CN116222413A - Detection device for sheet filter element - Google Patents

Abstract

The application relates to the technical field of filter element detection and discloses a detection device for a sheet filter element, which comprises a fixed platform, wherein a filter element placing table is arranged on the fixed platform; configured to receive a sheet cartridge; the detection platform is arranged on the fixed platform; the detection platform comprises a transmission module and an image acquisition module; the transmission module comprises a transmission table, the transmission table is configured to be switched between a first position far away from the image acquisition module and a second position close to the image acquisition module; the image acquisition module is configured to detect the sheet filter element positioned on the conveying table at the second position; the mechanical arm is arranged on the fixed platform; a sheet filter element configured to be placed on the filter element placement stage on the transfer stage at a first position; alternatively, the sheet cartridge on the transfer table in the first position is placed on the cartridge placement table. The etching depth and the outer diameter can be accurately detected, and the surface of the filter element can be prevented from being damaged, so that the qualification rate of the filter element is improved.

Description

Detection device for sheet filter element

Technical Field

The application relates to the technical field of filter element detection, for example, to a detection device for a sheet filter element.

Background

At present, in a satellite propulsion system, the cleanliness requirement of a propulsion unit is very harsh, and due to long-time in-orbit operation of a satellite, blockage of redundancy or other pollutants can occur, and an engine of the propulsion unit cannot be ignited, so that the satellite cannot operate in space. Thus, the oil entering the propulsion unit needs to be filtered through the filter device. Wherein, a filter element is arranged in the filter device, and foreign matters contained in the oil are removed through the filter element.

In the related art filter element structure, a metal sheet structure is adopted, grains with a certain depth are etched on the metal sheet, and oil is filtered through the grains. In the actual filter element production process, in order to ensure that the filter element meets the design requirement, the line depth value of the filter element, the outer diameter of the filter element and the like are required to be detected. At present, the line depth is measured in an artificial mode, and the outer diameter of the filter element is measured through a vernier caliper.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art:

the manual mode is adopted for measurement, the recognition accuracy is poor, and the etching depth can not be accurately detected, so that a qualified filter element and an unqualified filter element can not be accurately distinguished. In addition, the surface of the filter element can be damaged in the measuring process, so that abnormal conditions such as wrinkles, scratches and the like appear on the surface of the filter element, and the qualification rate of the filter element is further affected.

It should be noted that the information disclosed in the foregoing background section is only for enhancing understanding of the background of the present application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art. It should be noted that the information disclosed in the foregoing background section is only for enhancing understanding of the background of the present application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.

Disclosure of Invention

The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview, and is intended to neither identify key/critical elements nor delineate the scope of such embodiments, but is intended as a prelude to the more detailed description that follows.

The embodiment of the disclosure provides a detection device for a sheet filter element, which can accurately detect etching depth and outer diameter, and can also prevent the surface of the filter element from being damaged, thereby improving the qualification rate of the filter element.

In some embodiments, the detection device for a sheet filter cartridge comprises a fixed platform, the detection device further comprising a cartridge placement stage, a detection stage, and a robotic arm. The filter element placing table is arranged on the fixed platform; configured to receive a sheet cartridge; the detection platform is arranged on the fixed platform; the detection platform comprises a transmission module and an image acquisition module; the transmission module comprises a transmission table, the transmission table is configured to be switched between a first position far away from the image acquisition module and a second position close to the image acquisition module; the image acquisition module is configured to detect the sheet filter element positioned on the conveying table at the second position; the mechanical arm is arranged on the fixed platform; a sheet filter element configured to be placed on the filter element placement stage on the transfer stage at a first position; alternatively, the sheet cartridge on the transfer table in the first position is placed on the cartridge placement table.

In some embodiments, the cartridge placement stage includes a base and three shafts. The three shaft rods are arranged on the base, and marks corresponding to the shaft rods one by one are arranged on the base; wherein, each slice filter core cover is set up and is put on the axostylus axostyle that corresponds with the sign.

Optionally, a flange is arranged on the base, reserved semicircular holes for inserting the shaft rods are arranged on the side of the flange, clamping blocks are arranged on the side of each reserved semicircular hole, and semicircular notches corresponding to the reserved semicircular holes are arranged on the side of each clamping block; the base is provided with a guide rail for the clamping block to slide, and the clamping block can slide on the guide rail through the clamping handle so as to clamp or loosen the shaft lever.

In some embodiments, the detection device for a sheet cartridge further comprises: and the correction component is arranged on the fixed platform and positioned on the base side, and is configured to correct the plurality of sheet filter elements on one of the shaft rods.

In some embodiments, the correction assembly includes a mobile station and a positioning shaft. A movable stage movable on the base side; the positioning shaft is arranged on the mobile station and is positioned at one shaft lever side; the axis of the positioning shaft is parallel to the axis of the shaft rod, the shaft rod section of the positioning shaft, which is close to the shaft rod, is not lower than the top of the shaft rod, and the control moving table moves, so that the positioning shaft can move towards one of the shaft rods, and the positioning shaft is clamped into the outer side notch of the plurality of sheet filter elements.

Optionally, the correction assembly further comprises a linear guide rail and a first drive motor. The mobile station is arranged on the linear guide rail, the first driving motor is arranged on the side of the linear guide rail, and the first driving motor is in driving connection with the mobile station through the linear guide rail so as to enable the mobile station to move on the linear guide rail; or the first driving motor drives the linear guide rail to drive the mobile station to move.

Alternatively, the mobile station includes a moving plate, a shutter provided on the moving plate, and a sliding plate sliding on the moving plate. The movable plate is arranged on the linear guide rail, a second buffer piece is connected between the baffle plate and the sliding plate, and the positioning shaft is fixedly arranged on the sliding plate.

In some embodiments, the robotic arm is a multi-axis arm structure, the robotic arm including a pick-up arm, a first suction cup, and a position sensor. The pick-up arm is arranged at the tail end of the mechanical arm; the first sucker is arranged at the bottom of the pick-up arm; the position sensor is arranged on the side of the pick-up arm and is positioned above the first sucker.

In some embodiments, the robotic arm further comprises: the buffer piece is arranged between the first sucker and the pick-up arm.

Optionally, the mechanical arm further includes a first negative pressure adjustment detector disposed at a side of the pick-up arm, and configured to adjust a negative pressure suction force of the first suction cup and check a negative pressure value of the first suction cup.

In some embodiments, the transfer module further comprises a linear motion mechanism and a second suction cup. The linear motion mechanism is provided with one end part far away from the image acquisition module and the other end part close to the image acquisition module, and the conveying table is arranged on the linear motion mechanism and can do reciprocating motion so as to switch the conveying table between a first position and a second position; the second sucker is arranged on the conveying table.

Optionally, the linear motion mechanism is further provided with a conveyor chain, a second drive motor and a second negative pressure adjustment detector. The second driving motor is in transmission connection with the conveying chain, drives the conveying chain to reciprocate, and the second negative pressure adjusting detector is arranged on the side of the linear motion mechanism and is used for adjusting the negative pressure suction force of the second sucker and checking the negative pressure value of the second sucker.

In some embodiments, the image acquisition module includes a first image acquisition device and a second image acquisition device. The first image collector is arranged above the second position of the conveying table and is configured to collect the outer diameter and the surface structure of the sheet filter element; and the second image collector is arranged above the second position of the conveying table and is configured to collect etching depth values of the sheet filter element.

Optionally, the image acquisition module further comprises a first height adjusting screw, a second height adjusting screw and a horizontal adjusting screw. The first height adjusting screw rod is connected with the first image collector to control the height of the first image collector; the second height adjusting screw rod is connected with the second image collector to control the height of the second image collector; the horizontal adjusting screw rod is connected with the second image collector to control the horizontal position of the second image collector.

In some embodiments, the detection device for a sheet cartridge further comprises: the overturning assembly is arranged on the fixed platform and is positioned at the first position side of the conveying table; the overturning assembly is configured to pick up the sheet filter element on the conveying table at the first position and overturn the sheet filter element; wherein the robotic arm is further configured to place the sheet filter element flipped over on the flipping assembly on a transfer table in the first position.

In some embodiments, the flipping assembly comprises a fixed seat, a rotating plate, and a third suction cup. The rotating plate is movably arranged on the fixed seat; and the third sucker is arranged on the rotating plate.

Optionally, the turnover assembly further comprises a third driving motor, and the third driving motor is arranged on the fixing seat and is in transmission connection with the rotating plate so as to drive the rotating plate to rotate.

The detection device for the sheet filter element provided by the embodiment of the disclosure can realize the following technical effects:

the mechanical arm can place the flaky filter element on the filter element placing table on the conveying table positioned at the first position, and the conveying table conveys the filter element from the first position to the position on the side of the image acquisition module. Compared with the measurement performed manually, the accuracy of the image acquisition module is higher, and the etching depth and the outer diameter of the sheet filter element can be accurately detected. After the image acquisition module detects, the mechanical arm places the flaky filter element on the conveying table on the filter element placing table according to the detection result. Because the whole detection process is completed through the mechanical arm and the conveying table, the surface of the filter element can be effectively prevented from being damaged, abnormal conditions such as wrinkles, scratches and the like on the surface of the filter element are avoided, and the qualification rate of the filter element is improved.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example and not limitation in the figures of the accompanying drawings, in which like references indicate similar elements, and in which like reference numerals refer to similar elements, and in which:

FIG. 1 is a schematic illustration of a device configuration of a detection device for a sheet filter cartridge according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a second device configuration of a detection device for a sheet filter cartridge according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a third device configuration of a detection device for a sheet cartridge according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of an apparatus structure of a cartridge placement stage according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of an apparatus configuration of a correction assembly provided in an embodiment of the present disclosure;

FIG. 6 is a schematic view of a device structure of a robotic arm according to an embodiment of the disclosure;

FIG. 7 is a schematic diagram of an apparatus structure of a transfer module according to an embodiment of the disclosure;

fig. 8 is a schematic device structure of an image acquisition module according to an embodiment of the disclosure;

fig. 9 is a schematic diagram of a device structure of a flipping assembly according to an embodiment of the disclosure.

Reference numerals:

100: a fixed platform; 101: a cabinet body; 102: a case;

10: a filter element placing table; 11: a base; 111: a flange; 112: reserving a semicircular hole; 113: a clamping block; 114: a semicircular notch; 115: a guide rail; 116: a clamping handle;

12: a shaft lever; 121: a first shaft; 122: a second shaft; 123: a third shaft;

13: identification; 131: a first identifier; 132: a second identifier; 133: a third identifier;

20: a detection table;

21: a transmission module; 211: a transfer station; 212: a linear motion mechanism; 2121: a conveyor chain; 2122: a second driving motor; 2123: a second negative pressure adjustment detector; 213: a second suction cup;

22: an image acquisition module; 221: a first image collector; 222: a second image collector; 223: a first height adjustment screw; 224: a second height adjusting screw; 225: adjusting a screw rod horizontally;

30: a mechanical arm; 31: a pick-up arm; 32: a first suction cup; 33: a position sensor; 34: a first buffer member; 35: a first negative pressure regulating detector;

40: a correction assembly; 41: a mobile station; 411: a moving plate; 412: a baffle; 413: a sliding plate; 414: a second buffer member; 42: positioning a shaft; 43: a linear guide rail; 44: a first driving motor;

50: a flip assembly; 51: a fixing seat; 52: a rotating plate; 53: a third suction cup; 54: and a third driving motor.

Detailed Description

So that the manner in which the features and techniques of the disclosed embodiments can be understood in more detail, a more particular description of the embodiments of the disclosure, briefly summarized below, may be had by reference to the appended drawings, which are not intended to be limiting of the embodiments of the disclosure. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may still be practiced without these details. In other instances, well-known structures and devices may be shown simplified in order to simplify the drawing.

The terms first, second and the like in the description and in the claims of the embodiments of the disclosure and in the above-described figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe embodiments of the present disclosure. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion.

In the embodiments of the present disclosure, the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are used primarily to better describe embodiments of the present disclosure and embodiments thereof and are not intended to limit the indicated device, element, or component to a particular orientation or to be constructed and operated in a particular orientation. Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the embodiments of the present disclosure will be understood by those of ordinary skill in the art in view of the specific circumstances.

In addition, the terms "disposed," "connected," "secured" and "affixed" are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the embodiments of the present disclosure may be understood by those of ordinary skill in the art according to specific circumstances.

The term "plurality" means two or more, unless otherwise indicated.

In the embodiment of the present disclosure, the character "/" indicates that the front and rear objects are an or relationship. For example, A/B represents: a or B.

The term "and/or" is an associative relationship that describes an object, meaning that there may be three relationships. For example, a and/or B, represent: a or B, or, A and B.

It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other.

As shown in conjunction with fig. 2 and 7, an embodiment of the present disclosure provides a detection device for a sheet-like filter cartridge, including a fixed platform 100, a filter cartridge placement stage 10, a detection stage 20, and a robotic arm 30. A cartridge mount 10 disposed on the fixed platform 100; configured to receive a sheet cartridge; a detection table 20 provided on the fixed platform 100; the detection table 20 comprises a transmission module 21 and an image acquisition module 22; the transfer module 21 includes a transfer stage 211, where the transfer stage 211 is configured to switch between a first position away from the image capturing module 22 and a second position adjacent to the image capturing module 22; the image acquisition module 22 is configured to detect the sheet-like filter element located on the transfer table 211 in the second position; a robot arm 30 disposed on the fixed platform 100; is configured to place the sheet cartridge on the cartridge placement stage 10 on the transfer stage 211 in the first position; alternatively, the sheet cartridge on the transfer table 211 in the first position is placed on the cartridge placement table 10.

The detection device for the sheet filter element is provided by the implementation of the present disclosure. The robot arm 30 can place the sheet-like filter cartridge on the cartridge placement stage 10 on the transfer stage 211 located at the first position, and the transfer stage 20 transfers the sheet-like filter cartridge from the first position to a position on the image capturing module 22 side. Compared with the measurement performed manually, the image acquisition module 22 has higher identification precision, and can accurately detect the etching depth and the outer diameter of the sheet filter element. After the image acquisition module 22 finishes detection, the mechanical arm 30 places the sheet filter element on the conveying table 20 on the filter element placing table 10 according to the detection result. Because the whole detection process is completed through the mechanical arm 30 and the conveying table 211, the surface of the filter element can be effectively prevented from being damaged, abnormal conditions such as wrinkles, scratches and the like on the surface of the filter element are avoided, and the qualification rate of the filter element is improved.

In the disclosed embodiment, referring to fig. 1 to 3, the lower portion of the fixed platform 100 is provided with a corresponding cabinet 101, and related circuit structures and auxiliary accessories may be provided in the cabinet 101. The upper part of the fixed platform 100 is provided with a box 102, which can cover all components in the detection device, and a viewing window and a related control screen are arranged on the box 102.

In an embodiment of the disclosure, the detection device has a controller, and the controller is disposed in the cabinet. The controller is in communication connection with the mechanical arm 30, the transmission module 21 and the image acquisition module 22, and receives and transmits signals of the mechanical arm 30, the transmission module 21 and the image acquisition module 22 through the controller, so that corresponding actions are completed.

As shown in connection with fig. 4, in some embodiments, cartridge placement station 10 includes a base 11 and three shafts 12. The three shaft rods 12 are arranged on the base 11, and marks 13 which are in one-to-one correspondence with the shaft rods 12 are arranged on the base 11; wherein, each flaky filter element sleeve is arranged on the shaft rod 12 corresponding to the mark 13.

In the embodiment of the present disclosure, the three shafts 12 are respectively used for placing sheet filter elements in different states, namely a sheet filter element to be detected, a sheet filter element which is qualified for detection, and a sheet filter element which is unqualified for detection. Correspondingly, the identifier 13 is used for identifying the state of the sheet filter element on the shaft lever 12, and the identifier, the qualified identifier and the unqualified identifier are to be detected respectively. Three clear marks are convenient for manual identification. In this way, the mechanical arm 30 can take the sheet filter element from the position to be detected, and place the detected sheet filter element on the corresponding shaft lever 12 according to the detection result.

As shown in fig. 4, here, the three shafts 12 are a first shaft 121, a second shaft 122, and a third shaft 123, respectively; the three identifiers 13 corresponding to the method are an identifier 131 to be detected, a qualified identifier 132 and a disqualified identifier 133. The first shaft 121 is disposed corresponding to the mark 131 to be detected, the first shaft 121 is disposed corresponding to the qualified mark 132, and the third shaft 123 is disposed corresponding to the unqualified mark 133. Because the middle part of the sheet filter element is of a round hole structure, the sheet filter element can be sleeved on the corresponding shaft rod 12.

Optionally, a flange 111 is provided on the base 11, a reserved semicircular hole 112 into which each shaft rod 12 is inserted is provided on the side of the flange 111, a clamping block 113 is provided on the side of each reserved semicircular hole 112, and a semicircular notch 114 corresponding to the reserved semicircular hole 112 is provided on the side of the clamping block 113; thus, the semicircular notch 114 and the reserved semicircular hole 112 are matched with each other to form a circular hole, and the shaft lever 122 is inserted into the corresponding circular hole. Wherein, the base 11 is provided with a guide rail 115 for sliding the clamping block 113, and the clamping block 113 can slide on the guide rail 115 through a clamping handle 116, so that the diameter of the circular hole can be controlled to clamp or unclamp the shaft rod 12. Thus, each shaft rod 12 can be better fixed, and the position accuracy of the sheet filter element is ensured.

As shown in connection with fig. 5, in some embodiments, the detection apparatus for a sheet cartridge further includes a calibration assembly 40 disposed on the fixed platform 100 and located on the side of the base 11, the calibration assembly 40 being configured to calibrate a plurality of sheet cartridges on one of the shafts 12.

In the disclosed embodiment, the correction assembly 40 is capable of stepwise correction of stacked sheet cartridges. Here, in combination with the first shaft 121, and the third shaft 123 in the above embodiments, the correction unit 40 may be disposed at the side of the first shaft 121, or the third shaft 123, so that the sheet-shaped filter element on the first shaft 121, or the third shaft 123 can be gradually corrected.

In some embodiments, referring to FIG. 5, correction assembly 40 includes a mobile station 41 and a positioning shaft 42. A movable stage 41 movable on the base 11 side; a positioning shaft 42 provided on the mobile station 41 and located on one of the shaft rods 12 side; wherein, the axis of the positioning shaft 42 is parallel to the axis of the shaft 12, and the shaft section of the positioning shaft 42 adjacent to the shaft 12 is not lower than the top of the shaft 12, and the movement of the moving table 41 can make the positioning shaft 42 move towards one of the shafts 12, so that the positioning shaft 42 is clamped into the outer slots of the plurality of sheet filter elements.

In the embodiment of the present disclosure, the outer side of the sheet filter element is provided with a notch, and the outer side structure of each sheet filter element is the same, so that in order to enable the mechanical arm 30 to take more accurately, the relative position of each sheet filter element needs to be ensured to be the same. Here, the axis of the positioning shaft 42 is parallel to the axis of the shaft 12, and the shaft section of the positioning shaft 42 adjacent to the shaft 12 is not lower than the top of the shaft 12, thus enabling the positioning shaft 42 to correct all the sheet-like cartridges on the shaft 12. The positioning shaft 42 may be calibrated for a sheet-like cartridge on the first shaft 121, or the third shaft 123. The positioning shaft 42 is moved toward the shaft 12 to be corrected by controlling the movement of the moving table 41 so that the positioning shaft 42 is caught in the outer notches of the plurality of sheet-shaped cartridges.

Optionally, referring to fig. 5, the correction assembly 40 further includes a linear guide 43 and a first drive motor 44. The moving table 41 is disposed on the linear guide 43, the first driving motor 44 is disposed on the linear guide 43 side, and the first driving motor 44 is in driving connection with the moving table 41 through the linear guide 43 to move the moving table 41 on the linear guide 43; alternatively, the first driving motor 44 drives the linear guide 43 to move the moving table 41. Here, the linear guide 43 may be a linear guide or a curved guide, and may be selected according to the actual application scenario, and is not limited thereto.

Alternatively, referring to fig. 5, the moving stage 41 includes a moving plate 411, a shutter 412 provided on the moving plate 411, and a sliding plate 413 sliding on the moving plate 411. Wherein the moving plate 411 is disposed on the linear guide rail 43, a second buffer member 414 is connected between the baffle 412 and the sliding plate 413, and the positioning shaft 42 is fixedly disposed on the sliding plate 413. Here, since the positioning shaft 42 is pressed and snapped into the notch of the sheet filter element by the positioning shaft 42 when the correction is performed. Therefore, a second buffer member 414 is connected between the baffle 412 and the sliding plate 413, and the buffering force of the second buffer member 414 ensures that the sheet filter element is not damaged. Optionally, the second buffer 414 is a spring structure.

In some embodiments, as shown in connection with fig. 6, the robotic arm 30 is a multi-axis arm structure, and the robotic arm 30 includes a pick-up arm 31, a first suction cup 32, and a position sensor 33. A pickup arm 31 provided at the tip of the robot arm 30; a first suction cup 32 provided at the bottom of the pick-up arm 30; the position sensor 33 is provided on the side of the pick-up arm 30 and above the first suction cup 32.

In the disclosed embodiment, the robotic arm 30 is a multi-axis arm configuration for facilitating transport of the sheet cartridge. Alternatively, the robot arm 30 is at least a six-axis arm, and the robot arm 30 is a cooperative six-degree-of-freedom robot arm, i.e., a robot arm having six degrees of freedom. Wherein, the end of arm 30 is provided with pick-up arm 31, is provided with first sucking disc 32 in the bottom of arm 30 for take the slice filter core. Alternatively, the first chuck 32 is a vacuum chuck. A position sensor 33 is arranged on the side of the pick-up arm 30 and above the first suction cup 32, and the position sensor 33 can ensure the accuracy of the mechanical arm 30. Alternatively, the position sensor 33 employs a laser sensor

Alternatively, the arm span of the robotic arm 30 needs to be greater than or equal to 800mm; the load weight of the mechanical arm 30 is greater than or equal to 3kg; the error value range of the repeated positioning accuracy of the mechanical arm 30 is + -0.03 mm.

Optionally, referring to fig. 6, the mechanical arm 30 further includes a first negative pressure adjustment detector 35 disposed at a side of the pick-up arm 30, for adjusting the negative pressure suction force of the first suction cup 32 and checking the negative pressure value of the first suction cup 32. Thus, the negative pressure suction force of the first sucker 32 can be adjusted according to the weight of the sheet filter element, so that the first sucker 32 can pick up the sheet filter element and cannot damage the sheet filter element.

In some embodiments, the robotic arm 30 further includes a first buffer 34 disposed between the first suction cup 32 and the pick arm 31. Here, the sheet filter element may be damaged, since the first suction cup 32 may take the sheet filter element a plurality of times. Therefore, a first buffer member 34 is provided between the first suction cup 32 and the pick-up arm 31, and the buffering force of the first buffer member 34 ensures that the sheet filter element is not damaged. Optionally, the first cushioning member 34 is a spring structure.

In some embodiments, as shown in connection with fig. 7, the transfer module 21 further includes a linear motion mechanism 212 and a second suction cup 213. A linear motion mechanism 212 having one end portion remote from the image capturing module 22 and the other end portion adjacent to the image capturing module 22, the transfer table 211 being disposed on the linear motion mechanism 212, the linear motion mechanism 212 being capable of reciprocating to switch the transfer table 211 between a first position and a second position; the second suction cup 213 is disposed on the transfer table 211.

In the embodiment of the present disclosure, the linear motion mechanism 212 may be a linear motion mechanism or a curved motion mechanism, and may be selected according to an actual application scenario, which is not limited. Here, one end of the linear motion mechanism 212 is away from the image pickup module 22, and the other end of the linear motion mechanism 212 is adjacent to the image pickup module 22. The linear motion mechanism 212 is far from the image capturing module 22 and close to the mechanical arm 30, so that the stroke of the mechanical arm 30 can be effectively reduced.

In the embodiment of the present disclosure, the transfer table 211 is disposed on the linear motion mechanism 212, and the transfer table 211 is provided with a second suction cup 213, and optionally, the second suction cup 213 employs a vacuum suction cup. In this way, the robotic arm 30 can place the sheet cartridge on the second suction cup 213. Since the linear movement mechanism 212 can reciprocate, the transfer table 211 can be switched between the first position and the second position, and the transfer of the sheet filter element to be detected and the sheet filter element after detection is ensured.

In the disclosed embodiment, the range of travel of linear motion mechanism 212 is [300mm,500mm ], the range of error in the repeated positioning accuracy of linear motion mechanism 212 is + -0.01 mm, and the operating speed of linear motion mechanism 212 is greater than or equal to 0.5m/s.

Optionally, referring to fig. 7, the linear motion mechanism 212 is further provided with a conveying chain 2121, a second driving motor 2122, and a second negative pressure adjustment detector 2123. The second driving motor 2122 is in transmission connection with the transmission chain 2121, and drives the transmission chain 2121 to reciprocate, and the second negative pressure adjusting detector 2123 is arranged at the side of the linear motion mechanism and is used for adjusting the negative pressure suction force of the second sucker 213 and checking the negative pressure value of the second sucker 213.

In the embodiment of the present disclosure, the second driving motor 2122 is in transmission connection with the transmission chain 2121, the transmission table 211 is connected with the transmission chain 2121, and the transmission table 211 completes the transmission action on the linear motion mechanism 212 through the transmission chain 2121 when driving the transmission chain 2121 to reciprocate.

In the embodiment of the present disclosure, a second negative pressure adjustment detector 2123 is disposed at a side of the linear motion mechanism for adjusting the negative pressure suction force of the second suction cup 213 and checking the negative pressure value of the second suction cup 213. Thus, the negative pressure suction force of the second sucker 213 can be adjusted according to the weight of the sheet filter element, so that the second sucker 213 can be ensured to adsorb the sheet filter element, and the sheet filter element is prevented from falling off in the conveying process.

As shown in connection with fig. 8, in some embodiments, the image acquisition module 22 includes a first image acquisition 221 and a second image acquisition 222. A first image collector 221, disposed above the second position of the transfer table 211, configured to collect the outer diameter and surface structure of the sheet filter element; the second image collector 222 is disposed above the second position of the conveying table 211, and is configured to collect the etching depth value of the sheet filter element.

In the embodiment of the present disclosure, a first image collector 221 and a second image collector 222 are provided above the transfer stage 211. The first image collector 221 adopts a two-dimensional camera module, and the error value range of the scanning resolution precision is +/-0.01 mm. The two-dimensional image recognition system of the two-dimensional camera module is matched with the coaxial light source to realize defect detection and plane outline dimension measurement. Here, the first image collector 221 collects the outer diameter of the sheet-shaped filter element and the surface structure; the surface structure includes the front, back and imperfections of the sheet filter element.

The second image collector 222 adopts a three-dimensional camera module, is a high-precision three-dimensional scanning head, has an error value range of scanning resolution precision of +/-0.001 mm, and realizes three-point measurement by the reciprocating motion of a three-dimensional image recognition system of the three-dimensional camera module so as to collect etching depth values of the sheet filter element.

Optionally, referring to fig. 8, the image acquisition module 22 further includes a first height adjustment screw 223, a second height adjustment screw 224, and a horizontal adjustment screw 225. Wherein the first height adjusting screw 223 is connected with the first image collector 221 to control the height of the first image collector 221; the second height adjusting screw 224 is connected with the second image collector 222 to control the height of the second image collector 222; a leveling screw 225 is connected to the second image collector 222 to control the horizontal position of the second image collector 222.

As shown in connection with fig. 9, in some embodiments, the detection device for a sheet filter element further includes a flipping assembly 50 disposed on the fixed platform 100 on a first position side of the transfer table 211; the flipping assembly 50 is configured to pick up the sheet cartridge on the transfer table 211 in the first position and flip the sheet cartridge; wherein the robotic arm 30 is further configured to place the sheet filter cartridge flipped over on the flipping assembly 50 on the transfer table 211 in the first position.

In the implementation of the present disclosure, the turnover assembly 50 can turn over the sheet filter element on the conveying table 211, when the sheet filter element on the conveying table 211 is right side up, at this time, the turnover assembly 50 sucks the right side of the sheet filter element and completes the turnover operation, so that the reverse side of the sheet filter element faces up. At this time, the mechanical arm 30 sucks the reverse side of the sheet filter element on the turnover assembly 50, and places the sheet filter element on the conveying table 211 located at the first position, so that the sheet filter element on the conveying table 211 is reverse side up.

Alternatively, the positioning accuracy error value of the flipping assembly 50 ranges from + -0.1 mm, and the rotational speed of the flipping assembly 50 is 180 deg./s.

In some embodiments, referring to fig. 9, the flipping assembly 50 includes a fixing base 51, a rotating plate 52, and a third suction cup 53. The rotating plate 52 is movably arranged on the fixed seat 51; the third suction cup 53 is disposed on the rotation plate 52.

In the embodiment of the present disclosure, the fixing base 51 is fixedly disposed on the fixing platform 100, the rotating plate 52 is rotatably disposed on the fixing base 51, and the third suction cup 53 is disposed on the rotating plate 52. Alternatively, the third suction cup 53 employs a vacuum suction cup. Here, the rotation plate 52 is hinged to the fixing base 51, and the rotation angle is 180 °.

Optionally, referring to fig. 9, the flipping assembly 50 further includes a third driving motor 54, where the third driving motor 54 is disposed on the fixed seat 51 and is in driving connection with the rotating plate 52 to drive the rotating plate 52 to rotate. Thus, the sheet filter element is turned over by driving the turning plate 52 to reciprocate.

In the above disclosed embodiment, the first suction cup 32, the second suction cup 213 and the third suction cup 53 are made of polyether-ether-ketone (PEEK) material, so that the flatness of the processing plane can be ensured, and the product can be prevented from being damaged.

The above description and the drawings illustrate embodiments of the disclosure sufficiently to enable those skilled in the art to practice them. Other embodiments may include structural and other modifications. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The embodiments of the present disclosure are not limited to the structures that have been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (10)

1. A detection device for a laminar filter cartridge, comprising a fixed platform (100), characterized in that it further comprises:

a filter element placement table (10) arranged on the fixed platform (100); configured to receive a sheet cartridge;

a detection table (20) provided on the fixed platform (100); the detection platform (20) comprises a transmission module (21) and an image acquisition module (22); wherein the transfer module (21) comprises a transfer table (211), the transfer table (211) being configured to switch between a first position away from the image acquisition module (22) and a second position adjacent to the image acquisition module (22); the image acquisition module (22) is configured to detect a sheet-like filter element located on a conveyor table (211) in the second position;

a mechanical arm (30) arranged on the fixed platform (100); is configured to place a sheet-like filter element on the filter element placement table (10) on a transfer table (211) located at the first position; alternatively, a sheet-shaped filter element on a transfer table (211) located at the first position is placed on the filter element placement table (10).

2. The detection device according to claim 1, wherein the cartridge-holding stage (10) comprises:

a base (11);

three shaft rods (12) are arranged on the base (11), and marks (13) which are in one-to-one correspondence with the shaft rods (12) are arranged on the base (11); wherein, each flaky filter element is sleeved on the shaft lever (12) corresponding to the mark (13).

3. The detection apparatus according to claim 2, characterized by further comprising:

and the correction assembly (40) is arranged on the fixed platform (100) and is positioned on the side of the base (11), and the correction assembly (40) is configured to correct a plurality of sheet-shaped filter elements on one shaft lever (12).

4. A detection device according to claim 3, wherein the correction assembly (40) comprises:

a movable stage (41) movable on the base (11) side;

a positioning shaft (42) provided on the mobile station (41) and located on one of the shaft levers (12) side; the axis of the positioning shaft (42) is parallel to the axis of the shaft lever (12), the shaft lever section of the positioning shaft (42) adjacent to the shaft lever (12) is not lower than the top of the shaft lever (12), the moving table (41) is controlled to move, and the positioning shaft (42) can be moved towards one of the shaft levers (12) so that the positioning shaft (42) is clamped into the outer side notch of the plurality of sheet-shaped filter elements.

5. The detection apparatus according to any one of claims 1 to 4, wherein the mechanical arm (30) is of a multi-axis arm structure, the mechanical arm (30) comprising:

a pickup arm (31) provided at the distal end of the robot arm (30);

a first suction cup (32) arranged at the bottom of the pick-up arm (30);

and a position sensor (33) which is arranged on the side of the pick-up arm (30) and is positioned above the first sucker (32).

6. The detection device according to claim 5, wherein the robotic arm (30) further comprises:

and a first buffer (34) arranged between the first sucker (32) and the pickup arm (31).

7. The detection device according to any one of claims 1 to 4, wherein the transfer module (21) further comprises:

a linear movement mechanism (212) with one end far away from the image acquisition module (22) and the other end close to the image acquisition module (22), wherein the conveying table (211) is arranged on the linear movement mechanism (212), and the linear movement mechanism (212) can reciprocate so that the conveying table (211) is switched between a first position and a second position;

and a second suction cup (213) provided on the transfer table (211).

8. The detection device according to any one of claims 1 to 4, wherein the image acquisition module (22) comprises:

a first image collector (221) arranged above the second position of the conveying table (211) and configured to collect the outer diameter and the surface structure of the sheet filter element;

and a second image collector (222) arranged above the second position of the conveying table (211) and configured to collect etching depth values of the sheet filter element.

9. The detection apparatus according to any one of claims 1 to 4, further comprising:

a turnover assembly (50) arranged on the fixed platform (100) and positioned at the first position side of the conveying table (211); -the flipping assembly (50) is configured to pick up the sheet filter element on the transfer table (211) in the first position and flip the sheet filter element;

wherein the robotic arm (30) is further configured to place the sheet filter element flipped over on the flipping assembly (50) on a transfer table (211) in the first position.

10. The detection device according to claim 9, wherein the flipping assembly (50) comprises:

a fixed seat (51);

the rotating plate (52) is movably arranged on the fixed seat (51);

and a third suction cup (53) which is arranged on the rotating plate (52).

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