JPH0479440B2 - - Google Patents

Description

Detailed Description of the Invention (Industrial Application Field) The present invention is applicable to radioactive waste, waste with a bad odor,
Alternatively, the present invention relates to an automatic lid attaching device for centering and attaching a lid to a container such as a drum can filled with toxic waste or the like using a device with a simple mechanism by remote control.

(Prior art) In general, radioactive waste, waste with a bad odor,
Alternatively, when attaching a lid to a drum can or other container filled with toxic waste or other waste, separate the lid preparation room from the lid installation room with a shielding wall that blocks radioactivity or bad odors. A screw shaft or a lid mounting device installed through a running rail is used to open a part of the shielding wall and run the lid mounting device from the lid preparation chamber to the lid mounting chamber. .

Lid mounting devices having the above-mentioned structure are described in, for example, Japanese Patent Publication No. 13478/1982 and Japanese Patent Publication No. 47480/1982.

In addition, in order to securely attach the lid to the container, an alignment mechanism is engaged with the traveling frame and moved to a predetermined lid attachment position by a cylinder, and the alignment mechanism is equipped with a lid gripping claw, etc. A lid mounting device has been proposed in which a supporting arm is mounted to be horizontally rotatable, and a drum can holder, which is a centering means, is integrally installed below the supporting arm. Examples of such a lid mounting device include, for example:
It is described in Japanese Patent Application Laid-open No. 104900/1983.

(Problem to be Solved by the Invention) In the lid mounting device having the above-mentioned centering means, since the centering mechanism is moved to a preset position by the cylinder,
When a housing such as a drum can is accurately placed at a preset position, a centering operation can be performed to attach the lid to the housing.

However, if the drum can is placed in front of a preset position, the drum can holder comes into contact with the circumferential surface of the drum can before the alignment mechanism stops, and in this state, the drum can is placed at a predetermined position. try to move up to Therefore, when the drum can holder comes into contact with the upper part of the drum can, the drum can is overturned. Moreover, if the drum can does not fall over, the drum can holding tool will be damaged.

Contrary to the above, if the drum can is placed behind the preset position, the centering mechanism will stop before the drum can holder comes into contact with the circumferential surface of the drum can, and the centering operation will be interrupted. However, there are problems in that the lid cannot be attached to the drum can.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic lid attachment device that can easily and reliably perform centering operations when attaching a lid to a container.

(Means for Solving the Problems) In order to achieve the above-mentioned object, the automatic lid mounting device of the present invention grips a lid by a lid mounting mechanism in a lid preparation chamber, transports the lid to a lid mounting chamber, and attaches the lid to a case. In the lid mounting device for mounting on a lid mounting device, the lid mounting mechanism is provided with an elevating bracket attached to the tip of a movable member so as to be movable in a vertical direction, and a lid mounting mechanism that is horizontally shifted by a predetermined amount from a center position of the elevating bracket when viewed from above. an arm mounted on the free end of the arm so as to be pivotable in the horizontal direction; a pivot bracket attached to the free end of the arm so as to be pivotable in the horizontal direction; and a lid and tightening means for holding and tightening the tightening band attached to the pivot bracket. and a V-shaped centering means integrally attached to the rotation bracket, and the arm is pressed with a predetermined surface pressure and rotated in the horizontal direction, so that two points of the V-shaped part of the centering means are attached to the housing. It is constituted by a fluid cylinder that stops the rotation of the arm when the reaction force generated when it comes into contact with the cylindrical wall of the filling supply portion matches the actuation force.

(Function) The automatic lid mounting device of the present invention attaches the holding and tightening means for the lid and tightening band, and the V-shaped centering means to a common bracket, and moves the bracket to attach the V-shaped portion of the centering means to the drum can, etc. 2 of the V-shaped part.
When the dot comes into contact with the circumferential surface of the case, the center position of the lid and tightening band holding and tightening means and the supply port of the case are aligned, so that it is ensured regardless of the mounting position of the case. Centering operations can be performed.

(Example) The configuration of an automatic lid mounting device of the present invention will be explained based on the drawings.

Reference numeral 1 denotes a first support member, which includes a guide rail 7 and a limit switch for detecting motion (not shown).
etc. are formed by a beam 6 attached at a predetermined position, and is attached in a horizontal state at a predetermined position in the lid preparation chamber 40. 2 is a second support member, which is formed by a guide rail 9 and a beam 8 to which a positioning stopper (not shown) is attached; It is installed so that it is on the line. Reference numeral 3 denotes a movable member, in which a slide bearing 11 with balls or rollers disposed opposite the guide surface of the guide rail 7 and a plurality of rotating rollers 12 rolling on the guide rail 9 are mounted at predetermined positions. frame 10
and moves on each support member 1, 2.
4 is a lid attachment mechanism attached to the end of the movable member 3; 5 is a traveling means; a drive device 15 having a rack 13 attached to the lower part of the frame 10 and a pinion 14 that meshes with the rack 13; The movable member 3 is moved to a predetermined position.

The details of the above-mentioned lid mounting mechanism 4 are as shown in FIGS. 4 to 6, and in the figures, 16 is the frame 1.
A guide shaft 17 is attached perpendicularly to the tip of the guide shaft 16, and a screw shaft 17 is attached to the frame parallel to the guide shaft 16. The screw shaft 17
A drive unit 18 is connected to the drive unit 18 . Reference numeral 19 denotes a lifting bracket, which engages with the above-mentioned guide shaft 16 and is connected to the screw shaft 17 by a nut and a spring (not shown). 22 is axis 2
1, and is rotatably attached to the lifting bracket 19 by a bearing 20. 23 is an air cylinder attached to the lifting bracket 19, and the piston rod is attached to the arm 2.
It is connected to 2. Then, the piston rod is moved in and out to rotate the arm 22 in the horizontal direction. 2
Reference numeral 6 denotes a rotating bracket formed integrally with the shaft 25, and is rotatably attached to the arm 22 by a bearing 24. Reference numeral 27 denotes a permanent magnet attached to the lower surface of the rotating bracket 26 via a spring (not shown), which allows the operator to easily attach and detach the lid to the suction surface, and which does not fall due to the lid's own weight. It has an adsorption power of 28 is a permanent magnet 27
This is an electromagnet attached to the rotating bracket 26 so as to be close to the lid 51, and strongly holds the lid 51. A support piece 29 is attached to the lower surface of the rotating bracket 26, and supports the tightening band 52 so that its outer circumference is aligned with the axis. Reference numeral 30 designates an impact wrench attached to the lower surface of the rotating bracket 26, which engages with the tightening bolt 53 of the tightening band 52 and rotates.
31 is a holding piece attached to the piston rod of the air cylinder 32, and a tightening band 52
The threaded nut portion of the fastening bolt 53 is held in a predetermined position. The air cylinder 32 is attached to the pivot bracket 26.

The above-mentioned permanent magnet 27 has its attracting surface always protruding from the attracting surface of the electromagnet 28.
Further, the lid 51 and the tightening band 52 are held in an overlapping state.

33 is a spline nut attached to the lower end of the shaft 25, and a spline shaft 34 is attached so as to be movable in the vertical direction. 36 is a V-shaped centering means integrally formed at the lower end of the spline shaft 34. The spline shaft 34 mentioned above is pressed downward by a spring 35.

Since the V-shaped centering means 36 described above is integrally connected to the rotating bracket 26, when the centering means 36 contacts the circumferential surface of the housing 50 and rotates, the rotating bracket 26 also rotates at the same time. When two points of the V-shaped portion of the centering member 36 come into contact with the cylindrical wall of the filling supply portion of the housing, the centering member 36 is held by the permanent magnet 27, the electromagnet 28, and the support piece 29 attached to the movable bracket 26. Lid 51
is adapted to match the supply port 50a of the housing 50.

A shielding door 44 is provided in the opening 43 of the shielding wall 42 located at the boundary between the lid preparation chamber 40 and the lid mounting chamber 41 described above.
is provided. Further, a rail 45 is installed in the lid mounting chamber, and a bulge 50 filled with waste is placed on a trolley 46 and transported to the lid mounting position.

The operation control of each drive device, air cylinder, etc. mentioned above is performed by a control device having an operation setting circuit, a comparison calculation circuit, an operation command circuit, etc., and each operation is confirmed by detection means such as a limit switch, a non-contact switch, etc. .

The lid mounting operation by the above-mentioned lid mounting device will be explained.

First, a container 50 such as a drum can filled with waste
is placed on the cart 46 and transported to the lid mounting position.

At this time, an opening 43 of a shielding wall 42 that partitions the lid preparation chamber 40 and the lid mounting chamber 41 is closed by a shielding door 44. Further, the rotating bracket 26 of the lid mounting mechanism 4 is in the lid mounting position A of the lid preparation chamber 40, the electromagnet 28 is in the OFF state, and the impact wrench 30 is in the standby position.

In the above state, the operator sets the lid 51 and the tightening band 52 as a pair on the permanent magnet 27, operates the air cylinder 32, and attaches the impact wrench 30 to the fastening bolt 53 attached to the tightening band 52. The holding pieces 31 are respectively engaged with the nuts of the tightening band 52, and the electromagnet 28 is turned ON and energized, and the lid 51 is moved to the electromagnet 28.
When the permanent magnet 27 is attracted by the lid 51, it compresses a spring (not shown) and moves to the same position as the attraction surface of the electromagnet 28.

When the above-mentioned lid 51 and tightening band 52 have been attached and the control device (not shown) is started, the shielding door 44 moves to open the opening 43, and the drive device 18 is activated to tighten the screws. The shaft 17 rotates, and together with the lifting bracket 19, the lid 51 and the rotating bracket 26 to which the tightening band 52 is attached are raised in the vertical direction. When the lid is moved to the preset upper position B of the lid preparation chamber 40, the drive device 18 is actuated to stop the rotation of the screw shaft 17, and the drive device 15 is actuated to rotate the pinion 14 and release the rack. The frame 10 moves forward together with 13. The frame 10 is a shielding wall 42
The rotating roller 12 attached to the frame 10 passes through the opening 43 of the lid 5 and engages with the guide rail 9.
1, and the tightening band 52 is attached to the lid mounting chamber 41
When the lid is moved to the upper position C, the drive device 15
is actuated to stop the frame 10 at a preset position, and at the same time, the drive device 18 is actuated to rotate the screw shaft 17 and lower the rotating bracket 26 together with the elevating bracket 19. Then, the centering means 36 located below the rotating bracket 26 moves to the centering position of the cylindrical portion forming the supply port 50a of the housing 50, and the detection means (not shown) such as a limit switch or a non-contact switch is activated. Then, the rotation of the screw shaft 17 of the drive device 18 is stopped, the piston rod of the air cylinder 23 is projected, the arm 22 is rotated about the shaft 21, and the centering means 36 is rotated in the horizontal direction. When one point of the V-shaped tip of the centering means 36 comes into contact with the cylindrical wall of the supply port 50a of the housing 50, the centering means 36 rotates about the shaft 25 as a fulcrum until the two points of the tip come into contact. The centering means 3
When the two points 6 come into contact and the reaction force becomes the same as the operating force of the air cylinder 23, the arm 22 stops rotating, and the centering means 36, the spline shaft 34, and the shaft 25 integrally move the arm 22. The rotating bracket 26 holding the formed lid 51 also rotates at the same time so that the center positions of the lid 51 and the supply port 50a of the housing 50 coincide.

After the above-mentioned centering operation is completed, the drive device 1
8 is operated, the screw shaft 17 is rotated, and the rotating bracket 26 is vertically lowered together with the lifting bracket 19. Then, the lid 51 is connected to the supply port 5 of the housing 50.
When it comes into contact with 0a, the lifting bracket 1 will move at that position.
9 and the rotating bracket 26 stop at the lid mounting position N of the lid mounting chamber 41. However, since the drive device 18 does not stop at that point, the nut (not shown) screwed onto the screw shaft 17 continues to descend, and the rotating bracket 26 is moved together with the lifting bracket 19 by a spring (not shown). Press down to close the lid 51.
to the supply port 50a, and tighten the nut (not shown).
Once it has been lowered to a preset position, the drive operation 18 is actuated to stop rotation.

On the other hand, the centering means 36 descends together with the rotating bracket 26 while in contact with the cylindrical wall of the supply port 50a, but when it comes into contact with the upper surface of the accommodating portion 50b of the housing 50, it stops at that position. If the rotating bracket 26 does not stop and continues to descend, the spline nut 33 descends along the spline shaft 34 integrally formed with the centering means 36, compressing the spring 35 and absorbing the movement.

When the above-mentioned lid 51 is crimped onto the supply port 50a and the drive device 18 is stopped, the air cylinder 32 is activated, the piston rod protrudes, and the impact wrench 30 is activated to advance while rotating the tightening bolt 53. Therefore, the tightening band 5
2 contracts and fastens the lid 51 to the supply port 50a.
When the bolt 53 is tightened, the rotation of the impact wrench 30 is stopped, the air cylinder 32 is activated, the piston rod is retracted, and the impact wrench 30 is separated from the tightening bolt 53. Then, the electromagnet 28 is turned OFF and the attraction force is eliminated, and the drive device 18 is activated to raise the rotating bracket 26 together with the lifting bracket 19, thereby removing the holding piece 31 that had been engaged with the nut portion of the tightening band 52. At the same time, the air cylinder 23 is activated, the piston rod is retracted, and the arm 22 returns to the standby position. Next, the drive device 15
operates and lifts the lifting bracket 1 together with the frame 10.
9, and the rotating bracket 26 is connected to the lid preparation chamber 40.
When the lid is moved to the upper lid mounting position B, the drive device 18 is activated and the rotating bracket 26 is lowered together with the lifting bracket 19 to return to the lid mounting position A. Then, the shielding door 44 operates to close the opening 43 and complete the lid mounting operation.

The case 50 with the lid 51 attached is transported to a storage room or the like.

By repeating the above-described operations, the lid can be attached continuously.

Although the present invention can be implemented as described above, the rotating means can also be a drive mechanism consisting of a worm and a worm wheel instead of the air cylinder. Further, as an impact wrench for rotating a fastening bolt, a structure in which the rotating body itself moves forward and backward can be used.

(Effects of the Invention) The automatic lid mounting device of the present invention is a lid mounting device that grips a lid by a lid mounting mechanism in a lid preparation chamber, transports the lid to a lid mounting chamber, and mounts the lid on a case. an elevating bracket that is vertically movably attached to the tip of a movable member, and a horizontally rotatably attached position that is horizontally shifted by a predetermined amount from the center position of the elevating bracket when viewed from above. an arm, a pivoting bracket attached to the free end of the arm so as to be pivotable in a horizontal direction; a lid and tightening means for holding and tightening the tightening band attached to the pivoting bracket; and an integrally attached to the pivoting bracket. The V-shaped centering means and the arm are pressed with a predetermined surface pressure and rotated in the horizontal direction, so that two points of the V-shaped part of the centering means come into contact with the cylindrical wall part of the filling supply part of the case. Since it is composed of a fluid cylinder that stops the rotation of the arm when the reaction force generated and the actuation force match, even if the case is not placed exactly at the lid installation position, the V-shaped centering means allows the arm to stop rotating. This allows for reliable centering and prevents the casing from falling over and damaging the centering means.

[Brief explanation of the drawing]

FIG. 1 is a schematic front view showing one embodiment of the automatic lid mounting device of the present invention. FIG. 2 is a schematic plan view of FIG. 1, and FIG. 3 is a schematic side view. FIG. 4 is an enlarged schematic diagram of section A in FIG. 1. Fifth
The figure is a schematic plan view of FIG. 4. FIG. 6 is a schematic view taken along the Z arrow in FIG. 4. 1: first support member, 2: second support member, 3: movable member, 4: lid attachment mechanism, 5: traveling means, 6,
8: Beam, 7, 9: Guide rail, 10: Frame, 11, 20, 24: Bearing, 12: Rotating roller, 13: Rack, 14: Pinion, 15, 1
8: Drive device, 16: Guide shaft, 17: Screw shaft,
19: Lifting bracket, 21, 25: Axis, 22:
Arm, 23, 32: Air cylinder, 26:
Rotating bracket, 27: Permanent magnet, 28: Electromagnet, 29: Support piece, 30: Impact wrench, 3
1: Holding piece, 33, 35: Spring, 34: Spline shaft, 36: Centering means.

Claims (1)

[Claims] 1. In a lid mounting device in which a lid is gripped by a lid mounting mechanism in a lid preparation chamber, the lid is transported to a lid mounting chamber and mounted on a case, the lid mounting mechanism is movable in a vertical direction at the tip of a movable member. An attached elevating bracket, an arm rotatably mounted horizontally at a position horizontally shifted by a predetermined amount from the center position of the elevating bracket when viewed from above, and an arm rotatable horizontally at the free end of the arm. a pivoting bracket mounted so as to be freely movable; a holding and tightening means for the lid and the tightening band mounted on the pivoting bracket; a V-shaped centering means integrally attached to the pivoting bracket; Press with pressure to rotate horizontally, and press V of centering means.
The automatic apparatus is characterized by comprising a fluid cylinder that stops the rotation of the arm when the reaction force generated when two points of the mold part come into contact with the cylindrical wall part of the filling supply part of the housing and the actuation force match. Lid attachment device.