CN116571998A - Filter element mounting device, filter element replacing device and replacing method thereof - Google Patents
Filter element mounting device, filter element replacing device and replacing method thereof Download PDFInfo
- Publication number
- CN116571998A CN116571998A CN202310431084.3A CN202310431084A CN116571998A CN 116571998 A CN116571998 A CN 116571998A CN 202310431084 A CN202310431084 A CN 202310431084A CN 116571998 A CN116571998 A CN 116571998A
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- filter element
- mechanical arm
- sealing cover
- driving
- screwing
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 124
- 238000007789 sealing Methods 0.000 claims abstract description 61
- 238000009434 installation Methods 0.000 claims abstract description 36
- 238000003756 stirring Methods 0.000 claims abstract description 6
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000008676 import Effects 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 6
- 230000005855 radiation Effects 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 2
- 238000011900 installation process Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G21—NUCLEAR PHYSICS; NUCLEAR ENGINEERING
- G21C—NUCLEAR REACTORS
- G21C19/00—Arrangements for treating, for handling, or for facilitating the handling of, fuel or other materials which are used within the reactor, e.g. within its pressure vessel
- G21C19/20—Arrangements for introducing objects into the pressure vessel; Arrangements for handling objects within the pressure vessel; Arrangements for removing objects from the pressure vessel
- G21C19/207—Assembling, maintenance or repair of reactor components
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Plasma & Fusion (AREA)
- General Engineering & Computer Science (AREA)
- High Energy & Nuclear Physics (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The application discloses a filter element installation device, which comprises a filter element installation cavity, wherein an inlet and an outlet for the filter element to enter and exit are arranged on the filter element installation cavity, a sealing cover and a locking component are hinged on the filter element installation cavity, the locking component comprises a locking rod and a locking sleeve which are connected through threads, the locking rod is hinged with the filter element installation cavity, and the locking sleeve is used for pressing the sealing cover when the sealing cover is closed. The application further discloses a filter element replacing device for replacing the filter element in the filter element installing device, the filter element replacing device comprises a movable seat, a mechanical arm movably arranged on the movable seat and a movable driving mechanism for driving the mechanical arm to move, a screwing mechanism for screwing a lock sleeve is arranged on the mechanical arm, and a deflector rod mechanism for stirring a lock rod, an opening and closing mechanism for opening and closing a sealing cover, a push-pull mechanism for pushing and pulling the filter element and a distance measuring mechanism for measuring the distance between the filter element and the sealing cover are arranged on the screwing mechanism. The application also discloses a filter element replacement method. The application has the advantages of simple structure and high filter element replacement efficiency.
Description
Technical Field
The application relates to the technical field of nuclear power station maintenance, in particular to a filter element mounting device, a filter element replacing device and a filter element replacing method.
Background
And each unit of the nuclear power station is provided with a filter, the indoor environment radiation dose of the unit is higher, and the filter element of the filter needs to be replaced after the radiation level reaches a set value. At present, the waste filter element of the filter is mainly replaced after an operator unpacks the filter element installation device, the filter element replacement device matched with the filter element installation device is not used, the operator has high radiation risk during replacement, and the replacement process has more steps and low efficiency.
Disclosure of Invention
The application aims to solve the technical problem of overcoming the defects of the prior art and providing the filter element mounting device which has a simple structure and is convenient to assemble and disassemble.
The application further provides a filter element replacement device which improves the filter element replacement efficiency and reduces the risk of high radiation for operators.
The application further provides a filter element replacement method with simple steps and high efficiency.
In order to solve the technical problems, the application adopts the following technical scheme:
the utility model provides a filter core installation device, includes the filter core installation cavity of locating in the filter frame, be equipped with the access that supplies the filter core to pass in and out on the filter core installation cavity, articulated on the filter core installation cavity have closing cap and locking subassembly that is used for switching access, locking subassembly includes threaded connection's locking lever and lock sleeve, the locking lever is articulated with the filter core installation cavity, the lock sleeve is used for compressing tightly the closing cap when the closing cap is closed.
As a further improvement of the above technical scheme:
the sealing cover is provided with an accommodating groove corresponding to the lock rod.
The locking components are arranged in a plurality of groups, and the plurality of groups of locking components are arranged at intervals around the periphery of the filter element installation cavity.
The utility model provides a filter core changing device for change the filter core in the foretell filter core installation device, filter core changing device is including removing the seat, remove the arm that sets up on removing the seat, be used for driving the removal actuating mechanism that the arm removed, be equipped with on the arm and be used for screwing up the mechanism of screwing up of lock sleeve, it is equipped with on the mechanism to screw up and be used for stirring the driving lever mechanism of locking lever, be used for opening and shutting the mechanism of opening and shutting of closing cap, be used for the push-and-pull mechanism of push-and-pull filter core and be used for measuring with the range finding mechanism of closing cap distance.
As a further improvement of the above technical scheme:
the screwing mechanism comprises a rotating seat and a first rotating motor for driving the rotating seat to rotate, the rotating seat is rotationally connected with the mechanical arm, the first rotating motor is arranged on the mechanical arm, the deflector rod mechanism, the opening and closing mechanism, the push-pull mechanism and the distance measuring mechanism are all arranged on the rotating seat, and the rotating seat is further provided with a screwing part matched with the lock sleeve.
The driving lever mechanism comprises a driving lever, one end of the driving lever is hinged with the rotating seat, the other end of the driving lever is provided with a driving part, and the rotating seat is provided with a swing driving assembly for driving the driving lever to swing.
The opening and closing mechanism comprises an opening and closing rod, one end of the opening and closing rod is fixed on the rotating seat, and the other end of the opening and closing rod is provided with a hooking part for hooking and pulling the sealing cover.
The push-pull mechanism comprises a push-pull rod, one end of the push-pull rod is fixed on the rotating seat, and the other end of the push-pull rod is provided with a hooking part for hooking the filter element.
The movable seat is provided with a movable wheel, a navigation assembly, a first vision assembly and an obstacle avoidance assembly.
A method of cartridge replacement comprising the steps of:
s1, adjusting the gesture of the mechanical arm to enable the axis of the screwing mechanism to be aligned with the axis of the sealing cover, driving the mechanical arm to be close to the sealing cover by the moving driving mechanism, and stopping moving the mechanical arm after the distance detected by the distance measuring mechanism on the mechanical arm reaches a set value;
s2, the mechanical arm adjusts the gesture, so that the screwing mechanism is aligned and sleeved on one of the lock sleeves, the lock sleeves are unscrewed and then returned, the screwing mechanism rotates, and a deflector rod mechanism on the screwing mechanism is aligned with one of the lock rods and is pulled out to be separated from the sealing cover;
s3, repeating the step S2 to enable the residual locking components to be separated from the sealing cover in sequence;
s4, the mechanical arm adjusts the gesture to enable the axial lead of the screwing mechanism to be aligned with the axial lead of the sealing cover, the mechanical arm is driven to be close to the sealing cover through the moving driving mechanism, and then the sealing cover is opened through the opening and closing mechanism;
s5, driving a push-pull mechanism on the mechanical arm to pull out the filter element through the movable driving mechanism.
Compared with the prior art, the application has the beneficial effects that:
according to the filter element mounting device disclosed by the application, the filter element is mounted in the filter element mounting cavity on the filter frame through the inlet and the outlet, the sealing cover and the locking component are hinged with the filter element mounting cavity, when the filter element needs to be replaced, the locking sleeve is unscrewed, the locking rod is pulled out, the sealing cover can be unlocked, the sealing cover is conveniently opened, the sealing cover and the locking component are still connected with the filter element mounting cavity after the sealing cover is opened, after the filter element is replaced, the sealing cover is only required to be closed, the locking rod is pulled back, the sealing cover can be tightly pressed by screwing the locking sleeve, the structure is simple, and when the sealing cover is closed, the relative positions of the sealing cover and the locking component and the filter element mounting cavity are not required to be repositioned, so that the filter element mounting device is convenient to assemble and disassemble.
According to the filter element replacing device disclosed by the application, the mechanical arm can be driven to move on the ground through the moving seat, when the filter element needs to be replaced, the mechanical arm is driven to move on the moving seat through the moving driving mechanism, the distance between the mechanical arm and the sealing cover is measured through the distance measuring mechanism, the locking sleeve is unscrewed through the screwing mechanism, the locking rod is pulled out through the shifting rod mechanism, the sealing cover is opened through the opening and closing mechanism, the filter element is pulled out from the inlet and the outlet through the pushing and pulling mechanism to be replaced, then the new filter element is pushed into the filter element installing cavity through the inlet and the outlet, the sealing cover is closed through the opening and closing mechanism, the locking rod is pulled back through the shifting rod mechanism, and the locking sleeve is screwed through the screwing mechanism, so that the sealing cover is tightly pressed, and the replacement of the filter element is completed. This filter core changing device uses with above-mentioned filter core installation device cooperation, need not the manual dismouting to filter core installation device of operating personnel, can change the filter core, improves filter core changing efficiency, reduces the high radiation risk that operating personnel faced.
The filter element replacement method disclosed by the application is simple in steps and high in filter element replacement efficiency.
Drawings
Fig. 1 is a schematic perspective view of a cartridge mounting apparatus of the present application.
Fig. 2 is a schematic perspective view of a cartridge changer according to the present application.
Fig. 3 is a schematic perspective view of a movable seat in the filter element replacing device of the present application.
Fig. 4 is a schematic perspective view of a moving driving mechanism in the cartridge changer of the present application.
Fig. 5 is a schematic perspective view of a mechanical arm in the filter element replacing device of the present application.
Fig. 6 is a schematic perspective view of a screwing mechanism in the cartridge changer of the present application.
Fig. 7 is a schematic perspective view of the cartridge changing apparatus of the present application when the cartridge is pulled out.
Fig. 8 is a schematic perspective view of a lever mechanism in the cartridge changer of the present application.
The reference numerals in the drawings denote: 1. the filter element is arranged in the cavity; 11. an inlet and an outlet; 2. a filter element; 3. a cover; 31. a receiving groove; 4. a locking assembly; 41. a lock lever; 42. a lock sleeve; 5. a movable seat; 51. a moving wheel; 52. a navigation component; 53. a first vision component; 54. an obstacle avoidance assembly; 6. a mechanical arm; 7. a movement driving mechanism; 71. driving transversely moving linearly; 72. longitudinally moving and linearly driving; 73. a mounting platform; 74. a second vision component; 8. a screwing mechanism; 81. a rotating seat; 811. a guide rail; 82. a first rotating electric machine; 83. a screwing part; 9. a deflector rod mechanism; 91. a deflector rod; 92. a toggle part; 10. an opening and closing mechanism; 101. an opening and closing rod; 102. a hooking and pulling part; 12. a push-pull mechanism; 121. a push-pull rod; 122. a hooking part; 13. a distance measuring mechanism; 14. a swing drive assembly; 141. a screw rod; 142. a second rotating electric machine; 143. and (5) moving the block.
Detailed Description
The application is described in further detail below with reference to the drawings and specific examples of the specification.
As used herein, the terms "a," "an," "the," and/or "the" are not specific to the singular, but may include the plural, unless the context clearly dictates otherwise. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. Likewise, the word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Example 1
Fig. 1, 7 and 8 show an embodiment of the present application, the filter element installation device of the present embodiment includes a filter element installation cavity 1 provided on a filter frame, an inlet 11 for the filter element 2 to enter and exit is provided on the filter element installation cavity 1, a cover 3 and a locking component 4 for opening and closing the inlet 11 are hinged on the filter element installation cavity 1, the locking component 4 includes a lock rod 41 and a lock sleeve 42 in threaded connection, the lock rod 41 is hinged with the filter element installation cavity 1, and the lock sleeve 42 is used for pressing the cover 3 when the cover 3 is closed.
This filter core installation device, filter core 2 is installed in filter core installation cavity 1 in filter frame through import and export 11, closing cap 3 and locking subassembly 4 all are articulated with filter core installation cavity 1, when filter core 2 needs to be changed, unscrew lock sleeve 42, dial locking lever 41, can release the locking to closing cap 3, be convenient for open closing cap 3, and closing cap 3 and locking subassembly 4 still are connected with filter core installation cavity 1 after uncapping, after filter core 2 finishes changing, only need to close closing cap 3, dial locking lever 41 back, screw up lock sleeve 42 again and can compress tightly closing cap 3, and in the simple structure, when closing cap 3, need not to relocate the relative position of closing cap 3 and locking subassembly 4 and filter core installation cavity 1 again, the dismouting of being convenient for.
In this embodiment, as shown in fig. 7, the cover 3 is provided with a receiving groove 31 corresponding to the lock lever 41. When the sealing cover 3 is in a closed state, the lock rod 41 is clamped in the accommodating groove 31, the sealing cover 3 is fixed, and the locking sleeve 42 presses the sealing cover 3; to unlock the cover 3, the lock lever 41 is directly pulled out of the receiving groove 31 after the lock sleeve 42 is unscrewed, and the cover 3 is unlocked by releasing the fixing of the cover 3.
In this embodiment, as shown in fig. 1, the locking assemblies 4 are provided with a plurality of groups, and the plurality of groups of locking assemblies 4 are arranged at intervals around the peripheral side of the filter element installation cavity 1, so that the locking effect on the sealing cover 3 is improved.
In this embodiment, the lock lever 41 is a screw, and the lock sleeve 42 is a nut.
Example two
Fig. 2 to 8 show an embodiment of the present application, in which the filter cartridge replacement device is used for replacing the filter cartridge 2 in the filter cartridge installation device described above, the filter cartridge replacement device includes a movable base 5, a mechanical arm 6 movably disposed on the movable base 5, a movement driving mechanism 7 for driving the mechanical arm 6 to move, a screwing mechanism 8 for screwing a lock sleeve 42 is disposed on the mechanical arm 6, and a lever mechanism 9 for stirring a lock lever 41, an opening and closing mechanism 10 for opening and closing a cover 3, a push-pull mechanism 12 for pushing and pulling the filter cartridge 2, and a distance measuring mechanism 13 for measuring a distance from the cover 3 are disposed on the screwing mechanism 8.
According to the filter element replacing device, the mechanical arm 6 can be driven to move on the ground through the moving seat 5, when the filter element 2 needs to be replaced, the mechanical arm 6 is driven to move on the moving seat 5 through the moving driving mechanism 7, the distance between the filter element 2 and the sealing cover 3 is measured through the distance measuring mechanism 13, the locking sleeve 42 is unscrewed through the screwing mechanism 8, the locking rod 41 is opened through the deflector rod mechanism 9, the sealing cover 3 is opened through the opening and closing mechanism 10, the filter element 2 is pulled out of the inlet and outlet 11 to be replaced through the push-pull mechanism 12, then the push-pull mechanism 12 pushes a new filter element 2 into the filter element mounting cavity 1 through the inlet and outlet 11, the sealing cover 3 is closed through the opening and closing mechanism 10, the locking rod 41 is pulled back through the deflector rod mechanism 9, and the locking sleeve 42 is screwed through the screwing mechanism 8 in sequence, so that the sealing cover 3 is tightly pressed, and the replacement of the filter element 2 is completed. This filter core changing device uses with above-mentioned filter core installation device cooperation, need not the manual dismouting to filter core installation device of operating personnel, can change the filter core, improves filter core 2 and changes efficiency, reduces the high radiation risk that operating personnel faced.
In this embodiment, as shown in fig. 2 and 6, the screwing mechanism 8 includes a rotary seat 81 and a first rotary motor 82 for driving the rotary seat 81 to rotate, the rotary seat 81 is rotationally connected with the mechanical arm 6, the first rotary motor 82 is disposed on the mechanical arm 6, the lever mechanism 9, the opening and closing mechanism 10, the push-pull mechanism 12 and the distance measuring mechanism 13 are all disposed on the rotary seat 81, and a screwing portion 83 matched with the lock sleeve 42 is further disposed on the rotary seat 81. The first rotating motor 82 drives the rotating seat 81 to rotate, drives the screwing part 83 to rotate, performs screwing action on the lock sleeve 42, and can also drive the deflector rod mechanism 9, the opening and closing mechanism 10, the push-pull mechanism 12 and the distance measuring mechanism 13 to rotate along with the rotating seat 81.
In this embodiment, as shown in fig. 2, 6 and 8, the lever mechanism 9 includes a lever 91, one end of the lever 91 is hinged to a rotary seat 81, the other end is provided with a toggle portion 92, and the rotary seat 81 is provided with a swing driving assembly 14 for driving the lever 91 to swing. The swing driving assembly 14 drives the shift lever 91 to swing, so that the shift portion 92 at the other end of the shift lever 91 shifts the lock lever 41.
In this embodiment, as shown in fig. 2, 6 and 8, the swing driving assembly 14 includes a screw rod 141 and a second rotating motor 142 for driving the screw rod 141 to rotate, the screw rod 141 is screwed with a moving block 143, a guide rail 811 is provided on the rotating seat 81, the moving block 143 is slidingly provided on the guide rail 811, and one end of the lever 91 is hinged with the moving block 143. The second rotating motor 142 drives the screw rod 141 to rotate, drives the moving block 143 to slide on the guide rail 811 on the rotating seat 81, and further drives the shift lever 91 to swing, so that the shift portion 92 shifts the lock lever 41.
In this embodiment, as shown in fig. 8, the stirring portion 92 is a roller, so that when the stirring portion 92 contacts with the cover 3, friction with the cover 3 is reduced, and the surface of the cover 3 is protected to a certain extent.
In this embodiment, as shown in fig. 2 and 6, the opening and closing mechanism 10 includes an opening and closing rod 101, one end of the opening and closing rod 101 is fixed on the rotating seat 81, and the other end is provided with a hooking portion 102 for hooking and pulling the cover 3. The hooking portion 102 can hook the cover 3, which is beneficial to opening and closing the cover 3.
In this embodiment, as shown in fig. 2 and 6, the push-pull mechanism 12 includes a push-pull rod 121, one end of the push-pull rod 121 is fixed on the rotating seat 81, and the other end is provided with a hooking portion 122 for hooking the filter element 2. The hooking part 122 can hook the filter element 2, which is beneficial to pushing in and pulling out the filter element 2 from the inlet and outlet 11.
In this embodiment, as shown in fig. 2 and 6, a plurality of push-pull rods 121 are provided, and the plurality of push-pull rods 121 are arranged at intervals along the circumferential direction of the rotating seat 81, so as to increase the push-pull force of the push-pull rods 121 on the filter element 2.
In this embodiment, as shown in fig. 2 and 3, the moving base 5 is provided with a moving wheel 51, a navigation assembly 52, a first vision assembly 53 and an obstacle avoidance assembly 54. The movable seat 5 moves on the ground through the movable wheel 51, the movement of the movable seat 5 is guided through the navigation assembly 52, the movement condition is observed through the first vision assembly 53, the obstacle is avoided through the obstacle avoidance assembly 54, and the collision with the obstacle is avoided.
In this embodiment, as shown in fig. 2 and 4, the moving driving mechanism 7 includes a traversing linear driving 71 and a two-stage traversing linear driving 72, the traversing linear driving 72 is slidably disposed on the traversing linear driving 71, the traversing linear driving 72 is slidably disposed on a mounting platform 73, the mechanical arm 6 is disposed on the mounting platform 73, and a second vision component 74 is further disposed on the mounting platform 73. Because the filter element 2 has a longer length, the two-stage longitudinal movement linear driving 72 is arranged to facilitate the filter element to be pulled out and pushed in from the inlet and outlet 11, and the second vision assembly 74 can observe the operation condition of the mechanical arm 6.
In this embodiment, the screwing portion 83 is a nut sleeve.
The filter element replacement process of the filter element replacement device is divided into a disassembly process and an installation process, wherein the disassembly process is as follows: 1) The mechanical arm 6 adjusts the gesture, and the axis of the rotating seat 81 on the mechanical arm 6 is aligned with the axis of the cover 3 through the second vision component 74; 2) The longitudinal movement linear drive 72 drives the mechanical arm 6 to longitudinally move (Y direction), so that the rotating seat 81 is close to the sealing cover 3, and the mechanical arm 6 stops longitudinally moving until the feedback distance of the distance measuring mechanism 13 reaches a set value; 3) The mechanical arm 6 adjusts the gesture to enable the nut sleeve to be aligned with one of the lock sleeves 42, the first rotating motor 82 drives the rotating seat 81 to rotate, drives the screwing part 83 to rotate and feed in the direction approaching the lock sleeve 42, the rotating seat 81 is driven to rotate after the lock sleeve 42 is unscrewed and is retracted, the deflector rod mechanism 9 is aligned with one lock rod 41, then the second rotating motor 142 drives the screw rod 141 to rotate, drives the moving block 143 to slide on the guide rail 811 on the rotating seat 81, enables the deflector part 92 to approach the end face of the sealing cover 3 and contact the end face, continues to push, at the moment, the deflector rod 91 swings, enables the deflector part 92 to approach the lock rod 41 along the end face of the sealing cover 3 until the deflector rod 41 is separated from the sealing cover 3, and then the second rotating motor 142 reversely rotates to reset the moving block 143; then the posture of the mechanical arm 6 is adjusted to lead the nut sleeve to be aligned with the next lock sleeve 42; the above process is repeated until all the lock sleeves 42 are all released and all the lock bars 41 are pulled out to be separated from the cover 3. 5) The mechanical arm 6 adjusts the posture, so that the rotating seat 81 returns to the position coaxial with the sealing cover 3, the longitudinal movement linear drive 72 drives the mechanical arm 6 to longitudinally move, the opening and closing rod 101 on the rotating seat 81 is close to the sealing cover 3, the hooking part 102 hooks the sealing cover 3, the longitudinal movement linear drive 72 drives the mechanical arm 6 to reversely retract, the sealing cover 3 is opened, and the filter element 2 is exposed; 6) The longitudinal linear driving 72 drives the mechanical arm 6 to longitudinally move, so that the push-pull rod 121 on the rotating seat 81 is close to the filter element 2, the hooking part 122 hooks the filter element 2, and the longitudinal linear driving 72 drives the mechanical arm 6 to reversely retract and pull out the filter element 2. The installation process of the new filter element 2 is opposite to the disassembly process, and will not be described in detail here.
Example III
The filter element replacement method of the embodiment comprises the following steps:
s1, adjusting the gesture of the mechanical arm 6 to enable the axis of the screwing mechanism 8 to be aligned with the axis of the sealing cover 3, driving the mechanical arm 6 to be close to the sealing cover 3 by the moving driving mechanism 7, and stopping moving the mechanical arm 6 after the distance detected by the distance measuring mechanism 13 on the mechanical arm 6 reaches a set value;
s2, the mechanical arm 6 adjusts the gesture, so that the screwing mechanism 8 is aligned and sleeved on one of the lock sleeves 41, the lock sleeve 41 is unscrewed and then retreated, the screwing mechanism (8) rotates, and a deflector rod mechanism (9) on the screwing mechanism (8) is aligned with one of the lock rods (41) and is pulled out to be separated from the sealing cover (3);
s3, repeating the step S2, and separating the residual locking components (4) from the sealing cover (3) in sequence;
s4, the mechanical arm 6 adjusts the gesture to enable the axial lead of the screwing mechanism 8 to be aligned with the axial lead of the sealing cover 3, the mechanical arm 6 is driven by the moving driving mechanism 7 to be close to the sealing cover 3, and then the sealing cover 3 is opened by the opening and closing mechanism 10;
s5, the filter element 2 is pulled out by driving a push-pull mechanism 12 on the mechanical arm 6 through the movement driving mechanism 7.
The above-mentioned S1-S5 are filter element disassembly methods, and the filter element replacement method of this embodiment further includes an installation method of a new filter element 2, and the steps of the method are opposite to the disassembly method, and are not described herein again.
The filter element replacement method has the advantages of simple steps and high filter element replacement efficiency.
While the application has been described with reference to preferred embodiments, it is not intended to be limiting. Many possible variations and modifications of the disclosed technology can be made by anyone skilled in the art, or equivalent embodiments with equivalent variations can be made, without departing from the scope of the application. Therefore, any simple modification, equivalent variation and modification of the above embodiments according to the technical substance of the present application shall fall within the scope of the technical solution of the present application.
Claims (10)
1. A filter element mounting device, characterized in that: including locating filter core installation cavity (1) in the filter frame, be equipped with on filter core installation cavity (1) and supply import and export (11) of filter core (2) business turn over, articulated on filter core installation cavity (1) have closing cap (3) and locking subassembly (4) that are used for switching import and export (11), locking subassembly (4) include threaded connection's locking lever (41) and lock sleeve (42), locking lever (41) are articulated with filter core installation cavity (1), lock sleeve (42) are used for compressing tightly closing cap (3) when closing cap (3).
2. The cartridge mounting apparatus of claim 1, wherein: the sealing cover (3) is provided with a containing groove (31) corresponding to the lock rod (41).
3. The cartridge mounting apparatus of claim 1, wherein: the locking assemblies (4) are provided with a plurality of groups, and the locking assemblies (4) are arranged around the periphery of the filter element installation cavity (1) at intervals.
4. A cartridge changing device for changing a cartridge (2) in a cartridge mounting device according to any one of claims 1 to 3, characterized in that: the filter element replacing device comprises a movable seat (5), a mechanical arm (6) arranged on the movable seat (5) in a movable mode, a movable driving mechanism (7) used for driving the mechanical arm (6) to move, a screwing mechanism (8) used for screwing a lock sleeve (42) is arranged on the mechanical arm (6), a deflector rod mechanism (9) used for stirring a lock rod (41), an opening and closing mechanism (10) used for opening and closing a sealing cover (3), a push-pull mechanism (12) used for pushing and pulling the filter element (2) and a distance measuring mechanism (13) used for measuring the distance between the filter element and the sealing cover (3) are arranged on the screwing mechanism (8).
5. The cartridge changing apparatus of claim 4, wherein: the screwing mechanism (8) comprises a rotating seat (81) and a first rotating motor (82) for driving the rotating seat (81) to rotate, the rotating seat (81) is rotationally connected with the mechanical arm (6), the first rotating motor (82) is arranged on the mechanical arm (6), the deflector rod mechanism (9), the opening and closing mechanism (10), the push-pull mechanism (12) and the ranging mechanism (13) are all arranged on the rotating seat (81), and a screwing part (83) matched with the lock sleeve (42) is further arranged on the rotating seat (81).
6. The cartridge changer of claim 5, wherein: the driving lever mechanism (9) comprises a driving lever (91), one end of the driving lever (91) is hinged with the rotating seat (81), the other end of the driving lever is provided with a driving part (92), and the rotating seat (81) is provided with a swing driving assembly (14) for driving the driving lever (91) to swing.
7. The cartridge changer of claim 5, wherein: the opening and closing mechanism (10) comprises an opening and closing rod (101), one end of the opening and closing rod (101) is fixed on the rotating seat (81), and the other end of the opening and closing rod is provided with a hooking part (102) for hooking and pulling the sealing cover (3).
8. The cartridge changer of claim 5, wherein: the push-pull mechanism (12) comprises a push-pull rod (121), one end of the push-pull rod (121) is fixed on the rotating seat (81), and the other end of the push-pull rod is provided with a hooking part (122) for hooking the filter element (2).
9. The cartridge changing device according to any one of claims 4 to 8, wherein: the movable seat (5) is provided with a movable wheel (51), a navigation assembly (52), a first vision assembly (53) and an obstacle avoidance assembly (54).
10. A method of cartridge replacement, characterized by: the method comprises the following steps:
s1, adjusting the gesture of the mechanical arm (6) to enable the axis of the screwing mechanism (8) to be aligned with the axis of the sealing cover (3), driving the mechanical arm (6) to be close to the sealing cover (3) by the moving driving mechanism (7), and stopping moving the mechanical arm (6) after the distance detected by the distance measuring mechanism (13) on the mechanical arm (6) reaches a set value;
s2, adjusting the gesture by the mechanical arm (6), enabling the screwing mechanism (8) to be aligned and sleeved on one of the lock sleeves (42), unscrewing the lock sleeve (42), returning, rotating the screwing mechanism (8), enabling the shifting lever mechanism (9) on the screwing mechanism (8) to be aligned with one of the lock levers (41) and shifting the shifting lever mechanism to be separated from the sealing cover (3);
s3, repeating the step S2, and separating the residual locking components (4) from the sealing cover (3) in sequence;
s4, adjusting the posture of the mechanical arm (6) to enable the axis of the screwing mechanism (8) to be aligned with the axis of the sealing cover (3), driving the mechanical arm (6) to be close to the sealing cover (3) through the moving driving mechanism (7), and then opening the sealing cover (3) through the opening and closing mechanism (10);
s5, a push-pull mechanism (12) on the mechanical arm (6) is driven by the movable driving mechanism (7) to pull out the filter element (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310431084.3A CN116571998A (en) | 2023-04-11 | 2023-04-11 | Filter element mounting device, filter element replacing device and replacing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310431084.3A CN116571998A (en) | 2023-04-11 | 2023-04-11 | Filter element mounting device, filter element replacing device and replacing method thereof |
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| Publication Number | Publication Date |
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| CN116571998A true CN116571998A (en) | 2023-08-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310431084.3A Pending CN116571998A (en) | 2023-04-11 | 2023-04-11 | Filter element mounting device, filter element replacing device and replacing method thereof |
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| CN (1) | CN116571998A (en) |
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