CN113893695A - Unmanned intelligent assembly line compatible with DTRO (draw texturing yarn) and CDRO (compact disc-read-only separator) membrane columns - Google Patents
Unmanned intelligent assembly line compatible with DTRO (draw texturing yarn) and CDRO (compact disc-read-only separator) membrane columns Download PDFInfo
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- 238000001746 injection moulding Methods 0.000 claims description 12
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 6
- 230000008439 repair process Effects 0.000 claims description 5
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 claims description 3
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- 229910001873 dinitrogen Inorganic materials 0.000 claims description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D63/00—Apparatus in general for separation processes using semi-permeable membranes
- B01D63/06—Tubular membrane modules
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D61/00—Processes of separation using semi-permeable membranes, e.g. dialysis, osmosis or ultrafiltration; Apparatus, accessories or auxiliary operations specially adapted therefor
- B01D61/02—Reverse osmosis; Hyperfiltration ; Nanofiltration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
- B01D—SEPARATION
- B01D63/00—Apparatus in general for separation processes using semi-permeable membranes
- B01D63/02—Hollow fibre modules
- B01D63/021—Manufacturing thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B69/00—Unpacking of articles or materials, not otherwise provided for
- B65B69/0025—Removing or cutting binding material, e.g. straps or bands
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
- B65C9/00—Details of labelling machines or apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G13/00—Roller-ways
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
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Abstract
The invention belongs to the technical field of intelligent assembly production lines, and particularly relates to an unmanned intelligent assembly production line compatible with DTRO (draw-out gear) and CDRO (compact disc) membrane columns, which comprises a whole box feeding area of a diversion disc, a whole box feeding turnover area of the diversion disc, a diversion disc taking detection area, a diversion disc powder conveying area, a clamping ring overlapping area, a membrane column pre-assembly area, a membrane column assembly area, a DTRO membrane column lower line area and a CDRO outer pull rod assembly area; the whole guide disc box feeding area comprises a first six-axis robot, a roller conveying line, an automatic box dismantling machine and a box cover automatic folding machine, a piled guide disc box body is placed behind the roller conveying line, the first six-axis robot automatically selects CDRO (compact disc read-only memory) and DTRO (digital controlled reverse osmosis) box bodies to be dismantled according to production line requirements, the first six-axis robot advances to the automatic box dismantling machine on the roller conveying line, the automatic box dismantling machine cuts open a box body sealing adhesive tape, unfolds a box body cover, transports the box body cover to the box cover automatic folding machine, and presses the box cover close to the side edge of the box body by inserting a U-shaped clamp; the invention has high automation degree, and forms full life cycle management and control such as process monitoring, big data analysis and the like.
Description
Technical Field
The invention belongs to the technical field of intelligent assembly production lines, and particularly relates to an unmanned intelligent assembly production line compatible with a DTRO (draw texturing machine) and a CDRO (compact disc-read-only memory) membrane column.
Background
The DTRO reverse osmosis membrane column is a core component of water pollution treatment equipment, the assembly precision reaches the micron level, the transportation, quality detection, assembly, marking and packaging of parts are completed cooperatively by manpower in the past, the product qualification rate of manual operation is low, the qualification rate is low, and the productivity waste is very serious.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides an unmanned intelligent assembly line compatible with a DTRO (draft gear) and a CDRO (compact disc-read out) membrane column, which comprises a whole box feeding area of a guide disc, a whole box feeding turnover area of the guide disc, a guide disc taking detection area, a guide disc powder conveying area, a pressing ring overlapping area, a membrane column pre-assembly area, a membrane column assembly area, a DTRO membrane column lower line area and a CDRO (compact disc read out) outer pull rod assembly area, wherein the CDRO outer pull rod assembly area comprises a circulation multiple chain conveying system, an outer pull rod lower nut upper line station, an outer pull rod lower nut gasket upper line station, a CDRO lower flange upper line station, a CDRO membrane shell assembly station, a CDRO membrane column outer pull rod assembly station, an outer pull rod insert nut automatic screwing station, a CDRO membrane column automatic labeling station and a CDRO membrane column automatic lower line station.
The whole guide disc box feeding area comprises a first six-axis robot, a roller conveying line, an automatic box dismantling machine and a box cover automatic folding machine, a piled guide disc box body is placed behind the roller conveying line, the first six-axis robot automatically selects CDRO (compact disc read-only memory) and DTRO (digital controlled reverse osmosis) box bodies to be dismantled according to production line requirements, the first six-axis robot advances to the automatic box dismantling machine on the roller conveying line, the automatic box dismantling machine cuts open a box body sealing adhesive tape, unfolds a box body cover, transports the box body cover to the box cover automatic folding machine, and presses the box cover close to the side edge of the box body by inserting a U-shaped clamp; six robots unstack compatible CDRO and DTRO's two kinds of not equidimension box to every buttress can carry out automatic pile up neatly with empty tray after dismantling the completion, two kinds of different boxes of automatic case unpacking machine automatic identification, and the corresponding procedure of automatic selection is unpacked and is opened case.
The whole-box feeding turnover area of the diversion disc comprises a reciprocating type elevator and a roller conveying line, the reciprocating type elevator conveys a box body unfolded in the whole-box feeding area of the diversion disc to a first-floor roller conveying line, the roller conveying line automatically identifies the specification of the box body of the diversion disc and conveys the box body of the diversion disc to a detaching station, the box body of the diversion disc is blocked and positioned close to the edge at the detaching station, a four-axis robot grabs the diversion disc in the box body of the diversion disc and places the diversion disc on a belt conveying line; the four-axis robot snatchs the flow guide plate in the flow guide plate box through the sucking disc, once snatchs threely, and the average beat reaches 1/second, can two kinds of different boxes of automatic identification, and the automatic conveying is to corresponding flow guide plate station of getting.
The flow guide disc taking detection area comprises a four-axis SCARA robot, a belt conveyor line, a visual detection rotary disc and a flow guide disc defect detection belt line, the four-axis SCARA robot sucks a flow guide disc from a flow guide disc box body in a vacuum mode and places the flow guide disc on the belt conveyor line, the belt conveyor line conveys the flow guide disc to the visual detection rotary disc for flow guide disc key size detection, unqualified flow guide discs are removed, and qualified flow guide discs are conveyed to subsequent stations; the four-axis SCARA robot can automatically identify the size of a box body, a front-end clamp of the four-axis SCARA robot can adaptively and variably grab two guide discs with different sizes of CDRO and DTRO, the four-axis SCARA robot has automatic counting and detecting functions, can judge and detect whether the guide discs are completely taken out, and ensures that each box of guide discs are completely taken out without leaving; the visual detection turntable judges whether the guide disc is a CDRO guide disc or a DTRO guide disc by detecting the size of the guide disc, automatically selects a corresponding program to carry out quality detection on the guide disc, ensures that qualified products flow into subsequent procedures, rejects the unqualified products, detects the beat to 1/s, detects the height size of key features on the front side and the back side of the guide disc by adopting a 3D camera, detects the precision to 0.01mm, detects the horizontal size of the key features on the front side and the back side of the guide disc by adopting a 2D camera, and detects the precision to 0.01 mm; and the flow guide disc defect detection belt line is used for carrying out injection molding defect detection and scratch detection on the flow guide disc, and detecting whether the flow guide disc has injection molding defects or not.
The flow guide disc powder conveying area comprises a main line belt conveying line, an edge-approaching roller line, an automatic sorting mechanism, a branch line belt conveying line and a blocking structure, wherein a flow guide disc moves forwards on the main line belt conveying line and passes through the edge-approaching roller line to enable the flow guide disc to be in edge approaching, then the size of the flow guide disc is judged to judge the type of the flow guide disc, according to the requirement condition of the branch line belt conveying line, the automatic sorting mechanism judges whether the flow guide disc is sorted to the corresponding branch line belt conveying line or not, the flow guide disc which does not enter the branch line belt conveying line is conveyed to the tail part of the main line belt conveying line, then the flow guide disc is conveyed to the starting end of the main line belt conveying line through a circulating return belt conveying line, the flow guide disc is blocked by the blocking mechanism, then the flow guide disc is sequentially released to be conveyed to the main line belt conveying line again, and the flow guide disc is automatically sorted to the corresponding branch line belt conveying line. The guiding disc is leaned on the side by the side roller line, the size of the guiding disc is judged through 3 photoelectric switches to determine the type of the guiding disc, one photoelectric switch is used for judging a trigger signal, the size of the other two photoelectric switches is used for judging the size of the guiding disc, the size of the CDRO guiding disc is large, the two photoelectric switches detect the existence of materials, the size of the DTRO guiding disc is small, and only 1 photoelectric switch detects the existence of materials. The automatic sorting mechanism completes sorting actions of the diversion disks through the air cylinder, the air cylinder drives the shifting block to rapidly pop up the diversion disks to kick the branch belt lines, and then the diversion disks are rapidly returned without influencing the passing or sorting of the next diversion disk.
The clamping ring overlapping area comprises a central pull rod, a flow guide disc, an O-shaped sealing ring, a reverse osmosis membrane and an upper flange, 6 groups of stations are arranged totally, each group of stations comprises 2O-shaped ring press-fitting large discs, the flow guide disc and the membrane overlapping equipment, each group of equipment can be compatible with production of DTRO (draw texturing yarn) and CDRO (compact disc-read operation) products, a production line supports mixed production, during production, the work tasks of each group of large discs can be randomly distributed in a master control room, after the production line is started, the flow guide disc, the central pull rod, the membrane and other raw materials can automatically flow into the corresponding stations to be assembled according to the distributed tasks.
The membrane column pre-assembly area comprises a central pull rod automatic line feeding area, a pull rod multiple chain conveying area, a flow guide disc stacking sequence primary inspection area and a flange feeding conveying area, the central pull rod automatic line feeding area comprises a pull rod tray, a roller conveying line, a reciprocating type elevator, a jacking transplanting chain machine and a second six-axis robot, and after being pre-assembled manually, components such as a central pull rod, a water inlet disc and the like are placed on the tray and conveyed to an on-line roller line; the pull rod tray enters the reciprocating type elevator from an upper line roller line and is conveyed to a feeding station of a second six-axis robot, the DTRO pull rod tray and the CDRO pull rod tray are separately arranged, and the roller conveying line can judge the two trays and convey each tray to a corresponding station; the second six-axis robot grabs the corresponding central pull rod according to the requirement of a subsequent production line and places the central pull rod on a tooling plate of the main line; after the pull rod on the pull rod tray is grabbed, the empty tray is conveyed to the upstairs through a reciprocating type elevator; the pull rod speed multiplying chain conveying area comprises double-layer speed multiplying chain conveying lines, CDRO tooling plates, DTRO tooling plates, a return plate elevator, a jacking transplanting roller line, a jacking positioning mechanism and two double-layer speed multiplying chains, empty CDRO tooling plates and DTRO tooling plates are cached in the lower layer of each speed multiplying chain respectively, the return plate elevator lifts the CDRO tooling plates or the DTRO tooling plates to the upper layer of the double-layer speed multiplying chains according to the requirement of a subsequent production line, then the tooling plates are positioned by the jacking positioning mechanism, a second six-axis robot grabs a central pull rod on a pull rod tray and places the central pull rod on the tooling plates, then code sweeping and binding are carried out, a specific batch number is carved on each pull rod, code sweeping binds raw material information of the central pull rod with the tooling plates, and binds the raw material information with a background database. The upper-layer speed multiplying chain conveys the tooling plate with the central pull rod to a corresponding clamping ring overlapping area according to the requirement of a production line, the DTRO tooling plate is a physical carrier, and is also an information carrier, each tooling plate is provided with a specific label, and the product information on the DTRO tooling plate is connected and bound with the background database through the specific label. The initial inspection area for the stacking sequence of the flow guide disc comprises a 2D vision detection system, a camera lifting mechanism, a film column clamping and holding positioning mechanism, a film column jacking positioning mechanism and a first scanning gun, a film column produced in the upper process is conveyed to the station by a speed multiplication chain, the film column jacking positioning mechanism is used for jacking and positioning, then the film column clamping and holding positioning mechanism is used for clamping and holding the film column to perform vertical direction positioning of the film column, the first scanning gun is used for scanning a two-dimensional code on a tooling plate, whether the product model on the tooling plate is a CDRO film column or a DTRO film column is identified, and the vision detection system is informed to select a corresponding detection program, then the camera lifting mechanism drives the 2D detection camera, and whether the stacking sequence of the flow guide disc is correct or not is judged by continuous photographing. The flange material loading conveying area comprises a third six-axis robot, an upper flange main line belt conveying line, a sorting structure, an upper flange main line belt conveying line, an upper flange positioning roller line, according to the requirement of a front end pressing ring stacking station, the third six-axis robot takes 1 CDRO upper flange or DTRO upper flange from an upper flange tray, the upper flange is placed on the corresponding upper flange main line belt conveying line, the upper flange main line belt conveying line conveys the upper flange of a membrane column, a sorting mechanism carries out sorting of the upper flange according to the requirement of the pressing ring stacking station, the upper flange moves forwards to the position of the flange positioning roller line on the upper flange main line belt conveying line after sorting is completed, and positioning is blocked by a V-shaped block.
The membrane column assembly area comprises a central pull rod nut automatic tightening area, a membrane column assembly vision final inspection area, a bad repair area and an automatic membrane sheathing area, the central pull rod nut automatic tightening area comprises a membrane column clamping and centering mechanism, a membrane column upper flange pressing mechanism, a fourth six-axis robot, a nut secondary positioning mechanism and a nut automatic dismounting device, after the membrane column is in place, the second scanning gun automatically scans the tooling plate to identify the model of the membrane column, the membrane column clamping and centering mechanism clamps the membrane column, the membrane column upper flange pressing mechanism presses the upper flange tightly to enable the central pull rod to leak out, the fourth six-axis robot automatically grabs corresponding nuts, gaskets and the like according to the model of the membrane column and places the nuts or gaskets on the secondary positioning device for accurate positioning, then the six robots of fourth number snatch gasket and nut again, overlap the gasket on membrane post center pull rod earlier, and the nut is automatic to be recognized the head and is twisted on membrane post center pull rod again. Then the membrane column enters a nut screwing station, the nut screwing station automatically screws the nut, and the screwing torque error value is controlled within 1%; for the condition that the nut head can not be screwed on the central pull rod due to the self quality of the nut, the manipulator can judge according to the program, then the torque gun carries the nut to the nut dismounting mechanism, the unqualified nut is dismounted, and then a new nut is automatically grabbed and screwed on the central pull rod; the pre-tightening and tightening torque values of the nut and the torque curve in the tightening process are stored in a background database through a tooling plate. The film column assembly vision final inspection area comprises a 2D vision inspection system and a camera gantry lifting mechanism, a film column after a nut is screwed enters the film column assembly vision final inspection area, a second scanning gun scans a two-dimensional code on a tooling plate to identify the type of the film column, the gantry lifting machine selects a corresponding program according to the type of the film column and drives the camera to automatically descend by a corresponding height, then the central pull rod is clamped firstly to position the film column, and then the camera continues to descend and returns to perform vision inspection; the vision detection system comprises 4 2D cameras, an AI intelligent algorithm is adopted, and the detection target is as follows: the final inspection of the stacking sequence and dislocation prevents the stacking dislocation phenomenon in the process of screwing the nut, and the stacking sequence is rechecked and protected doubly; secondly, detecting injection molding defects and scratches on the side surface of the diversion disc, detecting 360-degree no dead angle on the circumferential surface of the diversion disc, and judging whether the diversion disc has the injection molding defects and scratches; and thirdly, detecting whether the membrane in the stacking process deviates and exposes, wherein the detection precision reaches 0.1mm x 0.1 mm. And final inspection is carried out on the membrane column product, the offline qualification rate of the product is ensured to reach 99.99%, all detection data are stored in a background database, and the data can be traced. The bad repair area comprises a speed chain conveying line and an inlet roller line and an outlet roller line, the stacking sequence of the diversion disks is wrong, the diversion disks are stacked and staggered, the membranes are deviated, the diversion disks have injection molding defects, nuts are not screwed, the deviation of the screwing values of the nuts is too large, and other bad membrane columns enter the area; and after the production line stops working and is manually repaired, returning to the main line body for subsequent processes.
The DTRO membrane column unloading area comprises an automatic membrane casing sleeving station, an automatic labeling station and a finished product automatic unloading station, wherein the automatic membrane casing sleeving station comprises a fifth six-axis robot and a clamp, a membrane casing tray roller conveying line, a tray automatic positioning mechanism, a tray lifting transplanting chain conveyor, a membrane column automatic clamping mechanism and a lifting positioning mechanism; the qualified membrane column enters a station, a jacking positioning mechanism jacks a tooling plate for positioning, a membrane column clamping and positioning mechanism clamps the membrane column for vertical positioning, a fifth six-axis robot drives a clamp to grab the DTRO membrane shell from a positioned membrane shell tray, and then the membrane shell is sleeved on the membrane column; the automatic labeling station comprises a jacking positioning mechanism, an automatic printer and an automatic labeling machine, after the qualified membrane column enters the station, the jacking positioning mechanism jacks a tooling plate for positioning, a third scanning gun scans the tooling plate to obtain production information of the membrane column, the production information comprises production batches of raw materials, production stations, time and the like of the production line, the production information is processed by a server to generate two-dimensional code information, the server informs the automatic printer, the automatic printer automatically prints the two-dimensional code on label paper, and the automatic labeling machine automatically pastes the label on a membrane shell; the automatic station of coming off production line includes six robots and anchor clamps No. six, the leakproofness detects the machine, the membrane post that the cover membrane shell got into this station, six robots No. six snatch the membrane post and place on the leakproofness detection mechanism, the delivery port of membrane post is blocked up to the leakproofness detection mechanism, then fill nitrogen gas to the water inlet, then after pressurize a period, detect the pressure drop and judge whether the leakproofness is good, then the robot is placed the finished product on the off production line tray with the certified products, the certified products is placed on the certified products tray.
Has the advantages that: the invention is an intelligent production line, has high automation degree, reliable structure and stable performance, reduces the occurrence probability of production accidents, improves the productivity by 10 times compared with the manual assembly mode common in the industry, reduces the labor by 98 percent, reduces the cost by nearly 50 percent, achieves the qualification rate of 99.99 percent, solves the problems of large-scale production, standardization and transportation of products, realizes data management of materials, plans, production, equipment, purchasing, storage, logistics and the like, and forms the whole life cycle management and control of production control, process monitoring, product tracing, big data analysis and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic view of a structure of a flow guide disc pickup detection area according to the present invention;
FIG. 3 is a schematic view of the powder conveying area of the flow guide plate according to the present invention;
FIG. 4 is a schematic structural view of a clamping ring stacking area according to the present invention;
as shown in the figure: an edge roller line 1, a return plate elevator 2, a jacking transplanting roller line 3 and a film column clamping and righting mechanism 4.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
An unmanned intelligent assembly line compatible with DTRO and CDRO membrane columns comprises a whole guide disc box feeding area, a whole guide disc box feeding turnover area, a guide disc taking detection area, a guide disc powder conveying area, a pressing ring overlapping area, a membrane column preassembly area, a membrane column assembly area, a DTRO membrane column lower line area and a CDRO outer pull rod assembly area, wherein the CDRO outer pull rod assembly area comprises a circulation multiple chain conveying system, an outer pull rod lower nut upper line station, an outer pull rod lower nut gasket upper line station, a CDRO lower flange upper line station, a CDRO membrane shell assembly station, a CDRO membrane column insert core assembly station, a CDRO membrane column outer pull rod assembly station, an outer pull rod nut automatic screwing station, a CDRO membrane column labeling automatic station and a CDRO membrane column automatic lower line station.
The whole guide disc box feeding area comprises a first six-axis robot, a roller conveying line, an automatic box dismantling machine and a box cover automatic folding machine, a piled guide disc box body is placed behind the roller conveying line, the first six-axis robot automatically selects CDRO (compact disc read-only memory) and DTRO (digital controlled reverse osmosis) box bodies to be dismantled according to production line requirements, the first six-axis robot advances to the automatic box dismantling machine on the roller conveying line, the automatic box dismantling machine cuts open a box body sealing adhesive tape, unfolds a box body cover, transports the box body cover to the box cover automatic folding machine, and presses the box cover close to the side edge of the box body by inserting a U-shaped clamp; six robots unstack compatible CDRO and DTRO's two kinds of not equidimension box to every buttress can carry out automatic pile up neatly with empty tray after dismantling the completion, two kinds of different boxes of automatic case unpacking machine automatic identification, and the corresponding procedure of automatic selection is unpacked and is opened case.
The whole-box feeding turnover area of the diversion disc comprises a reciprocating type elevator and a roller conveying line, the reciprocating type elevator conveys a box body unfolded in the whole-box feeding area of the diversion disc to a first-floor roller conveying line, the roller conveying line automatically identifies the specification of the box body of the diversion disc and conveys the box body of the diversion disc to a detaching station, the box body of the diversion disc is blocked and positioned close to the edge at the detaching station, a four-axis robot grabs the diversion disc in the box body of the diversion disc and places the diversion disc on a belt conveying line; the four-axis robot snatchs the flow guide plate in the flow guide plate box through the sucking disc, once snatchs threely, and the average beat reaches 1/second, can two kinds of different boxes of automatic identification, and the automatic conveying is to corresponding flow guide plate station of getting.
The flow guide disc taking detection area comprises a four-axis SCARA robot, a belt conveyor line, a visual detection rotary disc and a flow guide disc defect detection belt line, the four-axis SCARA robot sucks a flow guide disc from a flow guide disc box body in a vacuum mode and places the flow guide disc on the belt conveyor line, the belt conveyor line conveys the flow guide disc to the visual detection rotary disc for flow guide disc key size detection, unqualified flow guide discs are removed, and qualified flow guide discs are conveyed to subsequent stations; the four-axis SCARA robot can automatically identify the size of a box body, a front-end clamp of the four-axis SCARA robot can adaptively and variably grab two guide discs with different sizes of CDRO and DTRO, the four-axis SCARA robot has automatic counting and detecting functions, can judge and detect whether the guide discs are completely taken out, and ensures that each box of guide discs are completely taken out without leaving; the visual detection turntable judges whether the guide disc is a CDRO guide disc or a DTRO guide disc by detecting the size of the guide disc, automatically selects a corresponding program to carry out quality detection on the guide disc, ensures that qualified products flow into subsequent procedures, rejects the unqualified products, detects the beat to 1/s, detects the height size of key features on the front side and the back side of the guide disc by adopting a 3D camera, detects the precision to 0.01mm, detects the horizontal size of the key features on the front side and the back side of the guide disc by adopting a 2D camera, and detects the precision to 0.01 mm; and the flow guide disc defect detection belt line is used for carrying out injection molding defect detection and scratch detection on the flow guide disc, and detecting whether the flow guide disc has injection molding defects or not.
The flow guide disc powder conveying area comprises a main line belt conveying line, an edge-approaching roller line 1, an automatic sorting mechanism, a branch line belt conveying line and a blocking structure, wherein a flow guide disc moves forwards on the main line belt conveying line and passes through the edge-approaching roller line 1 to enable the flow guide disc to be in edge approaching, then the size of the flow guide disc is judged to judge the type of the flow guide disc, according to the requirement condition of the branch line belt conveying line, the automatic sorting mechanism judges whether the flow guide disc is sorted to the corresponding branch line belt conveying line, the flow guide disc which does not enter the branch line belt conveying line is conveyed to the tail part of the main line belt conveying line, then the flow guide disc is conveyed to the starting end of the main line belt conveying line through a circulating return belt conveying line, the flow guide disc is blocked by the blocking mechanism, then the flow guide disc is sequentially released to be conveyed to the main line belt conveying line again, and the flow guide disc is automatically sorted to the corresponding branch line belt conveying line. The guide plate is leaned on the edge by the edge-leaning roller line 1, the size of the guide plate is judged through 3 photoelectric switches to determine the model of the guide plate, one photoelectric switch is used for judging a trigger signal, the other two photoelectric switches are used for judging the size of the guide plate, the size of the CDRO guide plate is larger, the two photoelectric switches are used for detecting the material, the size of the DTRO guide plate is smaller, and only 1 photoelectric switch is used for detecting the material. The automatic sorting mechanism completes sorting actions of the diversion disks through the air cylinder, the air cylinder drives the shifting block to rapidly pop up the diversion disks to kick the branch belt lines, and then the diversion disks are rapidly returned without influencing the passing or sorting of the next diversion disk.
The clamping ring overlapping area comprises a central pull rod, a flow guide disc, an O-shaped sealing ring, a reverse osmosis membrane and an upper flange, 6 groups of stations are arranged totally, each group of stations comprises 2O-shaped ring press-fitting large discs, the flow guide disc and the membrane overlapping equipment, each group of equipment can be compatible with production of DTRO (draw texturing yarn) and CDRO (compact disc-read operation) products, a production line supports mixed production, during production, the work tasks of each group of large discs can be randomly distributed in a master control room, after the production line is started, the flow guide disc, the central pull rod, the membrane and other raw materials can automatically flow into the corresponding stations to be assembled according to the distributed tasks.
The membrane column pre-assembly area comprises a central pull rod automatic line feeding area, a pull rod multiple chain conveying area, a flow guide disc stacking sequence primary inspection area and a flange feeding conveying area, the central pull rod automatic line feeding area comprises a pull rod tray, a roller conveying line, a reciprocating type elevator, a jacking transplanting chain machine and a second six-axis robot, and after being pre-assembled manually, components such as a central pull rod, a water inlet disc and the like are placed on the tray and conveyed to an on-line roller line; the pull rod tray enters the reciprocating type elevator from an upper line roller line and is conveyed to a feeding station of a second six-axis robot, the DTRO pull rod tray and the CDRO pull rod tray are separately arranged, and the roller conveying line can judge the two trays and convey each tray to a corresponding station; the second six-axis robot grabs the corresponding central pull rod according to the requirement of a subsequent production line and places the central pull rod on a tooling plate of the main line; after the pull rod on the pull rod tray is grabbed, the empty tray is conveyed to the upstairs through a reciprocating type elevator; the pull rod speed-multiplying chain conveying area comprises double-layer speed-multiplying chain conveying lines, CDRO tooling plates, DTRO tooling plates, a return plate elevator 2, a jacking transplanting roller line 3, a jacking positioning mechanism and two double-layer speed-multiplying chains, empty CDRO tooling plates and DTRO tooling plates are cached in the lower layer of each speed-multiplying chain respectively, the CDRO tooling plates or the DTRO tooling plates are lifted to the upper layer of the double-layer speed-multiplying chains by the return plate elevator 2 according to the requirements of a subsequent production line, then the tooling plates are positioned by the jacking positioning mechanism, a second six-axis robot grabs a central pull rod on a pull rod tray and places the central pull rod on the tooling plates, then code sweeping and binding are carried out, specific batch numbers are carved on each pull rod, and code sweeping binds raw material information of the central pull rod with the tooling plates and binds with a background database. The upper-layer speed multiplying chain conveys the tooling plate with the central pull rod to a corresponding clamping ring overlapping area according to the requirement of a production line, the DTRO tooling plate is a physical carrier, and is also an information carrier, each tooling plate is provided with a specific label, and the product information on the DTRO tooling plate is connected and bound with the background database through the specific label. The initial inspection area for the stacking sequence of the flow guide disc comprises a 2D vision detection system, a camera lifting mechanism, a film column clamping and holding positioning mechanism, a film column jacking positioning mechanism and a first scanning gun, a film column produced in the upper process is conveyed to the station by a speed multiplication chain, the film column jacking positioning mechanism is used for jacking and positioning, then the film column clamping and holding positioning mechanism is used for clamping and holding the film column to perform vertical direction positioning of the film column, the first scanning gun is used for scanning a two-dimensional code on a tooling plate, whether the product model on the tooling plate is a CDRO film column or a DTRO film column is identified, and the vision detection system is informed to select a corresponding detection program, then the camera lifting mechanism drives the 2D detection camera, and whether the stacking sequence of the flow guide disc is correct or not is judged by continuous photographing. The flange material loading conveying area comprises a third six-axis robot, an upper flange main line belt conveying line, a sorting structure, an upper flange main line belt conveying line, an upper flange positioning roller line, according to the requirement of a front end pressing ring stacking station, the third six-axis robot takes 1 CDRO upper flange or DTRO upper flange from an upper flange tray, the upper flange is placed on the corresponding upper flange main line belt conveying line, the upper flange main line belt conveying line conveys the upper flange of a membrane column, a sorting mechanism carries out sorting of the upper flange according to the requirement of the pressing ring stacking station, the upper flange moves forwards to the position of the flange positioning roller line on the upper flange main line belt conveying line after sorting is completed, and positioning is blocked by a V-shaped block.
The membrane column assembly area comprises a central pull rod nut automatic tightening area, a membrane column assembly vision final inspection area, a bad repair area and an automatic membrane sheathing area, the central pull rod nut automatic tightening area comprises a membrane column clamping and centering mechanism 4, a membrane column upper flange pressing mechanism, a fourth six-axis robot, a nut secondary positioning mechanism and a nut automatic dismounting device, after the membrane column is in place, the second scanning gun automatically scans the tooling plate to identify the model of the membrane column, the membrane column clamping and centering mechanism 4 clamps the membrane column, the membrane column upper flange pressing mechanism presses the upper flange tightly to enable the central pull rod to leak out, the fourth six-axis robot automatically grabs corresponding nuts, gaskets and the like according to the model of the membrane column and places the nuts or gaskets on the secondary positioning device for accurate positioning, then the six robots of fourth number snatch gasket and nut again, overlap the gasket on membrane post center pull rod earlier, and the nut is automatic to be recognized the head and is twisted on membrane post center pull rod again. Then the membrane column enters a nut screwing station, the nut screwing station automatically screws the nut, and the screwing torque error value is controlled within 1%; for the condition that the nut head can not be screwed on the central pull rod due to the self quality of the nut, the manipulator can judge according to the program, then the torque gun carries the nut to the nut dismounting mechanism, the unqualified nut is dismounted, and then a new nut is automatically grabbed and screwed on the central pull rod; the pre-tightening and tightening torque values of the nut and the torque curve in the tightening process are stored in a background database through a tooling plate. The film column assembly vision final inspection area comprises a 2D vision inspection system and a camera gantry lifting mechanism, a film column after a nut is screwed enters the film column assembly vision final inspection area, a second scanning gun scans a two-dimensional code on a tooling plate to identify the type of the film column, the gantry lifting machine selects a corresponding program according to the type of the film column and drives the camera to automatically descend by a corresponding height, then the central pull rod is clamped firstly to position the film column, and then the camera continues to descend and returns to perform vision inspection; the vision detection system comprises 4 2D cameras, an AI intelligent algorithm is adopted, and the detection target is as follows: the final inspection of the stacking sequence and dislocation prevents the stacking dislocation phenomenon in the process of screwing the nut, and the stacking sequence is rechecked and protected doubly; secondly, detecting injection molding defects and scratches on the side surface of the diversion disc, detecting 360-degree no dead angle on the circumferential surface of the diversion disc, and judging whether the diversion disc has the injection molding defects and scratches; and thirdly, detecting whether the membrane in the stacking process deviates and exposes, wherein the detection precision reaches 0.1mm x 0.1 mm. And final inspection is carried out on the membrane column product, the offline qualification rate of the product is ensured to reach 99.99%, all detection data are stored in a background database, and the data can be traced. The bad repair area comprises a speed chain conveying line and an inlet roller line and an outlet roller line, the stacking sequence of the diversion disks is wrong, the diversion disks are stacked and staggered, the membranes are deviated, the diversion disks have injection molding defects, nuts are not screwed, the deviation of the screwing values of the nuts is too large, and other bad membrane columns enter the area; and after the production line stops working and is manually repaired, returning to the main line body for subsequent processes.
The DTRO membrane column unloading area comprises an automatic membrane casing sleeving station, an automatic labeling station and a finished product automatic unloading station, wherein the automatic membrane casing sleeving station comprises a fifth six-axis robot and a clamp, a membrane casing tray roller conveying line, a tray automatic positioning mechanism, a tray lifting transplanting chain conveyor, a membrane column automatic clamping mechanism and a lifting positioning mechanism; the qualified membrane column enters a station, a jacking positioning mechanism jacks a tooling plate for positioning, a membrane column clamping and positioning mechanism clamps the membrane column for vertical positioning, a fifth six-axis robot drives a clamp to grab the DTRO membrane shell from a positioned membrane shell tray, and then the membrane shell is sleeved on the membrane column; the automatic labeling station comprises a jacking positioning mechanism, an automatic printer and an automatic labeling machine, after the qualified membrane column enters the station, the jacking positioning mechanism jacks a tooling plate for positioning, a third scanning gun scans the tooling plate to obtain production information of the membrane column, the production information comprises production batches of raw materials, production stations, time and the like of the production line, the production information is processed by a server to generate two-dimensional code information, the server informs the automatic printer, the automatic printer automatically prints the two-dimensional code on label paper, and the automatic labeling machine automatically pastes the label on a membrane shell; the automatic station of coming off production line includes six robots and anchor clamps No. six, the leakproofness detects the machine, the membrane post that the cover membrane shell got into this station, six robots No. six snatch the membrane post and place on the leakproofness detection mechanism, the delivery port of membrane post is blocked up to the leakproofness detection mechanism, then fill nitrogen gas to the water inlet, then after pressurize a period, detect the pressure drop and judge whether the leakproofness is good, then the robot is placed the finished product on the off production line tray with the certified products, the certified products is placed on the certified products tray.
When an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on or indirectly connected to the other element, or when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.
The terms of orientation such as left, right, up, down, etc. in the present embodiment are only relative concepts or reference to the normal use state of the product, and should not be considered as limiting.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides a compatible DTRO and CDRO membrane column's unmanned intelligent assembly line which characterized in that: the device comprises a whole box feeding area of a diversion disc, a whole box feeding turnover area of the diversion disc, a diversion disc taking detection area, a diversion disc powder conveying area, a pressing ring overlapping area, a membrane column preassembly area, a membrane column assembly area, a DTRO membrane column offline area and a CDRO outer pull rod assembly area; the full-box feeding area of the diversion disc comprises a first six-axis robot, a roller conveying line, an automatic box dismantling machine and a box cover automatic folding machine, wherein a piled diversion disc box body is placed behind the roller conveying line, the first six-axis robot automatically selects CDRO (compact disc read-Only memory) and DTRO (digital data processing RO) box body to be dismantled according to production line requirements, the CDRO box body is moved to the automatic box dismantling machine on the roller conveying line, the automatic box dismantling machine cuts open a box body sealing adhesive tape, unfolds a box body cover, transports the box body cover to the box cover automatic folding machine, and presses the box cover close to the side edge of the box body by inserting a U-shaped clamp; the first six-axis robot unstacking is compatible with two boxes of CDRO and DTRO with different sizes, and after each stack is disassembled, an empty tray can be automatically stacked, the automatic box unpacking machine automatically identifies the two different boxes, and automatically selects a corresponding program to unpack and display the boxes;
the whole case material loading turnover district of flow guide disc includes reciprocating type lifting machine and cylinder transfer chain, reciprocating type lifting machine transports the box that the whole case material loading district of flow guide disc expandes to first floor cylinder transfer chain, cylinder transfer chain automatic identification flow guide disc box specification to carry the flow guide disc box to the stripping station, stop and lean on the limit location to the flow guide disc box at the stripping station, four-axis robot snatchs the flow guide disc in the flow guide disc box, and places the flow guide disc on the belt conveyer line.
2. The unmanned intelligent assembly line of claim 1, compatible with DTRO and CDRO membrane columns, comprising: the flow guide disc taking detection area comprises a four-axis SCARA robot, a belt conveyor line, a visual detection rotary disc and a flow guide disc defect detection belt line, the four-axis SCARA robot sucks a flow guide disc from a flow guide disc box body in a vacuum mode and places the flow guide disc on the belt conveyor line, the belt conveyor line conveys the flow guide disc to the visual detection rotary disc for flow guide disc key size detection, unqualified flow guide discs are removed, and qualified flow guide discs are conveyed to subsequent stations; the four-axis SCARA robot automatically identifies the size of a box body, a front-end clamp of the four-axis SCARA robot can adaptively and variably grab two guide discs with different sizes of CDRO and DTRO, the four-axis SCARA robot has automatic counting and detecting functions, can judge and detect whether the guide discs are completely taken out, and ensures that each box of guide discs are completely taken out; the visual detection turntable judges whether the guide disc is a CDRO guide disc or a DTRO guide disc by detecting the size of the guide disc, automatically selects a corresponding program to carry out quality detection on the guide disc, ensures that qualified products flow into subsequent procedures, rejects the unqualified products, detects the beat to 1/s, detects the height size of key features on the front side and the back side of the guide disc by adopting a 3D camera, detects the precision to 0.01mm, detects the horizontal size of the key features on the front side and the back side of the guide disc by adopting a 2D camera, and detects the precision to 0.01 mm; the guide disc defect detection belt line is used for carrying out injection molding defect detection and scratch detection on the guide disc, and detecting whether the guide disc has injection molding defects or not.
3. The unmanned intelligent assembly line of claim 1, compatible with DTRO and CDRO membrane columns, comprising: the flow guide disc powder conveying area comprises a main line belt conveying line, an edge-approaching roller line, an automatic sorting mechanism, a branch line belt conveying line and a blocking structure, wherein the flow guide disc moves forwards on the main line belt conveying line, the flow guide disc is enabled to approach the edge through the edge-approaching roller line, then the type of the flow guide disc is judged by judging the size of the flow guide disc, according to the requirement condition of the branch line belt conveying line, the automatic sorting mechanism judges whether the flow guide disc is sorted to the corresponding branch line belt conveying line, the flow guide disc which does not enter the branch line belt conveying line is conveyed to the tail part of the main line belt conveying line, then the flow guide disc is conveyed to the initial end of the main line belt conveying line through a circulating return belt conveying line, the flow guide disc is blocked through the blocking mechanism, then the flow guide disc is sequentially released to be conveyed to the main line belt conveying line again, and the flow guide disc is automatically sorted to the corresponding branch line belt conveying line; the guide disc is abutted by the abutting roller line, the size of the guide disc is judged through 3 photoelectric switches to determine the type of the guide disc, one photoelectric switch is used for judging a trigger signal, the other two photoelectric switches are used for judging the size of the guide disc, the size of a CDRO guide disc is larger, the two photoelectric switches detect the existence of materials, the size of a DTRO guide disc is smaller, and only 1 photoelectric switch detects the existence of materials; the automatic sorting mechanism completes sorting actions of the diversion disks through the air cylinder, the air cylinder drives the shifting block to rapidly pop up the diversion disks to kick the branch belt lines, and then the diversion disks are rapidly returned without influencing the passing or sorting of the next diversion disk.
4. The unmanned intelligent assembly line of claim 1, compatible with DTRO and CDRO membrane columns, comprising: the clamping ring overlapping area comprises a central pull rod, a guide disc, an O-shaped sealing ring, a reverse osmosis membrane and an upper flange, 6 groups of stations are arranged, each group of stations comprises 2O-shaped ring press-fitting large discs, the guide disc and the membrane overlapping equipment, each group of equipment can be compatible with production of DTRO (draw texturing yarn) and CDRO (compact disc-read-only memory) products, a production line supports mixed production, during line opening, the work tasks of each group of large discs can be randomly distributed in a master control room, after the production line is started, the guide disc, the central pull rod and the membrane raw materials can automatically flow into the corresponding stations to be assembled according to the distributed tasks.
5. The unmanned intelligent assembly line of claim 1, compatible with DTRO and CDRO membrane columns, comprising: the membrane column pre-assembly area comprises a central pull rod automatic line-loading area, a pull rod multiple chain conveying area, a flow guide disc stacking sequence primary inspection area and a flange feeding conveying area, the central pull rod automatic line-loading area comprises a pull rod tray, a roller conveying line, a reciprocating type elevator, a jacking transplanting chain machine and a second six-axis robot, and components such as a central pull rod, a water inlet disc and the like are pre-assembled in advance manually, placed on the tray and conveyed to an on-line roller line; the pull rod tray enters the reciprocating type elevator from an upper line roller line and is conveyed to a feeding station of a second six-axis robot, the DTRO pull rod tray and the CDRO pull rod tray are separately arranged, and the roller conveying line can judge the two trays and convey each tray to a corresponding station; the second six-axis robot grabs the corresponding central pull rod according to the requirement of a subsequent production line and places the central pull rod on a tooling plate of the main line; after the pull rod on the pull rod tray is grabbed, the empty tray is conveyed to the upstairs through a reciprocating type elevator; the pull rod speed-multiplying chain conveying area comprises a double-layer speed-multiplying chain conveying line, a CDRO tooling plate, a DTRO tooling plate, a return plate elevator, a jacking transplanting roller line, a jacking positioning mechanism and two double-layer speed-multiplying chains, empty CDRO tooling plates and empty DTRO tooling plates are respectively cached at the lower layer of each speed-multiplying chain, the return plate elevator lifts the CDRO tooling plates or the DTRO tooling plates to the upper layer of the double-layer speed-multiplying chains according to the requirements of a subsequent production line, then the tooling plates are positioned by the jacking positioning mechanism, a central pull rod on a pull rod tray is placed on the tooling plates by the second six-axis robot, then code scanning and binding are carried out, a specific batch number is carved on each pull rod, and the code scanning binds the raw material information of the central pull rod with the tooling plates and a background database; the upper-layer speed multiplying chain conveys the tooling plates with the central pull rods to corresponding clamping ring overlapping areas according to production line requirements, each tooling plate is provided with a label, and product information on each tooling plate is connected and bound with the background database through the label; the flow guide disc stacking sequence initial inspection area comprises a 2D vision detection system, a camera lifting mechanism, a film column clamping and positioning mechanism, a film column jacking and positioning mechanism and a first scanning gun, a film column produced in the previous process is conveyed to the station by a double-speed chain, the film column jacking and positioning mechanism is used for jacking and positioning, then the film column clamping and positioning mechanism clamps the film column for positioning in the vertical direction of the film column, the first scanning gun is used for scanning a two-dimensional code on a tooling plate, identifying whether the product model on the tooling plate is a CDRO film column or a DTRO film column, informing the vision detection system to select a corresponding detection program, and then the camera lifting mechanism drives the 2D detection camera to continuously shoot to judge whether the flow guide disc stacking sequence is correct; the flange material loading conveying area comprises a third six-axis robot, an upper flange main line belt conveying line, a sorting structure, an upper flange branch line belt conveying line and an upper flange positioning roller line, 1 CDRO upper flange or DTRO upper flange is taken by the third six-axis robot from an upper flange tray and is placed on the corresponding upper flange main line belt conveying line according to the requirement of a front end pressing ring stacking station, the upper flange main line belt conveying line conveys a membrane column upper flange, the sorting mechanism sorts the upper flange according to the requirement of the pressing ring stacking station, and the upper flange moves forwards to the position of the flange positioning roller line on the upper flange branch line belt line after sorting is completed and is blocked and positioned by a V-shaped block.
6. The unmanned intelligent assembly line of claim 1, compatible with DTRO and CDRO membrane columns, comprising: the membrane column assembly area comprises a central pull rod nut automatic tightening area, a membrane column assembly vision final inspection area, a bad repair area and an automatic membrane sheathing area, the central pull rod nut automatic tightening area comprises a film column clamping and centering mechanism, a film column upper flange pressing mechanism, a fourth six-axis robot, a nut secondary positioning mechanism and a nut automatic dismounting device, after the film column is in place, the second scanning gun automatically scans the tooling plate to identify the model of the film column, the membrane column clamping and centering mechanism clamps the membrane column, the membrane column upper flange pressing mechanism presses the upper flange tightly to enable the central pull rod to leak out, the fourth six-axis robot automatically grabs corresponding nuts and gaskets according to the model of the membrane column and places the nuts or gaskets on the secondary positioning device for accurate positioning, then a fourth six-axis robot grabs the gasket and the nut, firstly sleeves the gasket on the central pull rod of the membrane column, and then automatically screws the nut on the central pull rod of the membrane column; then the membrane column enters a nut screwing station, and the nut screwing station automatically screws the nut; for the condition that the nut head can not be screwed on the central pull rod due to the self quality of the nut, the manipulator can judge according to the program, then the torque gun carries the nut to the nut dismounting mechanism, the unqualified nut is dismounted, and then a new nut is automatically grabbed and screwed on the central pull rod; the pre-screwing and screwing torque values of the nut and the torque curve in the screwing process are stored in a background database through a tooling plate; the film column assembly vision final inspection area comprises a 2D vision inspection system and a camera gantry lifting mechanism, a film column after a nut is screwed enters the film column assembly vision final inspection area, a second scanning gun scans a two-dimensional code on a tooling plate to identify the type of the film column, the gantry lifting machine selects a corresponding program according to the type of the film column and drives the camera to automatically descend by a corresponding height, then the central pull rod is clamped firstly to position the film column, and then the camera continues to descend and returns to perform vision inspection; the vision inspection system comprises 4 2D cameras and adopts an AI intelligent algorithm.
7. The unmanned intelligent assembly line of claim 1, compatible with DTRO and CDRO membrane columns, comprising: the DTRO membrane column unloading area comprises an automatic membrane casing sleeving station, an automatic labeling station and a finished product automatic unloading station, wherein the automatic membrane casing sleeving station comprises a number five six-axis robot and a clamp, a membrane casing tray roller conveying line, a tray automatic positioning mechanism, a tray lifting transplanting chain conveyor, a membrane column automatic clamping mechanism and a lifting positioning mechanism; the qualified membrane column enters a station, a jacking positioning mechanism jacks a tooling plate for positioning, a membrane column clamping and positioning mechanism clamps the membrane column for vertical positioning, a fifth six-axis robot drives a clamp to grab the DTRO membrane shell from a positioned membrane shell tray, and then the membrane shell is sleeved on the membrane column; the automatic labeling station comprises a jacking positioning mechanism, an automatic printer and an automatic labeling machine, after the qualified membrane column enters the station, the jacking positioning mechanism jacks a tooling plate for positioning, a third scanning gun scans the tooling plate to obtain production information of the membrane column, including production batches of raw materials, production stations, time and other information of the production line, and the production information is processed by a server to generate two-dimensional code information to inform the automatic printer, the automatic printer automatically prints the two-dimensional code on label paper, and the automatic labeling machine automatically sticks to a membrane shell; the automatic station of coming off production line includes six robots and anchor clamps six, and the leakproofness detects the machine, and the membrane post that the cover membrane shell got into this station, and six robots are grabbed the membrane post and are placed on the leakproofness detection mechanism six, and the delivery port of membrane post is blocked up to the leakproofness detection mechanism, then fills nitrogen gas to the water inlet, then after pressurize a period, detects the pressure drop and judges whether the leakproofness is good, then the robot is placed the finished product tray of going off production line with the certified products on, the defective products is placed on the defective products tray.
8. The unmanned intelligent assembly line of claim 1, compatible with DTRO and CDRO membrane columns, comprising: the four-axis robot snatchs the flow guide plate in the flow guide plate box through the sucking disc, once snatchs threely, and the average beat reaches 1/second, can two kinds of different boxes of automatic identification, and the automatic conveying is to corresponding flow guide plate station of getting.
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