JP3122596B2 - Device for attaching / detaching lid on rotating drum - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the use of a hook provided on a lid for removing a lid of a rotary drum conveyed by a conveyor or the like when charging or discharging a material or washing the rotary drum. The present invention relates to a lid attachment / detachment device for a rotary drum configured to automatically search for the position of the hook and remove the lid even if the direction is different.

[0002]

2. Description of the Related Art Conventionally, in order to mix a plurality of types of powder materials into a rotary drum, or to discharge the mixed powder materials from the rotary drum, the rotary drum is used. Until now, the work of removing the lid closing the inlet / outlet of the material and the operation of feeding / discharging the powder material have relied on manual labor. However, in the case where the powder material is a metal powder or chemicals harmful to the human body, if the input / output operation of the powder material is performed manually as described above, it has a serious adverse effect on the health condition of the worker. There was a problem.

For this reason, recently, for example,
As disclosed in Japanese Patent No. 23212, a screw shaft that moves forward and backward and rotates by a predetermined angle is provided at a position facing a lid that closes an input / output port of a rotary drum mounted horizontally on a mixer. A cylinder device is arranged, and by driving the cylinder device, a pair of hook pieces of a hook fitting attached to a tip end of the screw shaft is engaged with a pair of hooking tools provided on an upper portion of the lid to cover the cylinder. The body was automatically removed from the rotating drum, and a charging chute and a discharging chute were connected to the charging / discharging port of the rotary drum, so that the charging / discharging operation of the powder material was performed unmanned.

[0004]

However, when the lid is removed from the rotary drum as described above, the screw shaft of the cylinder device is rotated within a limited range so that the latch piece of the latch is attached to the lid. When the rotary drum is mounted on the mixer to stir and mix the powder material, and when the lid is to be detached, the rotary drum is placed on the mixer. At a predetermined position, and the lid is attached and detached by aligning the hook of the lid with the hook at the tip of the screw shaft. However, when continuously stirring and mixing a plurality of types of powder materials, a plurality of rotating drums are transported to the position of the mixer using a conveyor or an unmanned transport vehicle, and the rotating drums are mixed each time. Although the lid was mounted horizontally on the top and the lid was attached and detached, depending on the manner of mounting the rotary drum, the direction of the latch of the lid was not constant, and the latch of the lid was not fixed. Is located at a position beyond the rotation range of the screw shaft, or when it has passed the engagement position, the catch of the lid and the catch of the catch can be easily adjusted. There was a problem that it could not be engaged.

As described above, when the lid of the rotary drum is attached and detached, it is necessary to always attach and detach the lid while the rotary drum is mounted on the mixer.
The mixing operation of the powder materials was hindered. Furthermore, if the rotating drum is transported by a conveyor or the like and is directly mounted on the mixer, it is impossible to determine the position of the latch of the lid, and for example, as described above, There is no problem if the hook and the hook are displaced, but if it is in the reverse position, if the screw shaft is advanced by driving the cylinder device to attach or remove the lid, There has been a problem that the hook and the hook piece collide with each other to deform or damage the lid, the hook and the like. For this reason, when attaching and detaching the lid of the rotating drum, the attachment and detachment of the lid must always be performed manually after confirming the positions of the hooks and the hook pieces, and the attaching and detaching operation is performed on the mixer. Coupled with this, it was a major factor hindering the automation of the mixing operation.

In view of the above-mentioned various problems, the present invention automatically searches for the position of the hook of the lid when attaching / detaching the lid of the rotary drum conveyed by a conveyor or an automatic guided vehicle. An object of the present invention is to provide a device for attaching and detaching a lid in a rotating drum, which can quickly, reliably and safely perform the attaching and detaching operation of the lid.

[0007]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, the present invention provides a cylinder device having a screw shaft capable of moving forward and backward and rotating at a predetermined angle, and is rotatable on a base via a bearing device. It is placed on the turntable attached to the stand in an upright state, and this turntable is drivably connected to the motor via a chain, and the screw shaft and the connecting shaft attached to the tip of the hook can be linked. At a predetermined position of the connecting cylinder to be connected to the hooking piece of the hook fitting is provided with an angle interval of 90 ° with the hook piece, and a sensor for searching the position of the hook is attached, and the cylinder device is rotated together with the turntable by driving the motor. At the same time, the sensor is rotated following the turntable to automatically search for the position of the latch on the lid, and after detecting the latch, the cylinder device is driven to drive the lid. Since to carry out the removal, the effect is as shown below.

[0008]

According to the present invention, as described above, the cylinder device itself is rotated by the motor, and the screw shaft of the cylinder device is connected to the connection shaft having the hook at the front end thereof. The position of the hook on the lid is automatically searched by the sensor attached to the rotary drum, so that no matter where the hook on the lid of the rotating drum conveyed by a conveyor is located, The position of the hook is accurately detected by searching for the sensor without relying on the sensor, and the positioning of the hook and the hook piece of the hook is reliably performed to quickly attach and detach the lid.

Further, the sensor is attached to a predetermined position of a connecting cylinder for connecting the screw shaft and the connecting shaft in an interlocking manner while maintaining an angle of 90 ° with the hooking piece of the hooking metal.
Even if the screw device is moved forward by driving the cylinder device to remove the lid after detecting the latch of the lid by the sensor, the latch piece of the latch and the latch of the lid collide. Since there is nothing to do, it is possible to quickly and reliably remove the lid without damaging the fasteners.

[0010]

FIG. 1 to FIG. 13 show an embodiment of the present invention.
This will be described below. The difference between the present invention and the prior art is that
The cylinder device is connected to the motor drivably and rotated,
The present invention is characterized in that the position of the latch on the lid can be searched for by a sensor attached to a coupling cylinder that operatively connects the screw shaft of the cylinder device and the coupling shaft with the latch. First, FIG. 1 is a plan view showing one embodiment of a mixing apparatus provided with a lid attaching / detaching device of the present invention.
Reference numerals 1a to 1d denote first to fourth roller conveyors for transporting a rotary drum 2 rotated and driven by an electric motor (not shown), a portion of the first conveyor 1a connected to the second conveyor 1b, and a third roller conveyor. In a part of the conveyor 1c connected to the second conveyor 1b and the fourth conveyor 1d, a turning machine (not shown) driven by an electric motor is installed.

Reference numeral 3 denotes a charging device for charging a powder material to be mixed into the rotary drum 2. Reference numeral 4 denotes a mixer, which rotates and oscillates the rotating drum 2 containing the powder material to be mixed, or inverts the rotating drum 2 by a predetermined angle to the mixer 4 from the fourth roller conveyor 1d, or It has a function of transferring from the mixer 4 to the fourth roller conveyor 1d. Reference numeral 5 denotes an attaching / detaching device for attaching / detaching the lid 6 of the rotating drum 2 when the powder material is charged into the rotating drum 2.

Next, the attachment / detachment device 5 for the lid 6 will be described with reference to FIGS. 2 to 9, reference numeral 7 denotes a second roller conveyor 1 for transporting the rotary drum 2.
b, a mounting base for mounting the detachable device 5 erected on
Is a base fixed to the upper part of the mounting base 7 via bolts or the like. Reference numeral 9 denotes a rotation drive unit of the attachment / detachment device 5, which includes a motor mount 10 fixed to the base 8 and the mount 1
0, a turntable 15 including a sprocket 13 drivably connected to the motor 11 via a chain 12 and a disk 14 fastened to the sprocket 13 by bolts 13a. And a bearing device 16 for rotatably attaching to the base 8. The turntable 1
As shown in FIG. 6, reference numeral 5 denotes a cylindrical tubular body 15 integrally attached to the sprocket 13 and the disk 14 by welding or the like.
a is rotatably attached to the base 8 by inserting, via a bearing 16b, into a bearing cylinder 16a of a bearing device 16 fixed to the base 8 by welding or the like.

Reference numeral 18 denotes an attachment / detachment mechanism of the attachment / detachment device 5, which includes a cylinder device 19 fixed on the turntable 15 in an upright state with bolts and the like, and a bottomed tubular hook 25 at the end. The connecting shaft 22 and the cylinder device 19
And a connecting cylinder 21 for connecting the screw shaft 20 and the connecting shaft 22 in an interlockable manner. As shown in FIG. 8, the connecting shaft 22 has a tapered convex portion 22b formed at a distal end portion which penetrates the bottom surface of the hook 25 and protrudes inward. A horizontal hole 22a is formed along the hole.

The connecting shaft 22 has a hook 25
Is inserted into a hollow connecting cylinder 21 fixed to the distal end of the screw shaft 20 with the compression spring 24 interposed therebetween, and fitted into the connecting cylinder 21 at right angles to the connecting cylinder 21. The connecting shaft 22 is attached to the connecting cylinder 21 so as to be movable in the range of the horizontal hole 22a by penetrating the bolt 23 into the horizontal hole 22a. Reference numeral 26 denotes a pair of hooking pieces projecting horizontally from the opening edge of the hooking fitting 25 in directions opposite to each other.
6a is affixed.

In FIG. 3 and FIG. 5, S ₁ is the turntable 15 fixed to the mounting seat 8 a installed on the base 8.
A sensor such as a proximity sensor for detecting the origin position of the turntable 15 detects whether there to the origin position by searching the detection piece K ₁ which is fixed to the turntable 15. Reference numeral 17 denotes a protective cover for the rotation drive unit 9. Further, as shown in Figure 7 and 9, the coupling tube 21, the sensor S ₂ such as an ultrasonic sensor for searching the position of the locking member projecting from the lid 6 to be described later, the sensor S _The height of the hook 2 is within a range such that the sound wave transmitted from the hook 2 is blocked by the hook and does not irradiate the bottom surface of the lid 6.
5 is attached via a mounting seat 21a at a position spaced at an angle of 90 ° from the hooking piece 26 of FIG.

As shown in FIG. 19, the cylinder device 19 incorporates, for example, two pistons 19a and 19b of an elliptical shape for straight movement and rotation in a single cylinder 19c, and the straight movement piston 19a is a screw. The screw shaft 20 is fixed only in the axial direction with respect to the shaft 20, and the screw shaft 20 is moved straight by a thrust applied to the straight-moving piston 19a. The rotating piston 19b is provided with a female screw 19d having a large lead provided at the shaft center thereof. Since the screw shaft 20 is screwed with the male screw 19e screwed on the screw 20, the thrust applied to the rotation piston 19b is converted into a torque to rotate the screw shaft 20 by a predetermined angle (90 ° in this embodiment). The screw shaft 20 moves straight or rotates by selecting the order of the pressure application to the ports A, B, and C provided in the cylinder 19c and the exhaust.

In FIGS. 3 to 5, K ₂ is the cylinder 1
Detecting piece of oval shape that is fixed to the rear end portion of the screw shaft 20 projecting from 9c, S ₃ to S ₆ it was fastened to the mounting seat 19f provided upright at a rear end portion of the cylinder device 19, the cylinder device 19 operation (forward, forward, backward, reverse) respectively a sensor such as a proximity sensor for detecting, to a front end portion of the long side of the detection piece K ₂ is the sensor S ₃ to S ₆ for detecting Thus, the operation of the cylinder device 19 is drive-controlled.

Next, the structure of the rotary drum 2 and the lid 6 will be described with reference to FIGS. As shown in FIG. 10, the rotary drum 2 is formed in a bottomed cylindrical shape with one end formed in a frusto-conical shape, and the inlet / outlet 30 has a cylindrical shape at the end of the frusto-conical shape. Is formed by fixing the cylindrical body 30a by welding or the like. As shown in FIG. 12, the cylindrical body 30a is formed in a tapered shape toward the distal end thereof, and an engaging groove 30b (FIG. 13) is formed at the center in the longitudinal direction along the entire circumference in the circumferential direction. However, thin protruding walls 31 are respectively provided around the base end side.

Next, the loading / unloading port 3 of the rotary drum 2
As shown in FIGS. 11 and 12, the lid 6 that opens and closes the metal plate is formed into a bottomed cylindrical shape by molding a metal plate, and a fitting tube 32 is fixed to the center of the bottom surface by welding or the like. As shown in FIG. 13, a cylinder 3 accommodating an engaging pin 33a which can be retracted by the force of a spring (not shown) is provided at a position corresponding to the engaging groove 30b provided around the cylindrical body 30a.
A plurality (in the present invention, six locations) of insertion cylinders 34 into which screws 3 are inserted are provided. Further, a T-shaped receiving seat 36 in which a long hole 35 is formed in the axial direction is
A bolt 37 fitted perpendicular to the fitting tube 32 at the tip of the fitting tube 32 is passed through the long hole 35, and between the receiving seat 36 in the fitting tube 32 and the bottom surface of the lid 6. In the state where the compression spring 38 is interposed, the receiving seat 36 is moved into the elongated hole 35 by the urging force of the compression spring 38 in the fitting tube 32.
Is movably inserted in the range of.

Reference numeral 39 denotes a tapered projection 22b formed at the tip of the connection shaft 22 and formed in the head of the receiving seat 36.
Are tapered recesses to be fitted. At a predetermined position on the bottom surface of the lid 6, a pair of hooks engaging with a pair of hook pieces 26 of a hook 25 attached to a distal end of a connection shaft 22 interlocking with a screw shaft 20 of the cylinder device 19. Are provided so as to face each other at a predetermined interval.

Next, reference numeral 45 denotes a control device for controlling the operation of the attachment / detachment device 5 for the lid 6, an example of which is shown in FIG.
Shown in In FIG. 25, the PC drives the motor 11 and the cylinder device 19 of the attaching / detaching device 5 in response to the input signal.
For example, a programmable controller (hereinafter, referred to as a sequencer PC) for controlling according to a sequence program shown in FIGS. 26 to 28 has a sensor S ₁ for searching the origin position of the turntable 15 at an input terminal I ₁ thereof.
At the input end I ₂ , a sensor S _{2 for} searching the position of the latch 40 of the lid 6, and at the input end I ₃ , a sensor S ₃ for monitoring the forward movement of the screw shaft 20 of the cylinder device 19, A sensor S ₄ for monitoring the forward rotation of the screw shaft 20 of the cylinder device 19 is provided at the input terminal I ₄ , and a sensor S ₅ for monitoring the backward movement of the screw shaft 20 of the cylinder device 19 is provided at the input terminal I _5. , An input terminal I ₆ is connected to a sensor S ₆ for monitoring the reverse rotation operation of the screw shaft 20 of the cylinder device 19.

A changeover switch 46 is connected to the output terminal O _1.
A motor 11 is connected to an output terminal O ₂ , a switching valve V ₁ for inputting compressed air to the port A of the cylinder device 19 and exhausting the air from the port A, and a cylinder device is connected to the output terminal O _3. A switching valve V ₂ for inputting compressed air to port B of 19 and exhausting from port B is provided at output terminal O ₄ with input pressure of compressed air to port C of cylinder device 19 and output from port C. switching valve V ₃ for performing exhaust are connected.
In FIG. 25, 47 is a timer built in the sequencer PC, and 48 is a counter built in the sequencer PC.

Next, the operation of the apparatus of the present invention will be described. First, the rotating drum 2 is transported to a position of the first roller conveyor 1a by an unillustrated automatic guided vehicle or the like, and is mounted on the first roller conveyor 1a. Subsequently, when the powder material is charged into the rotary drum 2, the lid 6 is covered with the charging / discharging port 30 of the rotary drum 2, so that the rotary drum 2 is placed on the first roller conveyor 1a. Is moved to the second roller conveyor 1b side by using a direction changer (not shown), and once passed through the loading device 3 by the second roller conveyor 1b and transported to the attachment / detachment device 5. At this time, as shown in FIG. 14 and FIGS. 16 to 18, the hook 40 of the lid 6 covering the charging / discharging port 30 of the rotary drum 2 is vibrated during transportation, and the like. Since the direction is not constant with respect to the hook 26 of the hook 25, the rotation drive unit 9 of the attaching / detaching device 5 is driven to search the position of the hook 40 of the lid 6.

Referring to the flow chart of FIG. 26, the position search operation of the hook 40 of the lid 6 will be described with reference to FIG.
This will be described with reference to FIGS. First, FIG.
As shown in 4, a case will be described in which the sensor S ₂ does not detect the Kaketomegu 40. First, when the rotary drum 2 immediately below the unloading device 5 by a second roller conveyor 1b is detected by a sensor S ₇ such as proximity sensor disposed between the rollers of the that has been conveyed the second roller conveyor 1b (Fig. 26 Step 51), and then the sensor S ₂
Is detected as to whether or not the hook 40 of the lid 6 is detected (step 52 in FIG. 26). As shown in Figure 14, when the sensor S ₂ does not detect the Kaketomegu 40, command signal for (clockwise direction in FIG. 5) forward of the motor 11 from the output terminal O ₁ of the sequencer PC is output ,
Contact 46a of the switch 46 connected to the output terminal O ₁
Switches from the terminal y side to the terminal x side to rotate the motor 11 forward (step 53 in FIG. 26).

The rotation of the motor 11 is transmitted to the turntable 15 via the chain 12 and causes the cylinder device 19 fixed on the turntable 15 to rotate forward with the turntable 15 together with the screw shaft 20 of the cylinder device 19. the sensor S ₂ disposed on the connecting tube 21 attached to the distal end portion of the turntable 15 as shown in Figure 14
And rotate forward in the clockwise direction. During forward operation always be searched for hooking member 40 by the sensor S ₂ of the motor 11 (step 54 in FIG. 26), if the Kaketomegu 40 is not detected forward rotation of the motor 11 returns to step 53 To continue.

During normal rotation of the motor 11, the sensor S
_As shown in FIG. 7, when ₂ receives the sound wave transmitted from the sensor S ₂ and bounces on the hook 40 and detects one end of the hook 40 (the position indicated by the two-dot line in FIG. 14). , A detection signal is input from the input terminal I _{2 of} the sequencer PC, and the counter 48 in the sequencer PC counts the number of detections (once) based on the detection signal.
The time from the detection is measured by the timer 47 in the sequencer PC (step 55 in FIG. 26).

When a predetermined time t seconds (for example, 1.5 seconds) has elapsed since the sensor S ₂ detected the hook 40,
Outputs a command signal to stop the motor 11 from the output terminal O ₁ of the sequencer PC, switching contact 46a of the switch 46 connected to the output terminal O ₁ from the terminal x side terminal y side, the brake by an unillustrated brake over, as shown in Figure 15, it stops the operation of the motor 11 such that the sensor S ₂ is located in central Kaketomegu 40 (step 56 in FIG. 26), the position search operation of Kaketomegu 40 finish.

Next, as shown in Figures 16 18, will be described when detecting the hooking device 40 by the sensor S ₂ from the beginning. As described above, the sequencer P stops the motor 11 after t seconds elapse from the detection of the hook 40.
Since the sequence program C are incorporated, for example, as shown in Figure 16, when the sensor S ₂ is detecting the left edge of Kaketomegu 40 is approximately Kaketomegu 40 after the lapse of t seconds from the detection 17 and 18, when the center or the right end of the latch 40 has already been detected, as shown in FIGS. sensor S ₂ will stop most deviated position from Kaketomegu 40.

Accordingly, the hook 40 is initially set to the sensor S _2.
There If you are detected, but the detection signal is inputted from the input terminal I ₂ of the sequencer PC, the first detection ignoring only counting the number of times (1 time) in the counter 48, the same way outputs a command signal for (clockwise direction in FIG. 5) forward of the motor 11 from the output terminal O ₁ of the sequencer PC, a contact 46a of the switch 46 connected to the output terminal O ₁ from the terminal y side terminal x side Switch to motor 11
Is rotated forward (step 57 in FIG. 26).

The rotation of the motor 11 causes the cylinder device 19 fixed on the turntable 15 to rotate forward together with the turntable 15, and a sensor S mounted on a connecting cylinder 21 located at the tip of a screw shaft 20 of the cylinder device 19. ₂ is caused to follow the turntable 15 as shown in FIGS. Locking device 4 by constantly sensor S ₂ even during forward rotation of the motor 11
0 (step 58 in FIG. 26), and if the latch 40 is not detected, the flow returns to step 57 to return to the motor 1
1 is continued.

During normal rotation of the motor 11, the sensor S
_As shown in FIG. 7, when the sound wave transmitted from the sensor S ₂ and hits the hook 40 and rebounds, and one end of the hook 40 is detected (second detection), the detection signal is output to the sequencer. is inputted from the input terminal I ₂ of the PC, as well as counting the number of times of detection by the counter 48 in the sequencer PC (second time) based on the detection signal, the sequencer PC
The time from the second detection is measured by the timer 47 (step 59 in FIG. 26).

When a predetermined time t seconds (for example, 1.5 seconds) has elapsed since the sensor S ₂ detected the hook 40 twice, a command signal for stopping the motor 11 from the output terminal O ₁ of the sequencer PC. outputs, switching contact 46a of the switch 46 connected to the output terminal O ₁ from the terminal x side terminal y side and braked by a not-shown brake, FIG. 15
As shown in, (step 56 in FIG. 26) by stopping the operation of the motor 11 such that the sensor S ₂ is located in central Kaketomegu 40, and ends the position search operation of Kaketomegu 40.

As described above, the cylinder device 19 is mounted on the turntable 15 which is drivingly connected to the motor 11, and the cylinder device 19 is rotated by driving the motor 11, whereby the screw shaft 2 of the cylinder device 19 is rotated.
The position of the hook 40 of the lid 6 of the rotary drum 2 conveyed to the position of the attachment / detachment device 5 by rotating the sensor S ₂ disposed on the connecting cylinder 21 attached to the distal end portion while following the screw shaft 20. Further, after t seconds have elapsed since the latching tool 40 was detected once or twice, the drive of the motor 11 is stopped. Therefore, in which direction the latching tool 40 is located also easily detect its position, and can be reliably stop the sensor S ₂ at the center position of the locking device 40.

When the search for the position of the latch 40 is completed as described above, the cylinder device 19 is driven to remove the lid 6 from the rotary drum 2. The removal operation of the lid 6 will be described with reference to FIGS. 19 to 24 and 29 with reference to the flowchart in FIG. When removing the lid 6 from the rotary drum 2, that is, when driving the cylinder device 19 to lower the screw shaft 20 in FIG. 19, first, as shown by "forward" in FIG. outputs an ON pressure signal '1' from the O ₂ relative to the switching valve V ₁ of the solenoid a, and outputs an exhaust signal '0' to the solenoid b of the changeover valve V ₂ from the output terminal O ₃ of the sequencer PC , from the output terminal O ₄ sequencers PC outputs an exhaust signal '0' to the solenoid c of the switching valve V _3. In response to this, by starting the solenoid a of the changeover valve V ₁ is, by switching the switching valve V ₁ to the input pressure side V _1a connected to the air source P. Further, the solenoid b of the changeover valve V ₂ and the switching valve V _3, the switching valve V ₂ Since c does not start, V ₃ is the exhaust side V
_2b and V _3b remain.

By operating the switching valves V _{1 to} V ₃ , the port A
Pressurized air into cylinder 19c from port B,
When the air is exhausted from C, the rectilinear piston 19a moves downward in FIG. 19, and lowers the screw shaft 20 and the rotating piston 19b screwed with the screw shaft 20 in the same direction (step 61 in FIG. 27). For this reason, the connecting shaft 22 interlocking with the screw shaft 20 is pushed toward the lid 6 side, and as shown in FIG.
2b fits into the concave portion 39 of the receiving seat 36. At this time, the stroke of the screw shaft 20 is
After b is fitted into the concave portion 39 of the receiving seat 36, the receiving seat 36 is set to such an extent that the receiving seat 36 can be pressed slightly, that is, the bolt 23 can be moved to substantially the center of the lateral hole 22a. Accordingly, the connecting shaft 22 is pressed and held by the receiving seat 36 via the hook 25 by the force of the compression spring 24 while the receiving seat 36 is slightly retracted against the compression spring 38.

When the cylinder device 19 is driven, the hook 26 of the hook 25, as shown in FIGS.
As shown in FIG. 20, when the connecting shaft 22 is joined to the receiving seat 36, the hooking piece 26 is Never collide. Incidentally, the forward movement of the screw shaft 20 is monitored by sensor S ₃ (step 62 in FIG. 27), as shown in Figure 20, the detection piece K ₂ which is fixed to the rear end portion of the screw shaft 20 the When the sensor S ₃ is detected, the detection signal is inputted from the input terminal I ₃ of the sequencer PC to PLC PC.

In response to this input signal, "forward rotation" in FIG.
As shown by, the input pressure signal “1” is continuously output from the output terminal O ₂ of the sequencer PC to the solenoid a of the switching valve V ₁ , and the switching valve V ₂ is output from the output terminal O ₃ of the sequencer PC.
Outputs an ON pressure signal '1' to the solenoid b of the outputs of the exhaust signal '0' to continue switching valve V ₃ of the solenoid c from the output terminal O ₄ sequencer PC. As a result, the solenoid b of the switching valve V ₂ is activated, and the switching valve V ₂
Is switched to the input side V _2a and connected to the air source P. Further, the solenoid a of the changeover valve V ₁ was, has started subsequently from the time of forward movement of the rectilinear piston 19a, it is held in a state in which switches valve V ₁ to the input pressure side V _1a. Incidentally, the solenoid c of the changeover valve V ₃ is switching valve V ₃ does not start stuck in the exhaust-side V _3b.

When compressed air is input into the cylinder 19c from the ports A and B and exhausted from the port C by operating the switching valves V _{1 to} V ₃ , only the rotating piston 19b is further moved from the position shown in FIG. It is pushed toward the lid 6 (downward) (step 63 in FIG. 27). Rotating piston 19b
Is pressed, the rotation piston 19b and the screw shaft 20 are screwed together, so that the screw shaft 20 moves counterclockwise from the state shown in FIG. 15 in response to the movement of the rotation piston 19b. By rotating the hook 25 attached to the connecting shaft 22 interlocked with the screw shaft 20 in the same direction (counterclockwise), the hook piece 26 of the hook 25 is rotated as shown in FIGS. It engages with the hook 40 of the lid 6 via the cushion member 26a.

[0039] The rotation (forward) movement of the screw shaft 20 is monitored by a sensor S ₄ (FIG. 27
Step 64), and as shown in Figure 21, when the detection piece K ₂ which is fixed to the rear end portion of the screw shaft 20 is the sensor S ₄ detects a detection signal from the input terminal I ₄ sequencer PC to PLC PC Is entered. In response to this input signal, an exhaust signal '0' is output from the output terminal O ₂ of the sequencer PC to the solenoid a of the switching valve V ₁ as shown by “reverse” in FIG. The input pressure signal '1' is continuously output from O ₃ to the solenoid b of the switching valve V _{2, and} the input pressure signal '1' is output from the output terminal O ₄ of the sequencer PC to the solenoid c of the switching valve V _3. Is output.

As a result, the solenoid c of the switching valve V ₃ is activated, and the switching valve V ₃ is switched to the pressure input side V _3a and connected to the air source P. Further, the solenoid b of the changeover valve V ₂ is subsequently since the forward operation of the rotary piston 19b is started, is held in a state in which switches valve V ₂ to the inlet pressure side V _2a. Incidentally, the solenoid a of the changeover valve V ₁ was the changeover valve V ₁ will stop the activated upon exhaust signal switched to the exhaust side V _1b.

When compressed air is input into the cylinder 19c from the ports B and C and exhausted from the port A by operating the switching valves V _{1 to} V ₃ , the straight-moving piston 19a is moved from the state shown in FIG. 21 to the state shown in FIG. And move upward,
The screw shaft 20 and the rotating piston 19b screwed with the screw shaft 20 are retracted (Step 65 in FIG. 27). As a result, the hook 25 attached to the connecting shaft 22 interlocking with the screw shaft 20 moves upward with the hook 40 of the lid 6 hooked on the hook 26 via the cushion member 26a. Then, as shown in FIG.
The lid 6 is removed from the rotating drum 2 and the rotating drum 2
The opening / discharging port 30 is opened.

At this time, the fitting cylinder 3 provided above the lid 6
2 is pressed toward the latch 25 by the force of the compression spring 38 inserted into the fitting tube 32, so that the latch piece 26 of the latch 25 is connected to the latch 40. With the cushion member 26a interposed therebetween, the hook 40 of the lid 6 can be reliably hooked, and the lid 6 can be removed. The engagement pin 33a that engages the lid 6 with the cylinder 30a of the rotary drum 2 is provided on the side of the lid 6 when it comes off the engagement groove 30b and comes into contact with the side wall of the cylinder 30a. The cover 6 is inserted into and screwed into the insertion tube 34 against the force of a spring (not shown), so that the cover 6 can be easily removed without affecting the removal of the cover 6 at all. be able to.

Incidentally, the retracting movement of the screw shaft 20 is monitored by sensor S ₅ (step 66 in FIG. 27), as shown in Figure 23, the detection piece K which is fixed to the rear end portion of the screw shaft 20 When _two said sensor S ₅ detects the detection signal is inputted from the input terminal I ₅ sequencer PC to PLC PC. In response to this input signal, FIG.
Of the output terminal O ₂ of the sequencer PC
Continuing to output the exhaust signal '0' to the changeover valve V ₁ of the solenoid a, from the output terminal O ₃ of the sequencer PC outputs an exhaust signal '0' to the solenoid b of the changeover valve V _2, the sequencer from and it outputs the input pressure signal '1' to continue switching valve V ₃ of the solenoid c from the output terminal O ₄ on the PC.

As a result, the solenoid b of the switching valve V ₂ receives the exhaust signal and stops its operation, so that the switching valve V ₂ is switched to the exhaust side V _2b . Incidentally, the solenoid a of the changeover valve V ₁ was,
Since the activation subsequently from the time of backward movement of the rectilinear piston 19a is stopped, and then held in a state of switches valve V ₁ on the exhaust side V _1b, also the solenoid c of the changeover valve V ₃ is since running successively from the time of backward movement of the rectilinear piston 19a, it is held in a state in which switches valve V ₃ to enter the compression side V _3a.

By operating the switching valves V _{1 to} V ₃ , the port C
Pressurizes compressed air into the cylinder 19c from the port A,
When exhausted from B, only the rotating piston 19b is
As shown by, it is pushed in the direction (upward) away from the lid 6 (step 67 in FIG. 27). When the rotation piston 19b is pushed, the rotation piston 19b and the screw shaft 20 are screwed together, so that the screw shaft 20 moves from the state shown in FIG. 23 in response to the movement of the rotation piston 19b. By rotating clockwise, the hook 25 attached to the connecting shaft 22 interlocking with the screw shaft 20 is rotated in the same direction (clockwise) to return to the origin position, and the work of removing the lid 6 is completed. .

[0046] Incidentally, the rotation of the screw shaft 20 (reverse) operation is monitored by the sensor S ₆ (FIG. 27
Step 68), and as shown in Figure 24, when the sensor S ₆ for detecting piece K ₂ which is fixed to the rear end portion of the screw shaft 20 is detected, the detection signal is input to the input terminal I ₆ sequencer PC . In response to this, from the output terminals O ₂ , O ₃ , O _{4 of} the sequencer PC, the current input pressure and exhaust state (A,
(B port: exhaust, C port: input pressure) is output, and the screw shaft 20 is held at the home position until the next command (forward command) is output.

When the operation of removing the lid 6 from the rotating drum 2 is completed as described above, the turntable 15 is returned to the origin position. The return-to-origin operation of the turntable 15 will be described with reference to the flowchart in FIG. The sensor S ₆ detects the detection piece K ₂ As described above, when the detection signal is input to the input terminal I ₆ sequencer PC, the output terminal of the sequencer _{PC O 2, O 3, O} 4
Outputs a command to maintain the current input pressure and exhaust state, and outputs a reverse rotation command from the output terminal O ₁ of the sequencer PC, and the changeover switch 46 connected to the output terminal O _1.
Is switched from the terminal y side to the terminal z side to reverse the motor 11 (step 71 in FIG. 28).

The rotation of the motor 11 is transmitted to the turntable 15 via the chain 12 and the turntable 15
The cylinder device 19 mounted on the turntable 15
Each is rotated to search the detection piece K ₁ fixed to the turntable 15 by the sensor S ₁ (step 72 in FIG. 28). When the detection piece K ₁ is detected by the sensor S ₁ , a detection signal is input to the input terminal I ₁ of the sequencer PC. In response to this detection signal, a stop command is output from the output terminal O ₁ of the sequencer PC and output. the contact 46a of the switch 46 connected to an end O ₁ switched from the terminal z side terminal y side and braked by a not-shown brake, the turntable 15 (step 73 in FIG. 28) of the motor 11 is stopped home position To return to.

The rotary drum 2 from which the lid 6 has been removed as described above is transported to the position of the charging device 3 by the second roller conveyor 1b, and a charging chute (not shown) is connected to the charging / discharging port 30 thereof. Then, the powder material to be mixed is put inside. When the charging of the powder material is completed, the rotary drum 2 is transported again to the position of the attaching / detaching device 5, and the lid 6 is attached to the charging / discharging port 30 thereof.

When the lid 6 is to be mounted, compressed air is supplied to the port A of the cylinder device 19 and the ports B and C are exhausted to advance the screw shaft 20 as shown in FIG. The lid 6 hooked on the hook 26 of the hook 25 attached to the tip of the connecting shaft 22 interlocked with the screw shaft 20 is covered by the inlet / outlet 30 of the rotary drum 2. When the cover 6 is covered, the cylinder 3 inserted and screwed into the insertion tube 34 provided on the side wall of the cover 6
An engaging pin 33a that protrudes and retracts from the cylinder 3 projects from the cylinder 33 and engages with an engaging groove 30b formed on the outer periphery of the cylindrical body 30a that forms the inlet / outlet port 30, so that the lid 6 is connected to the cylindrical body 30a. Fixed to.

Subsequently, compressed air is supplied to the ports A and B, and the port C is exhausted, thereby rotating (forward rotation) the screw shaft 20 and interlocking with the screw shaft 20 as shown in FIG. The hook between the hook piece 26 of the hook 25 attached to the tip of the connecting shaft 22 and the hook 40 provided on the upper part of the lid 6 is released. Thereafter, compressed air is input to the ports B and C, and the port A is exhausted.
As shown by 9, the screw shaft 20 is moved backward (up), the hook 25 attached to the distal end of the connecting shaft 22 interlocking with the screw shaft 20 is moved away from the lid 6, and compressed air is introduced into the port C. By pressing and exhausting the ports A and B, the screw shaft 20 is rotated (reversely rotated), and the screw shaft 20 is returned to the origin position, thereby completing the operation of attaching the lid 6.

When the operation of attaching the cover 6 is completed, the rotating drum 2 is moved to the third roller conveyor 1c by the second roller conveyor 1b, and a turning machine (not shown) provided on the third roller conveyor 1c. The rotary drum 2 is moved to the fourth roller conveyor 1d side by using the roller conveyor, and is conveyed to the position of the mixer 4 by the fourth roller conveyor 1d. The drum 2 is mounted on the mixer 4 from the fourth roller conveyor 1d. Mixer 4
Is rotated and rocked by the rotation and rocking function of the mixer 4 to stir and mix the powder material stored therein. After the powder material is stirred and mixed for a predetermined time, the rotating drum 2 is lowered from the mixer 4 onto the fourth roller conveyor 1d by the reversing function, and the mixing operation of the powder material is completed.

The rotating drum 2 containing the mixed powder material is moved by a fourth roller conveyor 1d to a third roller conveyor 1c, and a turning machine (not shown) provided in the third roller conveyor 1c. The rotary drum 2 is moved to the third roller conveyer 1c side by using the third roller conveyer 1c, and is conveyed by the third roller conveyer 1c to an unillustrated automatic guided vehicle, and then transferred onto the automatic guided vehicle. The powdery material is conveyed to the powder material discharging step by the automatic guided vehicle. Thereafter, when the powder material is charged into the rotating drum 2 to perform stirring and mixing, the above operation may be repeated.

The cover 6 is attached to the hook 26 of the hook 25.
The screw shaft 20 is retracted in a state where the hook 40 is hooked, and thereafter, the screw shaft 20 is rotated (reverse rotation).
As described above, the screw shaft 20 is retracted when the cover 6 is removed, and the screw shaft 20 is returned to the original position when the attachment of the cover 6 is completed. You may do so. Also,
The discharging operation of the powder material may be performed with the lid 6 removed from the rotary drum 2 after the mixing operation of the powder material is completed, and the rotary drum 2 mounted on the mixer 4.

[0055]

As described above, according to the present invention, a cylinder device for mounting and dismounting a lid of a rotary drum is placed in an upright state on a turntable that is drivably connected to a motor. A sensor for searching a position of a latch provided on the upper portion of the lid is attached in the middle of the connecting cylinder interlocking with the screw shaft of the cylinder device, and the cylinder device is rotated together with the turntable by driving a motor, The position of the latch on the lid is searched by the sensor, so the position of the latch on the lid of the rotating drum that is transported to the position of the attachment / detachment device by a conveyor or automatic guided vehicle is determined by the latch of the latch. Even if it is not constant with respect to the piece, the position of the hook can be easily detected by retrieving with the sensor, and the lid can be removed from the rotating drum.

Further, the sensor is provided with a hook piece of a hook fitting attached to the tip of a connecting shaft interlocked with the screw shaft.
° in the state of providing an angular interval, so that the screw shaft and the connecting shaft is mounted in the middle of the connecting tube connecting the connecting shaft, even if the screw shaft is advanced in the state where the sensor detects the hook, The hook pieces of the hook metal do not collide with the hooks at all, and the work of removing the lid can be performed safely.

Further, the operation of searching for a hook is performed once when the sensor has not detected the hook first, and twice when the sensor has detected the hook first. Therefore, when the sensor detects the end of the hook from the beginning, the problem that the hook of the hook cannot be hooked on the hook of the lid can be solved reliably and smoothly. The operation of removing the lid can be performed. Moreover, the drive of the motor is stopped after a lapse of a predetermined time from the first or second detection of the hook, that is, the drive of the motor is stopped after a lapse of a predetermined time after the end of the hook is detected. As a result, the sensor can be stopped at a position substantially at the center of the hook, and the hook piece of the hook provided at a 90 ° angular interval with the sensor is rotated 90 ° by rotation of the screw shaft.
When rotated, the hooking piece and the hook can be reliably hooked.

[Brief description of the drawings]

FIG. 1 is a plan view showing an example of a mixing facility provided with a lid attaching / detaching device according to the present invention.

FIG. 2 is a front view showing a state where the lid attaching / detaching device of the present invention is attached to a mounting base.

FIG. 3 is a perspective view showing a lid attaching / detaching device according to the present invention.

FIG. 4 is a front view showing the lid attaching / detaching device of the present invention.

FIG. 5 is a plan view showing a lid attaching / detaching device of the present invention.

FIG. 6 is an enlarged longitudinal sectional view showing a main part of a rotation drive unit of the lid attaching / detaching device.

FIG. 7 is an explanatory diagram for explaining a position search operation of a hook by a sensor.

FIG. 8 is a longitudinal sectional view for explaining a coupling relationship between a hook, a coupling shaft, and a coupling cylinder.

FIG. 9 is an explanatory diagram for explaining a mounting state of a sensor.

FIG. 10 is a side view of the rotating drum.

FIG. 11 is a plan view of a lid.

FIG. 12 is a vertical cross-sectional view showing a main part of the lid body cut away.

FIG. 13 is a cutaway sectional view of a main part, showing a main part of the lid body in an enlarged manner.

FIG. 14 is an explanatory diagram for explaining a position search operation of the hook.

FIG. 15 is a plan view showing a state where the sensor is stopped at a center position of the hook.

FIG. 16 is an explanatory diagram for describing a position search operation when the sensor first detects one end of the hook.

FIG. 17 is an explanatory diagram for describing a position search operation when the sensor first detects the center of the hook.

FIG. 18 is an explanatory diagram for describing a position search operation when the sensor first detects the other end of the hook.

FIG. 19 is an explanatory diagram illustrating an operation of ending the position search of the hook and attaching and detaching the lid.

FIG. 20 is an explanatory diagram for explaining an operation of moving a straight-moving piston forward and pushing a latch member toward a lid.

FIG. 21 is an explanatory view for explaining an operation of rotating a rotation piston to lock a hook piece of a hook with a hook of a lid.

FIG. 22 is a plan view showing a state in which a hook piece of a hook is hooked to a hook of a lid.

FIG. 23 is an explanatory diagram for explaining an operation of retracting the rectilinear piston and removing the lid from the rotary drum.

FIG. 24 is an explanatory diagram for explaining an operation of rotating a rotation piston to return a screw shaft to an origin position.

FIG. 25 is a block diagram showing a control device of the lid attaching / detaching device of the present invention.

FIG. 26 is a flowchart of an operation of searching for a hook.

FIG. 27 is a flowchart of the attachment / detachment operation of the lid.

FIG. 28 is a flowchart of a return operation to the origin of the turntable.

FIG. 29 is a diagram showing a command signal to each solenoid output from the output end of the programmable controller when driving the cylinder device.

[Explanation of symbols]

2 Rotary Drum 5 Detachment Device 6 Lid 9 Rotation Driving Unit 11 Motor 15 Turntable 18 Detachment Mechanism 19 Cylinder Device 20 Screw Shaft 25 Engagement Tool 26 Engagement Piece 30 Input / Discharge Port 30b Engagement Groove 33a Engagement Pin 40 Engagement ingredients 45 controller PC programmable controller S ₁ to S ₇ sensor V ₁ ~V ₃ switching valve

Claims (3)

(57) [Claims] 1. A cylinder device having a screw shaft capable of moving forward and backward and rotating by a predetermined angle at a position corresponding to a lid for opening and closing a charging / discharging port of a rotary drum, a bottomed cylindrical shape, and A lid in which hooking pieces protrude from the opening end edges in directions opposite to each other, and a hook fitting attached to a tip end of a connection shaft operatively connected to a screw shaft of the cylinder device is arranged on the same line. In the body attaching / detaching device, the cylinder device is mounted on a turntable rotatably mounted via a bearing device on a base with the cylinder device in a standing state, and the turntable is drivably connected to a motor,
Attach a sensor for searching for the position of the latch provided on the upper part of the lid at a predetermined position of the coupling cylinder that operatively couples the screw shaft of the cylinder device and the coupling shaft provided at the tip with the latch, The cylinder device was rotated integrally with the turntable by driving the motor, and at the same time, the sensor was rotated to follow the turntable to search for a hook on the lid, and the hook on the lid was detected by the sensor. A lid attaching / detaching device for a rotary drum, wherein the lid is detached from the rotary drum by driving the cylinder device. 2. A cylinder device having a screw shaft capable of moving forward and backward and rotating by a predetermined angle at a position corresponding to a lid for opening and closing a charging / discharging opening of a rotary drum, a bottomed cylindrical shape, and A hook piece protrudes from the opening edge in a direction opposite to each other, and a hook fitting attached to a tip end of a connection shaft operatively connected to a screw shaft of the cylinder device is arranged on the same line. In the lid attachment / detachment device, the cylinder device is mounted on a turntable rotatably mounted via a bearing device on a base in a state of being upright, and the turntable is drivably connected to a motor, A sensor for retrieving a position of a latch provided on the upper portion of the lid is attached to a predetermined position of a coupling cylinder that operatively couples a screw shaft of a cylinder device and a coupling shaft provided with a latch at a tip thereof, and At the same time, the cylinder device is rotated integrally with the turntable by driving the motor, and at the same time, the sensor is rotated following the turntable to search for the latch on the lid, and the latch on the lid is detected by the sensor. A drive for stopping the motor after a lapse of a predetermined period of time, and thereafter driving the cylinder device to remove the lid from the rotary drum. 3. The sensor according to claim 1, further comprising:
° lid attachment apparatus in a rotary drum according to claim 1 or 2, wherein the angular interval is provided to attach to the predetermined position of the coupling tube has a.