to a third embodiment of the present invention;

fig. 6 is a schematic view of a stop block in the hoop half-stop device according to the fourth embodiment of the present invention;

fig. 7 is a schematic view of a limiting block in the barrel band full-limiting device according to the fourth embodiment of the present invention;

fig. 8 is a schematic structural diagram of a wrench switch device according to the fifth embodiment of the present invention.

Wherein the content of the first and second substances,

1-opening and closing the cover manipulator:

11-barrel cover clamping device: 111-fixed barrel cover clamping device, 112-limiting barrel cover clamping device, 114-fixing plate, 115-barrel cover body clamping device, 116-barrel hoop limiting device, 117-barrel cover clamping device fixing seat, 1151-inner positioning device, 1152-outer positioning device, 11521-positioning block, 11522-guide post, 11523-spring, 11524-telescopic limiting piece; 1161-limit block, 1162-limit guide post;

12-wrench switching device: 121-opening means, 122-closing means, 123-card slot, 1221-first shutter, 1222-second shutter, 1223-reset;

13-fixing the disc: 131-barrel cover clamping device fixing disc, 133-bearing, 132-wrench switching device fixing disc, 1321-circular disc, 1322-gear and 1323-wrench rotating motor;

14-manipulator fixing seat;

15-auxiliary barrel hoop limiting device;

2, driving a cylinder by integrally lifting the manipulator;

3, driving a motor by the integral rotation of the manipulator;

4-barrel cover: 41-barrel hoop, 411-wrench, 412-wrench movable shaft and 413-non-wrench connecting end.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, the manipulator for opening and closing the cover of the flange bucket cover can be used for opening the flange bucket cover, closing the flange bucket cover or opening and closing the flange bucket cover.

Example one

An embodiment of the invention provides a manipulator for opening and closing a flange barrel cover, and fig. 2 is a schematic diagram of the manipulator for opening and closing the flange barrel cover according to the embodiment of the invention.

As shown in fig. 2 to 4, a flange barrel cover opening and closing manipulator comprises a barrel cover clamping device 11, a wrench opening and closing device 12, a fixed disc 13 and a manipulator fixing seat 14. The barrel cover clamping device 11 is used for clamping a barrel cover and can drive the barrel cover to move, the wrench switching device 12 is used for opening or closing a flange barrel wrench, the fixed disk 13 is used for connecting the barrel cover clamping device 11 and the wrench switching device 12 together, and the fixed disk 13 is fixed on the main machine body through the manipulator fixing seat 14.

Preferably, the number of the wrench opening and closing devices 12 is 1, the number of the barrel cover clamping devices 11 is greater than or equal to 2, and the wrench opening and closing devices 12 are arranged between the two barrel cover clamping devices 11; the positions of the barrel cover clamping devices 11 are relatively fixed, the barrel cover clamping devices can synchronously move under the driving of a driving mechanism, and the wrench opening and closing device 12 can move relative to the barrel cover clamping devices 11.

Example two

The second embodiment of the invention provides a manipulator for opening and closing a cover of a flange barrel, and fig. 3-4 are structural diagrams of a fixed disk 13 provided by the second embodiment of the invention.

As shown in fig. 3 to 4, this embodiment optimizes the structure of the fixed disk 13. The flange barrel cover opening and closing manipulator further comprises a fixed disk 13, and the fixed disk 13 comprises a barrel cover clamping device fixed disk 131 and a wrench opening and closing device fixed disk 132. The barrel cover clamping device fixing disc 131 is driven by the manipulator overall lifting driving cylinder and the overall rotation driving motor to perform lifting motion and rotation motion, so as to drive the plurality of barrel cover clamping devices 11 fixed on the manipulator overall lifting driving cylinder to move; the barrel cover clamping device fixing disc 131 is of a horizontally arranged circular ring structure, a bearing 133 is arranged in the inner ring, and the inner wall of the barrel cover clamping device fixing disc 131 is fixed with the outer ring of the bearing 133. The wrench opening and closing device fixing plate 132 can rotate relative to the barrel cover clamping device fixing plate 131, so as to drive the wrench opening and closing device 12 fixed thereon to rotate relative to the barrel cover clamping device 11. The wrench opening and closing device fixing plate 132 and the barrel cover clamping device fixing plate 131 are not in the same plane, and the former is lower than the latter. Further, the wrench opening and closing device fixing plate 132 is also circular.

A circular sheet 1321 is fixed on the wrench opening and closing device fixing disc 132, the central angle of the circular sheet 1321 is 60 degrees to 90 degrees, the diameter of a large circle in the circular sheet 1321 is larger than that of a large circle in the barrel cover clamping device fixing disc 131, the diameter of a small circle in the circular sheet 1321 is the same as that of a small circle in the wrench opening and closing device fixing disc 132, and the wrench opening and closing device fixing disc 132, the barrel cover clamping device fixing disc 131 and the circular sheet 1321 are concentric. The disc 1321 is provided with a gear at its outer edge, and the gear is engaged with a gear 1322 fixed to a cylinder rod of the wrench rotation motor 1323 and is driven to rotate around the center of the fixed disk 13, so as to drive the wrench switch device 12 to rotate around the center of the fixed disk 132. At least one barrel cover clamping device 11 is arranged between the wafer 1321 and the wrench switch device 12.

EXAMPLE III

The third embodiment of the invention provides a flange barrel cover opening and closing manipulator, and fig. 5 is a schematic view of a barrel cover clamping device provided by the third embodiment of the invention.

As shown in fig. 5, the drum cover clamping device 11 is divided into a fixed drum cover clamping device 111 and a limiting drum cover clamping device 112. The fixed barrel cover clamping device 111 limits the movement of the barrel cover body and the barrel hoop, and the limiting barrel cover clamping device 112 limits the rotation of the barrel cover and allows the barrel hoop to move around the circumferential direction of the barrel cover. Specifically, the barrel cover clamping device 11 comprises a barrel cover body clamping device 115 and a barrel hoop limiting device 116; the barrel cover body clamping device 115 provides fixing force for the barrel cover body, and the barrel hoop limiting device 116 is used for limiting displacement of the barrel hoop. The barrel hoop limiting device 116 is divided into a barrel hoop full limiting device and a barrel hoop half limiting device; the barrel hoop full limiting device is applied to the fixed barrel cover clamping device 111, and the barrel hoop half limiting device is applied to the limiting barrel cover clamping device 112.

The barrel cover clamping devices 11 are uniformly arranged on the barrel cover clamping device fixing disc 131, a barrel hoop auxiliary limiting device 15 is further arranged between the two barrel cover clamping devices, and the barrel hoop auxiliary limiting device 15 is also fixed on the barrel cover clamping device fixing disc 131.

The number of the fixed barrel cover clamping devices 111 is one, so that clamping force is provided for the flange barrel cover to fix the flange barrel cover. The fixed barrel cover clamping device 111 is arranged on one side of the wrench switch device 12, is close to the non-wrench connecting end in the flange barrel hoop, and is far away from the wrench movable shaft in the flange barrel hoop.

The limiting barrel cover clamping device 112 provides a restraining force to the flange barrel cover so as to restrain the flange barrel cover from displacing in a part of directions. A plurality thereof, preferably two.

Example four

The fourth embodiment of the invention provides a manipulator for opening and closing a flange barrel cover, and fig. 6 to 7 are schematic diagrams of limiting blocks provided by the fourth embodiment of the invention respectively.

As shown in fig. 5, the bung body clipping means 115 is used to clip the upper edge of the bung to control the position of the bung together with the bung locking means 116. The barrel cover body clamping device 115 and the barrel hoop limiting device 116 are both connected to the fixing plate 114 through a barrel cover clamping device fixing seat 117, and are connected to the fixing plate 13 through the fixing plate 114. The bung body retention means 115 is located above the ferrule retention means 116.

The drum lid body gripping means 115 comprises inner and outer locating means 1152. The inner positioning device 23 is used for propping the upper edge and the inner edge of the cover of the flange barrel from the inside, and the outer positioning device 1152 is used for propping the outer edge of the cover of the flange barrel from the outside. The inner positioning device is fixedly connected to the fixed disc 13.

The outer positioning device 1152 comprises a positioning block 11521, a guide post 11522, a spring 11523 and a telescopic limit 11524. The positioning block 11521 and the inner positioning device are matched to clamp the cover of the flange barrel. The positioning block 11521 is connected to the spring 11523 through the guide post 11522, the other end of the spring 11523 is fixed to the fixing base, and the positioning block 11521 is driven by the spring 11523 to translate, so that the positioning block 11521 is tightly attached to the lid of the flange barrel, and the purpose of clamping the lid is achieved. One end of the limiting guide post 1162 is fixedly connected with the limiting block 1161, the other end of the limiting guide post is hollow, and one end of the spring 11523 is fixed in the inner space. The length of the hollow section of the limit guide post 1162 is greater than the maximum compression dimension of the spring 11523. The telescopic limiting part 11524 is a limiting bolt, the head of the telescopic limiting part 11524 is fixedly connected with the fixed seat through a nut, the screw rod is positioned in the spring 11523 and extends into the hollow area of the limiting guide post 1162, and the depth of the limiting bolt entering the limiting guide post 1162 can be adjusted by adjusting the screwing depth of the limiting bolt and the fixed seat. The compression distance of the spring 11523 can be adjusted according to actual needs. The guide column 11522 is also positioned in the guide seat, which is positioned above the guide column 11522 of the limiting device; namely, two through holes are formed on the guide seat and used for providing guidance for the barrel cover body clamping device 115 and the barrel hoop limiting device 116.

In another preferred embodiment, the outer positioning device 1152 and the barrel hoop limiting device 116 are fixed on the fixing plate 13 through the same barrel cover clamping device fixing seat 117, and can move in a translation manner along with the barrel cover clamping device fixing seat 117. The lid holder mounting base 117 is connected to the mounting plate 114 by a cylinder. The cylinder is fixed on the fixing plate 114, the barrel cover clamping device fixing seat 117 is fixed on a cylinder rod through a bolt, and the cylinder is horizontally arranged. Therefore, under the driving of the air cylinder, the barrel cover clamping device fixing seat 117 can perform a translational motion approaching to and departing from the flange barrel hoop, so as to drive the outer positioning device 1152 and the barrel hoop limiting device 116 to move together.

The barrel hoop limiting device 116 includes a limiting block 1161, a limiting guide post 1162, a spring 11523, a guide seat and a telescopic limiting member 11524. The limiting block 1161 is used for limiting the flange barrel hoop, and is connected with the spring 11523 through the limiting guide post 1162, the spring 11523 is connected to the barrel cover clamping device fixing seat 117, and is connected to the fixing plate 13 through the barrel cover clamping device fixing seat 117.

The cross section of the limiting guide column 1162 is matched with the limiting block 1161, and the cross section of the limiting guide column 1162 can be rectangular or circular. One end of the limiting guide post 1162 is fixedly connected with the limiting block 1161, the other end of the limiting guide post is hollow, and one end of the spring 11523 is fixed in the inner space. The length of the hollow section of the limit guide post 1162 is greater than the maximum compression dimension of the spring 11523.

In another preferred embodiment, the guide seat is used for providing a guiding function for the limiting guide post 1162, is fixedly connected with the fixing seat 117 through a bolt, is in a hollow cuboid shape, and has an opening on one surface, and the opening surface is tightly attached to the fixing seat 117; a through hole is formed on a surface opposite to the opening surface for the passage of the stopper guide post 1162 for restricting the movement of the stopper guide post 1162 in a direction perpendicular to the spring 11523.

The telescopic limiting part 11524 is a limiting bolt, the head of the telescopic limiting part 11524 is fixedly connected with the fixed seat through a nut, the screw rod is positioned in the spring 11523 and extends into the hollow area of the limiting guide post 1162, and the depth of the limiting bolt entering the limiting guide post 1162 can be adjusted by adjusting the screwing depth of the limiting bolt and the fixed seat. The compression distance of the spring 11523 can be adjusted according to actual needs.

As shown in fig. 6, the limiting block 1161 includes two limiting side plates and a limiting bottom plate, the limiting side plates and the limiting bottom plate are integrated, and the side surface of the limiting block 1161 is in a shape of a Chinese character 'ao'. The limiting bottom plate is a flat rectangular body, the size of one direction is far smaller than that of the other two directions, and two fixing holes are arranged on the limiting bottom plate and used for fixing the bottom plate. The two limit side plates are oppositely arranged and are respectively and vertically arranged on two sides of the limit bottom plate. A groove is formed between the two limiting side plates and the bottom plate and is called as a first groove, the cross section of the first groove is in an inverted trapezoid shape, and the bottom edge of the inverted trapezoid is located at the limiting bottom plate; the first groove is matched with the cross section of the flange barrel hoop in size, the flange barrel hoop is fixed in three directions, the barrel hoop is prevented from moving up and down, and meanwhile the barrel hoop is prevented from moving in the direction away from the flange barrel. The stop block 1161 is used in the barrel band semi-stop device.

As shown in fig. 7, in an optimized version of the limiting block 1161, two limiting side plates of the limiting block 1161 are provided with grooves, which are referred to as second grooves. The cross section of the second groove is rectangular, the length of the long side of the rectangle is the same as the height of the inverted trapezoid of the first groove, and the length of the short side of the rectangle is smaller than the length of the bottom side of the inverted trapezoid of the first groove. Four ridges formed at the junction of the first groove and the second groove are not chamfered, so that the sharpness of the ridges is kept, and the ridges and the flange barrel hoop form four-point tight contact, so that the up-and-down movement of the flange barrel hoop, the radial movement of the barrel cover and the radial movement of the barrel cover perpendicular to the barrel cover are limited, and the flange barrel hoop is clamped from four directions. The limiting block 1161 is made of stainless steel and is used in the barrel hoop full limiting device.

EXAMPLE five

The fifth embodiment of the invention provides a manipulator for opening and closing a flange barrel cover, and fig. 8 is a schematic view of a wrench opening and closing device provided by the fifth embodiment of the invention.

As shown in fig. 8, the wrench opening and closing device 12 can move relative to the barrel cover clamping device 11, and can adjust the relative position of the wrench and the flange barrel wrench by using the movement, including the opening device 121 and the closing device 122; the opening device 121 is used for opening a wrench, and the closing device 122 is used for closing the wrench (where opening means that the free end of the flange barrel wrench is far away from the flange barrel hoop; where closing means that the free end of the flange barrel wrench is close to the flange barrel hoop); a clamping groove 123 for the free end of the flange barrel wrench to go in and out is formed between the opening device 121 and the closing device 122 and used for fixing the flange barrel wrench; the opening device 121 and the closing device 122 open or close the flange barrel wrench by translating.

The full-automatic opening and closing device of the flange barrel wrench is installed on a wrench opening and closing device fixing disc 132 through a fixing device, and the opening device 121 and the closing device 122 are both installed on the fixing device. A clamping groove 123 for the free end of the flange barrel wrench to go in and out is arranged between the opening device 121 and the closing device 122 and is used for fixing the flange barrel wrench. The opening unit 121 and the closing unit 122 can move along with the wrench opening and closing unit fixing plate 132 to approach or separate from the flange barrel wrench. The opening device 121 and the closing device 122 can also move relative to the wrench opening and closing device fixing plate 132 to open or close the flange barrel wrench.

The closing means 122 comprises a first shutter 1221 and a second shutter 1222; the first closing element 1221 closes the flanged bucket wrench by applying a pushing force, and the second closing element 1222 finely adjusts the position of the flanged bucket wrench so that the flanged bucket wrench can be closer to a flanged bucket clamp when closed; on the other hand, the second shutter 1222 also serves to guide the free end of the flanged drum wrench into the catch groove 123 intermediate the opening device 121 and the closing device 122. The second shutter 1222 can move relative to the first shutter 1221 for adjusting the position of the flange barrel wrench. When the free end of the flange barrel wrench is inserted into the locking groove 123 between the closing device 122 and the opening device 121, the free end of the flange barrel wrench is inserted into the gap between the second closing member 1222 and the opening device 121, and then enters the locking groove 123 between the closing device 122 and the opening device 121 along the gap, so as to be closed by the thrust exerted by the first closing member 1221.

The closing device 122 further includes a reset member 1223, and the reset member 1223 is used for controlling the second shutter 1222 to move relative to the first shutter 1221, and the moving direction is directed to the opening device 121. Specifically, the reset member 1223 is connected to the free end of the second closing member 1222 and always provides the second closing member 1222 with a pulling force pointing to the closing direction of the flanged barrel wrench; the position of the second closing element 1222 nearest to the flange barrel collar, which can be reached under the control of the resetting element 1223, is a minimum closing position, and when the second closing element 1222 is in the minimum closing position, a gap allowing the flange barrel wrench to pass through is still left between the second closing element 1222 and the opening device 121.

EXAMPLE six

The sixth embodiment of the invention provides a method for opening and closing a cover of a flange barrel cover.

The decap method is described in detail below.

And conveying the flange barrel to a specified position, and driving the cover opening and closing mechanical arm 1 to rotate by the integral rotation driving motor until the wrench opening and closing device 12 on the cover opening and closing mechanical arm 1 reaches the position near a flange barrel wrench. The integral lifting driving cylinder drives the cover opening and closing mechanical arm 1 to descend to a certain height.

At this time, the barrel cover clamping device 11 in the cap opening and closing manipulator 1 is also driven by the fixed disk 13 to reach an appointed position, and the barrel cover clamping device 11 is driven by the barrel cover clamping driving cylinder to move horizontally towards the direction close to the barrel cover until the barrel cover body clamping device 115 and the barrel hoop limiting device 116 fix the upper edge of the barrel cover and the barrel hoop respectively.

The wrench rotation motor 1323 drives the disc 1321 on the wrench switch device fixing disc 132 to rotate, so as to drive the wrench switch device fixing disc 132 to rotate, and further drive the wrench switch device 12 to rotate towards the wrench. The free end of the wrench enters the gap between the opening device 121 and the closing device 122 of the wrench opening and closing device 12, the wrench opening and closing device 12 continues to rotate in the original direction, and along with the rotation of the wrench opening and closing device, the free end of the flange barrel wrench is inserted into a wrench slot 123 which is arranged between the opening device 121 and the closing device 122 and used for the free end of the flange barrel wrench to come in and go out, and the rotation of the flange barrel wrench is limited by the slot 123. The wrench switch driving device drives the wrench switch device 12 to rotate towards the direction far away from the flange barrel, and drives the wrench to be opened until the wrench is fixed at a fixed position. In the process, the barrel cover clamping device 11 clamps the barrel cover all the time, and after the wrench is opened, the barrel cover of the flange barrel is driven to leave the flange barrel and is kept at a fixed position. So far, the uncapping process is completed.

The fixed bung clamping means 111 clamps the bung upper edge and the hoop during wrench opening; the limiting barrel cover clamping device 112 limits the upward and downward movement of the barrel hoop and the radial movement along the barrel cover while clamping the barrel cover, and allows the barrel hoop to move along the circumferential direction of the barrel cover.

The closing method is specifically as follows.

The flange barrel opening and closing mechanism comprises a flange barrel opening and closing manipulator 1, a flange barrel wrench full-automatic opening and closing device 12, an opening device 121 and a closing device 122 in the wrench opening and closing device 12 rotate towards a flange barrel clamp after receiving a working signal for closing the flange barrel wrench, and a first closing member 1221 applies a thrust force pointing to the flange barrel clamp direction to the flange barrel wrench to push the flange barrel wrench to move towards the flange barrel clamp direction, namely to move towards the closing direction; when the free end of the flange barrel wrench exits from the slot 123 between the first closing member 1221 and the opening device 121, the free end of the flange barrel wrench remains between the gap formed by the second closing member 1222 and the opening device 121, and the second closing member 1222 continues to push the flange barrel wrench to rotate towards the flange barrel clamp direction under the control of the resetting device until the free end of the flange barrel wrench is no longer in contact with the opening device 121; at this time, the free end of the flange barrel wrench is still rotated toward the flange barrel clamp by the pushing force of the second closing member 1222 until the second closing member 1222 reaches the minimum position of the second closing member 1222, and at this time, the flange barrel wrench reaches the final position, and the closing of the flange barrel wrench is completed.

The wrench opening and closing means 12 is returned to the initial position by the driving of the wrench rotating motor 1323.

The barrel cover clamping device 11 moves horizontally in a direction away from the barrel cover under the control of the driving device, and the barrel cover body clamping device 115 and the barrel hoop limiting device 116 are separated from the barrel cover respectively until the initial position is reached.

And the switching mechanical arm returns to the initial position under the driving of the integral rotation driving motor and the integral lifting cylinder.

The above-described embodiments should not be construed as limiting the scope of the invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A flange barrel cover opening and closing manipulator is characterized by comprising a barrel cover clamping device, a wrench opening and closing device and a fixed disk; the barrel cover clamping device is used for clamping a barrel cover and can drive the barrel cover to move, the wrench opening and closing device is used for opening or closing a flange barrel wrench, and the barrel cover clamping device and the wrench opening and closing device are connected together through the fixed disc; the fixing disc comprises a barrel cover clamping device fixing disc and a wrench opening and closing device fixing disc, and the wrench opening and closing device fixing disc can rotate relative to the barrel cover clamping device fixing disc so as to drive the wrench opening and closing device fixed on the wrench opening and closing device to rotate relative to the barrel cover clamping device.

2. A flanged drum cover switching manipulator as claimed in claim 1, characterised in that the number of wrench switching means is one and the number of drum cover gripping means is greater than or equal to 3. The wrench switching device is arranged between the two barrel cover clamping devices; the positions of the barrel cover clamping devices are relatively fixed, and the barrel cover clamping devices can synchronously move under the driving of a driving mechanism. The barrel cover clamping device is divided into a fixed barrel cover clamping device and a limiting barrel cover clamping device, and the fixed barrel cover clamping device provides clamping force for the flange barrel cover so as to fix the flange barrel cover; the limiting barrel cover clamping device provides restraint force for the flange barrel cover.

3. The flanged drum lid opening and closing manipulator according to claim 2, wherein the fixed lid clamping device limits the movement of the drum lid body and the drum hoop, and the limiting lid clamping device limits the rotation of the drum lid and allows the drum hoop to move circumferentially around the drum lid.

4. The flange bucket lid opening and closing manipulator according to claim 3, wherein the bucket lid clamping device comprises a bucket lid body clamping device and a bucket hoop limiting device; the barrel cover body clamping device provides fixing force for the barrel cover body, and the barrel hoop limiting device is used for limiting expansion of the barrel hoop. The barrel hoop limiting device is divided into a barrel hoop full limiting device and a barrel hoop half limiting device; the barrel hoop full limiting device is applied to the fixed barrel cover clamping device, and the barrel hoop half limiting device is used for limiting the fixed barrel cover clamping device.

5. The flanged drum cover switching manipulator according to claim 4, wherein the fixed cover clamping device is disposed at one side of the wrench switching device, and is closer to the non-wrench connection end of the flanged drum hoop and farther from the wrench movement shaft of the flanged drum hoop.

6. A flanged drum lid opening and closing manipulator according to any one of claims 1 to 5, wherein the wrench opening and closing device is movable relative to the lid holder and is adapted to adjust the position of the wrench relative to the flanged drum by virtue of the movement.

7. A flanged drum lid opening and closing manipulator according to claim 6, wherein the wrench opening and closing device comprises an opening device and a closing device; the opening device is used for opening the wrench, and the closing device is used for closing the wrench; a groove for the free end of the flange barrel wrench to come in and go out is formed between the opening device and the closing device and is used for fixing the flange barrel wrench; the opening device and the closing device open or close the flange barrel wrench by translation.

8. A cover opening method of a flange barrel cover is characterized by comprising the processes of opening a wrench and clamping the barrel cover; the method comprises the following specific steps:

s01, conveying the flange barrel to a specified position, and enabling the cover opening and closing manipulator to reach the position above the flange barrel from the initial position;

s02, the cover opening and closing mechanical arm rotates until the wrench opening and closing device on the cover opening and closing mechanical arm reaches the specified position close to the flange barrel wrench, and preparation is made for opening the flange barrel wrench;

s03, the cover opening and closing manipulator descends, the barrel cover clamping device approaches the barrel cover through horizontal movement until the barrel cover body clamping device and the barrel hoop limiting device in the barrel cover clamping device respectively fix the upper edge of the barrel cover and the barrel hoop, and barrel cover clamping is completed;

s04, the wrench opening and closing device rotates towards the direction of the free end of the flange barrel wrench, the free end of the wrench enters an internal channel of the wrench opening and closing device, and the wrench opening and closing device continues to rotate along the original direction until the free end of the flange barrel wrench is inserted into a clamping groove on the wrench opening and closing device for the free end of the flange barrel wrench to go in and out, so that the flange barrel wrench is fixed;

and S05, the wrench opening and closing device moves in the direction far away from the flange barrel to drive the flange barrel wrench to open until the flange barrel wrench reaches a preset position, and the cover opening work of the flange barrel cover is completed.

9. A method for opening a lid on a lid of a flanged drum according to claim 11, wherein during S04 and S05, the lid body is always clamped by the lid clamp means, a section of the collar is fixed, and other positions can only move circumferentially around the lid of the flanged drum to accommodate deformation of the wrench during opening. After the cover opening work is finished, the barrel cover clamping device carries the flange barrel cover to leave the flange barrel and keeps the flange barrel cover at a preset position.

10. A method for closing a cover of a flange barrel cover is characterized by comprising a closing wrench and the following specific steps:

s01, when the flange barrel cover reaches a preset position in contact with the opening of the flange barrel, the cover opening and closing manipulator keeps clamping the barrel cover;

s02, driving a wrench to move to a closing position by a wrench opening and closing device in the opening and closing cover manipulator, rotating the wrench opening and closing device to be separated from the wrench, and finely adjusting the wrench position by the opening and closing cover manipulator in the process to enable the wrench position to be further close to the flange barrel cover body until the wrench opening and closing device is separated from the wrench;

and S03, the wrench switch device returns to the initial position, the barrel cover clamping device cancels the fixation of the flange barrel cover and returns to the initial position, and the cover closing work of the flange barrel cover is completed.

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