JP5177592B2 - Automatic pressure vessel system - Google Patents

Description

  The present invention relates to an automatic pressure vessel system that automatically replaces a lid portion of a pressure vessel and collects a processed material in the pressure vessel.

  The pressure vessel includes a pressure-resistant can barrel that accommodates the processed material and pressurizes, negatively and heats, an opening for taking out the processed material from the can, and a lid that closes the opening. The pressure vessel uses a clamp ring for sealing the opening and the lid (for example, see Patent Document 1). The opening and the lid are sealed by fastening the clamp ring with a fastening member such as a bolt or nut. Since the processed product adheres to the lid during processing, it is necessary to replace the lid with a cleaned lid after processing with the pressure vessel.

  Here, since the operator performs replacement of the lid portion of the pressure vessel and recovery of the processed material from the pressure vessel, it takes much time and labor when a plurality of pressure vessels are installed.

  Also, when replacing the lid with bolts and nuts, if the fastening force of the fastening member by the operator is insufficient or the fastening force of multiple fastening members is uneven, pressure leaks from the opening. As a result, a desired processed product may not be manufactured. In addition, the bolt fastening requires an operator's troublesome work and may require a work in a narrow place, so there is a disadvantage that the lid cannot be quickly attached and detached.

JP 11-218220 A

  Therefore, the problem to be solved by the present invention is to provide an automatic pressure vessel system that can surely and rapidly perform replacement of a lid portion of the pressure vessel and recovery of a processed product.

In order to solve the above-described problems, an automatic pressure vessel system according to the present invention includes:
Controls a plurality of pressure vessels, a lid clamp device that attaches and detaches a lid to the opening of the pressure vessel, an unmanned transport vehicle that transports the lid and the processed material of the pressure vessel before and after use, and a lid clamp device and an unmanned transport vehicle And a control unit that
When the processing of the predetermined pressure vessel is completed, the control unit moves the automatic guided vehicle to the predetermined pressure vessel, collects the processed material, and replaces the lid portion before and after use with the lid clamping device.

  Preferably, the automatic guided vehicle moves the lid portion closer to the opening when the lid portion is replaced with a collection container for collecting the processed material, a pair of lid installation portions for installing the lid portions before and after use. Therefore, a lift device for raising and lowering the lid installation part is provided.

  Preferably, the lid clamping device includes a pressing portion for pressing the lid portion against the opening portion, and a cylinder portion for applying a pressing force to the pressing portion.

Preferably, the lid clamping device includes a pair of rod portions for holding the pressing portion,
Each rod part is rotatably supported in parallel with each other, and holds a plurality of pressing parts,
The cylinder portion rotates each rod portion to apply a pressing force to the pressing portion.

Preferably, the lid clamping device includes a frame part for rotatably supporting the rod part,
The frame part is inserted into the opening and fixed to the pressure vessel, provided on one side with one cylinder part, and on the other side with a link part that connects each rod part,
The cylinder part is arranged in parallel with the direction connecting the centers of the rod parts,
The link portion rotates the other rod portion in the reverse direction when one cylinder portion rotates one rod portion forward.

  As described above, the automatic pressure vessel system according to the present invention includes a lid clamp device that attaches and detaches a lid to an opening of a pressure vessel, a lid before and after use, and an automatic guided vehicle that conveys a processed material of the pressure vessel, and a lid. A control unit for controlling the clamp device and the automatic guided vehicle. When the processing of the predetermined pressure vessel is completed, the control unit moves the automatic guided vehicle to the predetermined pressure vessel, collects the processed material, and replaces the lid portion before and after use with the lid clamping device. Thereby, replacement | exchange of the cover part of a pressure vessel and collection | recovery of a processed material can be performed reliably and rapidly, without requiring an operator's effort.

1 is an overall view showing an automatic pressure vessel system of the present invention. The side view which shows an automatic guided vehicle. The top view which shows a cover clamp apparatus. The lid clamp apparatus is shown, (a) is the side view seen from one side, (b) is the side view seen from the other side. The side view which shows the state which attaches a lid clamp apparatus to a pressure vessel. The side view which shows replacement | exchange of a cover part, and collection | recovery of a processed material. The side view following FIG. The side view following FIG. The side view following FIG.

  Hereinafter, an automatic pressure vessel system according to the present invention will be described with reference to the accompanying drawings.

[Automatic pressure vessel system]
As shown in FIG. 1, in the automatic pressure vessel system, a plurality of pressure vessels 10 are installed in a work place. The pressure vessel 10 performs a process such as purifying a processed product stored therein. One unit 15 is formed for every two pressure vessels 10. Each unit 15 includes a unit controller 16. The unit controller 16 controls each pressure vessel 10 and the lid clamp device 1 (FIGS. 3 to 5) attached to each pressure vessel 10.

  In the automatic pressure vessel system, an automatic guided vehicle 20 is installed in a work place. The automatic guided vehicle 20 is controlled by the guided vehicle control unit 40. As will be described in detail later, the unit control unit 16 and the transport vehicle control unit 40 are connected, and the control units 16 and 40 control the lid clamping device 1 and the automatic guided vehicle 20 while transmitting and receiving signals. To do.

[Automated guided vehicle]
As shown in FIG. 2, the automatic guided vehicle 20 includes a vehicle body 26. A front wheel 260 is provided below the vehicle body 26. The automated guided vehicle 20 includes a frame portion 261 a that extends rearward from the vehicle body 26. A rear wheel 261 is provided at the rear end of the frame portion 261a. The automatic guided vehicle 20 includes a lift device 25 at the rear part of the vehicle body 26. The lift device 25 moves up and down a table portion 24 that extends rearward from the vehicle body 26.

  The lift device 25 includes a mast portion 250 extending in the vertical direction, a bracket portion 251 that can slide in the vertical direction along the mast portion 250, and a cylinder portion 252 that raises and lowers the bracket portion 251. The bracket part 251 holds the table part 24. As a result, as the cylinder portion 252 is driven, the bracket portion 251 moves along the mast portion 250 and the table portion 24 moves up and down.

  A first installation base 21 on which a recovery container 23 for recovering a processed product processed in the pressure vessel 10 and a lid 11 (FIG. 5) before use (after cleaning) of the pressure vessel 10 are installed in the table portion 24. And the 2nd installation stand 22 which installs lid | cover part 11 'after use of the pressure vessel 10 is provided along with the front-back direction. Thereby, the collection container 23 and the first and second installation bases 21 and 22 can be raised and lowered by raising and lowering the table portion 24 by the cylinder portion 252. The collection container 23 is configured to be openable and closable by a foreign matter mixing prevention cap 230 for preventing foreign matter from being mixed, and the cap 230 is opened and closed by a rotary motor 230 a provided in the bracket portion 251.

[Lid clamp device]
The pressure vessel 10 includes a lid clamp device 1 shown in FIGS. 3 and 4. The lid clamping device 1 includes a frame portion 8 that is framed in a rectangular shape. The lid clamping device 1 includes a pair of rod portions 3 and 3 ′ provided in parallel to the inside of the frame portion 8. The rod portions 3 and 3 ′ are rotatably supported via bearing portions 5 provided on the frame portion 8. Each rod portion 3, 3 ′ includes a pair of support portions 4. The support portion 4 is fixed to the rod portions 3 and 3 ′, and rotates as the rod portions 3 and 3 ′ rotate. The support part 4 includes a pressing part 2 at an end part. The pressing part 2 has a wheel shape and is rotatably supported by the support part 4.

  The lid clamping device 1 includes one cylinder portion 6 (FIG. 4A) such as one electric type or hydraulic type on one side. The cylinder part 6 is rotatably supported via a rotating part 62 provided in the frame part 8. The cylinder portion 6 extends in a direction connecting the centers of the rod portions 3 and 3 ′ in order to make the lid clamping device 1 compact. The cylinder part 6 drives the cylinder rod 60 to extend and contract. The cylinder rod 60 rotatably supports the arm portion 61 at the end portion. The arm part 61 is fixed to one side of the rod part 3. Since the cylinder portion 6 is rotatable around the rotating portion 62, the rod portion 3 can be rotated in the forward and reverse directions via the arm portion 61 by the cylinder portion 6 extending and retracting the cylinder rod 60.

  The lid clamping device 1 includes one link portion 7 (FIG. 4B) on the other side. The link part 7 is provided with connecting parts 70 at both ends. Each rod portion 3, 3 ′ includes an arm portion 71 on the other side. The arm portion 71 is fixed to the other side of each rod portion 3, 3 ′. The connection part 70 and the arm part 71 are rotatably supported. The link portion 7 extends in a direction inclined at a predetermined angle θ so as to intersect a direction 3a connecting the central axes of the rod portions 3 and 3 '(FIG. 4B). Accordingly, when the cylinder portion 6 rotates one rod portion 3 in the forward direction, the other rod portion 3 ′ rotates in the reverse direction. Similarly, when the cylinder portion 6 rotates the one rod portion 3 in the reverse direction, the other rod portion 3 'rotates in the forward direction. That is, each rod part 3, 3 'rotates in the opposite direction.

  As shown in FIG. 4, the lid clamp device 1 drives the cylinder portion 6 to move the pressing portion 2 to a lower position (release position, solid line in FIG. 4) and an upper position (clamp position, one-dot chain line in FIG. 4). Moving. The lid clamp device 1 includes two sensor fins 30 fixed to one rod portion 3, and a both-end detection sensor 31 for detecting each sensor fin 30 on the frame portion 8. And each position of the rod part 3 may be detected by detecting each sensor fin 30 with the both end detection sensors 31, and the lower position and the upper position of the pressing part 2 may be detected.

  As shown in FIG. 5, the lid clamping device 1 is fixed to the pressure vessel 10 via the connection frame 9. The pressure vessel 10 includes a pressure-resistant can barrel 13 that accommodates a processed material and applies pressure and negative pressure. The pressure vessel 10 includes a butterfly valve portion 14 at the lower portion of the can body 13 and opens the butterfly valve portion 14 so that a processed product can be collected. The pressure vessel 10 includes an opening 12 below the butterfly valve portion 14. The opening 12 includes a flange portion 12a protruding in the circumferential direction. The opening 12 seals the pressure vessel 10 by being closed by the lid 11. The lid portion 11 includes a flange portion 11a protruding in the circumferential direction. The opening portion 12 of the pressure vessel 10 is sealed with the lid portion 11 because the flange portion 11a of the lid portion 11 and the flange portion 12a of the opening portion 12 are in close contact with each other.

  The lid clamping device 1 is arranged with the opening 12 inserted inside the frame portion 8. In the lid clamping device 1, the lid portion 11 is disposed in the opening portion 12 in a state where the pressing portion 2 is disposed at the lower position (release position). In addition, since the press part 2 is located away from the cover part 11 when it exists in a downward position, the cover part 11 can be arrange | positioned in the opening part 12. FIG. And the lid clamp apparatus 1 drives the cylinder part 6, and moves the press part 2 to an upper position (clamp position). Thereby, the pressing part 2 presses the flange part 11a of the cover part 11 (the one-dot chain line in FIG. 3), and the flange part 11a of the cover part 11 contacts the flange part 12a of the opening part 12 with a predetermined pressing force. As a result, the opening 12 of the pressure vessel 10 is sealed with the lid 11.

  Since the pressing force acts on the pressing portion 2 by the rotational force of the rod portion 3, the lid clamp device 1 can be made compact and a strong torque force can be applied. Further, since the pair of rod portions 3 and 3 ′ are rotated by the single cylinder portion 6 via the link portion 7, an equal pressing force can be applied to each pressing portion 2.

  In addition to the above-described embodiment, the pressing force may be applied by moving the pressing portion 2 without the rod portion 3 by extending and contracting the cylinder rod 60 of the cylinder portion 6. A plurality of cylinder parts 6 may be installed.

[Replacing the lid and collecting the processed material]
As shown in FIG. 6, the opening 12 of the pressure vessel 10 is sealed with a lid 11 ′, and the processing of the processed material is performed inside. The automatic guided vehicle 20 has the lid 11 before use (preliminarily cleaned by an operator) installed on the first installation base 21. Further, the cap 230 of the collection container 23 is closed. Then, when the predetermined pressure vessel 10 finishes processing the processing object, the unit control unit 16 sends a signal that the processing of the predetermined pressure vessel 10 has ended. The signal is sent to the transport vehicle control unit 40, and the transport vehicle control unit 40 controls the automatic guided vehicle 20 to perform a predetermined operation.

  As shown in FIG. 7, the automatic guided vehicle 20 moves and stops at a predetermined pressure vessel 10 that has completed the processing. The automatic guided vehicle 20 stops so that the second installation base 22 is disposed immediately below the lid portion 11 ′ of the predetermined pressure vessel 10. Thereafter, the automated guided vehicle 20 lifts the second installation table 22 together with the table unit 24 by the lift device 25 to bring the second installation table 22 closer to the lid unit 11 ′. Then, when the unit controller 16 detects the stopped automatic guided vehicle 20 with a predetermined sensor (not shown), the lid clamp device 1 in the predetermined pressure vessel 10 with the butterfly valve unit 14 closed. (Cylinder part 6) is driven and lid part 11 'is released. As a result, the lid portion 11 ′ after use (before cleaning) is placed on the second installation base 22. And the automatic guided vehicle 20 descends the 2nd installation stand 22 with the table part 24 with the lift apparatus 25, and keeps the 2nd installation stand 2 away from the opening part 12 so that a movement may not be prevented.

  As shown in FIG. 8, the automatic guided vehicle 20 opens the cap 230 of the collection container 23 with the rotation motor 230a. Then, the automatic guided vehicle 20 moves and stops so that the recovery container 23 is disposed immediately below the opening 12 of the predetermined pressure container 10. Thereafter, the automatic guided vehicle 20 raises the collection container 23 together with the table unit 24 by the lift device 25, and brings the collection container 23 closer to the opening 12. Then, the unit control unit 16 opens the butterfly valve unit 14 in the predetermined pressure vessel 10 and drops the processed material to the collection vessel 23 to collect it. Then, the automatic guided vehicle 20 lowers the collection container 23 together with the table unit 24 by the lift device 25 so as not to hinder the movement, and moves the collection container 23 away from the opening 12.

  As shown in FIG. 9, the automatic guided vehicle 20 moves slightly and closes the cap 230 of the collection container 23 with the rotation motor 230a. Then, the automatic guided vehicle 20 stops so that the pre-use (cleaned) lid portion 11 is disposed immediately below the opening portion 12 of the predetermined pressure vessel 10. Thereafter, the automated guided vehicle 20 lifts the first installation base 21 together with the table unit 24 with the lift device 25, and brings the lid unit 11 closer to the opening 12. Thereby, the cover part 11 before use (cleaned) is arranged in the opening part 12 of the predetermined pressure vessel 10. Then, the unit controller 16 drives the lid clamping device 1 to seal the lid 11 before use (cleaned) in the opening 12.

  The automatic guided vehicle 20 and the lid clamping device 1 perform the above-described operation by the unit control unit 16 and the transport vehicle control unit 40, and when the processing of the predetermined pressure vessel 10 is completed, the processed material is automatically collected. The lid 11 ′ after use can be replaced with the lid 11 before use. Then, the automatic guided vehicle 20 moves to a predetermined standby position. Then, the worker collects the processed material from the collection container 23. Further, the operator removes the lid 11 ′ after use (before cleaning) from the second installation base 22 and installs the lid 11 before use (cleaned) on the first installation base 21. Thereafter, the above-described control is repeatedly performed.

DESCRIPTION OF SYMBOLS 1 Cover clamp apparatus 2 Press part 3, 3 'Rod part 6 Cylinder part 7 Link part 8 Frame part 10 Pressure vessel 11 Cover part 12 Opening part

Claims (5)

A plurality of pressure vessels, a lid clamp device that attaches and detaches a lid to the opening of the pressure vessel, an automatic guided vehicle that conveys the lid portion before and after use and a processed product of the pressure vessel, the lid clamp device, and the A control unit for controlling the automatic guided vehicle,
When the processing of the predetermined pressure vessel is completed, the control unit moves the automatic guided vehicle to the predetermined pressure vessel, collects the processed material, and uses the lid clamping device to cover the lid before and after use. Automatic pressure vessel system, characterized by replacing.   The automatic guided vehicle has a collection container that collects the processed product, a pair of lid installation units that install the lid unit before and after use, and the lid unit with respect to the opening unit when the lid unit is exchanged. The automatic pressure vessel system according to claim 1, further comprising: a lift device that raises and lowers the lid installation portion in order to move the lid closer.   The said cover clamp apparatus is provided with the press part for pressing the said cover part to the said opening part, and the cylinder part for making a pressing force act on the said press part, The Claim 1 or 2 characterized by the above-mentioned. Automatic pressure vessel system. The lid clamp device includes a pair of rod portions for holding the pressing portion,
The rod portions are rotatably supported in parallel with each other, and hold a plurality of the pressing portions,
The automatic pressure vessel system according to claim 3, wherein the cylinder portion rotates each rod portion to apply a pressing force to the pressing portion. The lid clamp device includes a frame portion for rotatingly supporting the rod portion,
The frame portion is fixed to the pressure vessel through the opening, and includes one cylinder portion on one side, and a link portion that connects the rod portions on the other side,
The cylinder part is arranged in parallel with a direction connecting the centers of the rod parts,
5. The automatic pressure vessel system according to claim 4, wherein when the one cylinder part rotates one of the rod parts in the forward direction, the link part rotates the other rod part in the reverse direction.

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