CN117773895B - Multi-point combined type filter membrane conveying and storing device - Google Patents
Multi-point combined type filter membrane conveying and storing device Download PDFInfo
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- CN117773895B CN117773895B CN202410214948.0A CN202410214948A CN117773895B CN 117773895 B CN117773895 B CN 117773895B CN 202410214948 A CN202410214948 A CN 202410214948A CN 117773895 B CN117773895 B CN 117773895B
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- 239000012528 membrane Substances 0.000 title claims abstract description 279
- 230000007246 mechanism Effects 0.000 claims abstract description 58
- 239000002131 composite material Substances 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 10
- 230000008569 process Effects 0.000 claims abstract description 10
- 238000001514 detection method Methods 0.000 claims description 22
- 238000005303 weighing Methods 0.000 claims description 14
- 239000002775 capsule Substances 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 12
- 238000003825 pressing Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 5
- 230000001174 ascending effect Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims 1
- 102000003939 Membrane transport proteins Human genes 0.000 description 5
- 108090000301 Membrane transport proteins Proteins 0.000 description 5
- 230000009061 membrane transport Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 230000003203 everyday effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004806 packaging method and process Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- 238000012545 processing Methods 0.000 description 1
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- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The invention discloses a multi-point composite filter membrane conveying and storing device which is characterized by further comprising a manipulator connected to a frame and a clamping mechanism connected to the frame and used for clamping a filter membrane box so as to facilitate the disassembly of an end cover of the filter membrane box; the manipulator is provided with a clamping device for clamping the filter membrane box and a rotator for driving the clamping device to rotate so as to disassemble and assemble the box cover of the filter membrane box; the clamp is provided with a laser sensor. The empty filter membrane box is automatically taken out for use through the arrangement of the control system, the mechanical arm, the clamping mechanism, the filter membrane box storing and taking mechanism and the laser sensor, the box cover is automatically disassembled and assembled, and whether the box cover is screwed or not and whether the box cover is obliquely installed or not is automatically detected when the box cover is installed; the whole process of the device does not need manual operation, and an operator only needs to take out the preserved filter membrane boxes on site at regular intervals and stack the empty filter membrane boxes on the filter membrane box storing and taking mechanism.
Description
Technical Field
The invention relates to automatic storage and detection of filter capsules, in particular to a multi-point composite filter membrane conveying and storing device.
Background
At present, when environment monitoring, particulate matters in the atmosphere are collected through a collecting device and then are placed on a filter membrane, the filter membrane is processed through a pretreatment device, the filter membrane is placed in a filter membrane box after the processing is completed, an operator takes the filter membrane box to a laboratory for detection and analysis, but the existing environment detection devices are distributed in various places, the distribution is scattered, the operator needs to collect the collected filter membrane on site every day, a large amount of time is occupied, the device for automatically collecting the filter membrane is very complicated, a filter membrane sample collected every day is required to be installed in the filter membrane box through an automatic collecting device for collection and storage, the operator only needs to take the filter membrane regularly, the automatic collecting device is required to ensure that a box cover of the filter membrane box is accurately and tightly installed on the filter membrane box, and the problem to be solved is how to ensure that a box cover can be accurately and tightly installed on the filter membrane box, and the problem that the box cover is obliquely installed on the box cover is avoided. For this purpose, a multi-point composite filter membrane transport and storage device is proposed.
Disclosure of Invention
The invention aims to solve the problems and provides a multi-point composite filter membrane conveying and storing device.
In order to achieve the purpose, the invention provides a multi-point composite filter membrane conveying and storing device which comprises a rack, wherein the rack is provided with a plurality of filter membrane conveying and storing units; the clamping mechanism is connected to the frame and used for clamping the filter membrane box so as to facilitate the disassembly and assembly of the end cover of the filter membrane box; the manipulator on install the circulator that is used for pressing from both sides the clamp of getting the filter capsule and drives the clamp and rotate and carry out dismouting to the lid of filter capsule, its characterized in that: the laser sensor is arranged on the clamping device; the clamping mechanism comprises a clamping cylinder connected to the frame, a clamping jaw connected with the clamping cylinder and driven by the clamping cylinder to clamp the filter membrane box, a clamping frame connected to the frame, a bottom frame movably mounted on the clamping frame and a buffer spring arranged between the bottom frame and the clamping frame; the clamping cylinder is arranged on the underframe.
Further preferably, the device further comprises a detection frame connected to the clamping cylinder and an inductor connected to the detection frame for detecting the filter capsule.
Further preferably, the clamping mechanism is also a clamping frame connected to the frame, a rotating frame movably connected to the clamping frame, a tension spring arranged on the rotating frame and the clamping frame and used for limiting the position of the rotating frame and playing a resetting role after rotating, a clamping cylinder connected to the rotating frame and a clamping jaw arranged on the clamping cylinder, and a proximity switch used for sensing whether the rotating frame rotates to judge whether the filter membrane box cover is screwed or not is further arranged on the clamping frame.
Further preferably, the device further comprises a weighing device connected to the frame.
Further preferably, the filter membrane box storage and taking device further comprises a plurality of filter membrane box storage and taking mechanisms which are connected to the frame and used for automatically storing and taking filter membrane boxes; the filter membrane box storing and taking mechanism comprises a storing and taking rack, a charging barrel connected to the storing and taking rack and a driving mechanism arranged on the storing and taking rack and used for driving the filter membrane boxes stacked in the charging barrel to move up and down.
Further preferably, the driving mechanism comprises a sliding rail connected to the access rack, a driving motor connected to the access rack, a driving screw movably connected to the access rack and having one end connected to the driving motor in a transmission manner, a nut seat movably connected to the driving screw, and a sliding block mounted on the nut seat and slidably connected to the sliding rail.
Further preferably, a driving piece with one end extending into the charging barrel is arranged on the nut seat; the charging barrel is provided with a hollow groove for avoiding interference to the movement of the driving piece; the access rack is also provided with a control button for controlling the starting of the driving mechanism, and the control button is divided into an ascending button and a descending button.
Further preferably, the filter membrane transferring mechanism is further arranged on the frame and used for preparing and transferring the filter membrane, and comprises a filter membrane transferring manipulator connected to the frame, a movable seat slidably arranged on the frame, a filter membrane cylinder arranged on the movable seat and a driving cylinder arranged on the frame and used for driving the filter membrane cylinder to move.
Further preferably, the movable seat is provided with a push rod, one end of which penetrates out of the filter membrane cylinder and is used for pushing the filter membrane out of the filter membrane cylinder, an ejection cylinder, and a press, wherein the ejection cylinder is connected to the frame and is used for driving the push rod to act, and the press is connected to the frame and is used for pressing the filter membrane.
Further preferably, the movable seat is also provided with a motor seat, the motor seat is provided with a motor, the motor is connected with a driving rod in a transmission way, and the driving rod is provided with a cover plate for covering the filter membrane cylinder; and a second laser sensor is also arranged on the filter membrane transferring manipulator.
The invention has the beneficial effects that: the empty filter membrane box is automatically taken out for use through the arrangement of the control system, the mechanical arm, the clamping mechanism, the filter membrane box storing and taking mechanism and the laser sensor, the disassembly and assembly of the box cover are automatically carried out, and when the box cover is installed, whether the box cover is screwed tightly or not and whether the box cover is installed obliquely or not are automatically detected, if the box cover is inclined, the box cover is unscrewed again and then is installed again until the box cover is accurately installed on the filter membrane box, so that the problem of tightness caused by the phenomenon that the box cover is installed on the filter membrane box without being screwed tightly or obliquely is avoided; the whole process of the device does not need manual operation, and an operator only needs to take out the preserved filter membrane boxes on site at regular intervals and stack the empty filter membrane boxes on the filter membrane box storing and taking mechanism.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic view of a partial structure of the present invention;
FIG. 3 is a schematic view of a part of the structure of the manipulator according to the present invention;
FIG. 4 is a schematic view of the structure of the clamping mechanism in the present invention;
FIG. 5 is a schematic view of the structure of embodiment 2 of the present invention;
FIG. 6 is a schematic view of a partial structure of the present invention;
FIG. 7 is a schematic view of a part of the structure of the filter membrane access mechanism in the present invention;
FIG. 8 is a schematic view of a part of a filter membrane transport mechanism in the present invention;
FIG. 9 is a schematic view of a part of a filter membrane transport mechanism in the present invention;
FIG. 10 is a control flow diagram of the present invention;
FIG. 11 is a schematic diagram of the control flow in the preparation of the filter membrane in the present invention.
Legend description: 1. a frame; 2. a manipulator; 21. a clamp; 22. a rotator; 23. a laser sensor; 3. a clamping mechanism; 31. a clamping cylinder; 32. a clamping jaw; 33. a clamping frame; 34. a chassis; 35. a buffer spring; 36. a detection frame; 37. an inductor; 38. a rotating frame; 39. a tension spring; 310. a proximity switch; 4. a weighing device; 5. a filter box storing and taking mechanism; 51. a rack is accessed; 52. a charging barrel; 53. a hollow groove; 54. a rising button; 55. a down button; 6. a driving mechanism; 61. a slide rail; 62. a driving motor; 63. driving a screw rod; 64. a nut seat; 65. a slide block; 66. a driving member; 7. a filter membrane transfer mechanism; 71. a filter membrane transferring manipulator; 72. a movable seat; 73. a filter membrane cartridge; 74. a driving cylinder; 75. a push rod; 76. an ejection cylinder; 77. a press; 78. a motor base; 79. a motor; 710. a driving rod; 711. a cover plate; 712. and a laser sensor II.
Detailed Description
The following describes a multi-point composite filter membrane conveying and storing device according to the present invention with reference to the accompanying drawings.
It should be noted that, in the embodiment of the present invention, all directional indications such as up, down, left, right, front and rear … … are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indication is changed accordingly.
In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are used in a broad sense, and may be either fixedly connected, detachably connected, or integrated; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances;
example 1
Referring to fig. 1-4 and 6-11, a multi-point composite filter membrane transport and storage device comprises a control system and a rack 1; the device is characterized by further comprising a camera which is arranged on the frame 1 and higher than the highest point of the manipulator 2, wherein the camera is used for monitoring whether a person or a thing affecting the normal operation of the detection device exists on the detection device or beside the frame 1, and a clamping mechanism 3 which is connected to the frame 1 and used for clamping the filter membrane box and facilitating the disassembly and assembly of the end cover of the filter membrane box; the manipulator 2 is provided with a clamping device 21 for clamping the filter membrane box and a rotator 22 for driving the clamping device 21 to rotate so as to disassemble and assemble the box cover of the filter membrane box; the clamp 21 is provided with a laser sensor 23; the clamping mechanism 3 comprises a clamping cylinder 31 connected to the frame 1, and a clamping jaw 32 connected with the clamping cylinder 31 and driven by the clamping cylinder 31 to clamp the filter cartridge;
The empty filter membrane box is automatically taken out for use through the arrangement of the control system, the mechanical arm 2, the clamping mechanism 3, the filter membrane box storing and taking mechanism 5 and the laser sensor 23, the box cover is automatically disassembled and assembled, and when the box cover is installed, whether the box cover is screwed tightly or not and whether the box cover is installed obliquely or not is automatically detected, if the box cover is inclined, the box cover is unscrewed again and then is installed again until the box cover is accurately installed on the filter membrane box, so that the problem of tightness caused by the phenomenon that the box cover is installed on the filter membrane box without being screwed tightly or obliquely is avoided; the whole process of the device does not need manual operation, and an operator only needs to take out the preserved filter membrane boxes on site at regular intervals and stack the empty filter membrane boxes on the filter membrane box storing and taking mechanism 5.
In one embodiment, the clamping mechanism 3 further comprises a clamping frame 33 connected to the frame 1, a bottom frame 34 movably mounted on the clamping frame 33, and a buffer spring 35 arranged between the bottom frame 34 and the clamping frame 33; the clamping cylinder 31 is arranged on the underframe 34; the filter membrane box is assembled and disassembled by the mechanical arm 2 without the need of up-down motion, namely, the mechanical arm 2 only rotates the box cover to make the filter membrane box perform corresponding up-down motion so as to complete the assembly and disassembly of the filter membrane box and the box cover;
Through the setting of inductor 37 for whether the filter membrane box has been placed on the response detection frame 36, send signal to control system after the inductor 37 senses the filter membrane box, control system control presss from both sides tight cylinder 31 start clamping the filter membrane box.
In one embodiment, the filter membrane box also comprises a weighing device 4 connected to the frame 1 and used for weighing the filter membrane box, and whether the filter membrane is placed in the filter membrane box or not can be judged by weighing.
In one embodiment, the filter cartridge storing and taking device further comprises a plurality of filter cartridge storing and taking mechanisms 5 which are connected to the frame 1 and used for automatically storing and taking filter cartridges; the filter membrane box access mechanism 5 comprises an access frame 51, a charging barrel 52 connected to the access frame 51 and a driving mechanism 6 arranged on the access frame 51 and used for driving filter membrane boxes stacked in the charging barrel 52 to move up and down; by the arrangement of the cartridge 52, for stacking the filter cartridges while guiding the movement of the filter cartridges; the filter membrane box in the charging barrel 52 is driven to move up and down by the arrangement of the driving mechanism 6.
In one embodiment, the driving mechanism 6 includes a sliding rail 61 connected to the access frame 51, a driving motor 62 connected to the access frame 51, a driving screw 63 movably connected to the access frame 51 and having one end in driving connection with the driving motor 62, a nut seat 64 movably connected to the driving screw 63, and a sliding block 65 mounted on the nut seat 64 and slidably connected to the sliding rail 61; the nut seat 64 is provided with a driving piece 66 with one end extending into the feed cylinder 52; the charging barrel 52 is provided with a hollow groove 53 which avoids interference to the movement of the driving piece 66; the access rack 51 is also provided with a control button for controlling the driving mechanism 6 to start, and the control button is divided into an ascending button 54 and a descending button 55;
when the driving piece 66 moves up and down, the driving motor 62 is started, the driving motor 62 drives the driving screw 63 to rotate, and the driving screw 63 moves the nut seat 64 up and down along the sliding rail 61 through screw fit with the nut seat 64 during rotation, so that the driving piece 66 is driven to move up and down.
Through the arrangement of the empty groove 53, one end of the driving piece 66 can extend into the charging barrel 52 to support the filter membrane box, and meanwhile interference to up-and-down actions of the driving piece 66 is avoided.
By setting the control button, when the operator needs to take out the filter cartridge containing the filter cartridge or to replenish the empty filter cartridge into the cartridge 52, the operation of the drive mechanism 6 can be controlled by pressing the up button 54 or the down button 55.
In one embodiment, the filter membrane transferring mechanism 7 is connected to the frame 1 and used for preparing and transferring the filter membrane, the filter membrane transferring mechanism 7 comprises a filter membrane transferring manipulator 71 connected to the frame 1, a movable seat 72 slidably installed on the frame 1, a filter membrane cylinder 73 installed on the movable seat 72, a driving cylinder 74 installed on the frame 1 and used for driving the filter membrane cylinder 73 to move, a push rod 75 connected to the movable seat 72 and with one end penetrating out of the filter membrane cylinder 73 and used for pushing the filter membrane out of the filter membrane cylinder 73, a push rod 76 connected to the frame 1 and used for driving the push rod 75 to act, and a press 77 connected to the frame 1 and used for pressing the filter membrane; the movable seat 72 is also provided with a motor seat 78, the motor seat 78 is provided with a motor 79, the motor 79 is in transmission connection with a driving rod 710, and the driving rod 710 is provided with a cover plate 711 for covering the filter membrane cylinder 73; a second laser sensor 712 is also installed on the filter membrane transferring manipulator 71;
The filter membrane transferring mechanism 7 is used for pressing the collected filter membranes, detecting the thickness of the filter membranes after pressing, and conveying the filter membranes into a filter membrane box for packaging through the filter membrane transferring manipulator 71 after the detection is qualified;
the filter membrane cylinder 73 and the press 77 are arranged for press forming the filter membrane; the filter membrane in the filter membrane cylinder 73 is ejected out of the filter membrane cylinder 73 by the ejection cylinder 76 and the ejector rod 75, so that the filter membrane is conveniently transported after being grabbed by the filter membrane transport manipulator 71;
Through the arrangement of the cover plate 711, when the pressing rod arranged on the press 77 stretches into the filter membrane cylinder 73, the cover plate 711 covers half of the filter membrane cylinder 73, and after the cover plate 711 covers the filter membrane, the filter membrane is prevented from falling out of the filter membrane cylinder 73 when the filter membrane is pressed;
the second laser sensor 712 is arranged on the filter membrane transferring manipulator 71, the second laser sensor 712 is arranged, when the filter membrane transferring manipulator is used, firstly, a point is taken in the filter membrane cylinder 73, the distance between the filter membrane cylinder 73 and the second laser sensor 712 is measured, when the filter membrane is pressed, the distance between the filter membrane and the second laser sensor 712 is measured through the second laser sensor 712, the thickness of the filter membrane is obtained by subtracting the distance between the filter membrane and the second laser sensor 712 from the standard value, meanwhile, the measured thickness of the filter membrane is compared with the set thickness of the filter membrane through the control system, whether the filter membrane is pressed is finished or not is judged, and if the filter membrane is not finished, the press is performed again;
Setting a distance value from the filter membrane clamping position to the laser sensor II 712, driving the ejector rod 75 through the ejector cylinder 76 to eject the filter membrane out of the filter membrane cylinder 73 after the filter membrane is pressed, simultaneously carrying out real-time monitoring on the distance between the filter membrane and the laser sensor II 712 through the laser sensor II 712 and comparing with the set distance value, sending a signal to a control system after the value is consistent, controlling the ejector cylinder 76 to stop acting by the control system, indicating that the filter membrane ejects the filter membrane cylinder 73 to the clamping position, and at the moment, the filter membrane transferring manipulator 71 can grab the filter membrane to convey the filter membrane into the filter membrane box for packaging.
In one embodiment, the clamp 21 may be a pneumatic clamp or a hydraulic clamp; the rotator 22 may be a rotary cylinder or a servo motor.
The invention is used when:
a. firstly, setting working parameters of all mechanisms in the whole detection device;
b. Setting not less than one filter membrane box for storing filter membranes and not less than one filter membrane box for stacking a plurality of empty filter membrane boxes in the filter membrane box storing mechanism 5 in the control system; when the filter membrane box in the charging barrel 52 provided with the empty filter membrane box is taken out, the filter membrane box provided with the filter membrane can be stored;
c. Before the detection device starts to operate and in the working process, whether foreign matters or people exist in the whole detection device and a range interval set around the detection device or not is judged in real time by a camera, if not, normal working is started, and if so, the machine is stopped, and an alarm signal is sent to an operator;
d. The control system controls the driving mechanism 6 provided with the station of the empty filter membrane box to start, the driving motor 62 drives the driving screw 63 to rotate, the driving screw 63 drives the nut seat 64 to move upwards through the cooperation with the nut seat 64 in the rotating process, the nut seat 64 drives the driving piece 66 to move upwards, and the driving piece 66 drives the filter membrane boxes stacked in the charging barrel 52 to move upwards for one station, so that the filter membrane box at the uppermost part protrudes out of the storage rack;
e. Then the control system controls the manipulator 2 to clamp the empty filter membrane box and then place the empty filter membrane box on the clamping mechanism 3, the sensor 37 arranged on the detection frame 36 senses the filter membrane and then sends a signal to the control system, the control system controls the clamping cylinder 31 to clamp the filter membrane box, the control system controls the rotator 22 to drive the clamping device 21 to rotate reversely after clamping, and the box cover is unscrewed from the filter membrane box and is temporarily placed on the weighing device 4;
f. Then the prepared filter membrane is clamped by a filter membrane transferring manipulator 71 and then placed into a filter membrane box, then a control system controls a manipulator 2 to drive a laser sensor 23 to perform point taking distance measurement on the filter membrane, whether the filter membrane is completely placed in the filter membrane box is judged, if the measured numerical value difference of a plurality of points exceeds a set standard, the filter membrane is possibly partially placed on the edge of the filter membrane box, the control system controls the manipulator 2 to move downwards, the filter membrane is pressed by a clamp 21, and the filter membrane is pressed into the filter membrane box; the set standard value interval is set in the control system in advance, and if the difference value between the measured data of a plurality of points exceeds the set standard value interval, the filter membrane is completely positioned in the filter membrane box when being placed, and a shelving condition possibly exists;
g. Then the control system controls the manipulator 2 to clamp the box cover placed on the weighing device 4 and then cover the box cover on the filter box, then controls the rotator 22 to drive the clamping device 21 to rotate forward for n circles, the number of rotations is set in the control system in advance, the number of rotations required by screwing the box cover according to actual measurement of threads on the filter box is set as k in advance, the number of rotations n during screwing is not less than k+1, and the box cover is ensured to be screwed and installed on the filter box; the clamping device 21 drives the box cover to rotate so as to be arranged on the filter box;
h. After screwing, the control system controls the laser sensor 23 arranged on the clamp 21 to take points and measure distance to the position of the filter capsule, a plurality of points are taken on the filter capsule and measure distance, measured data are sent to the control system, the control system compares and files the measured data of the plurality of points, the data difference value is judged to be accurate in box cover installation within a set standard direction, the data difference value exceeds a set standard range, the installation position of the box cover is judged to be deviated, and the box cover is obliquely installed on the filter capsule;
i. If the detection is qualified, the control system controls the clamping cylinder 31 to loosen the filter capsule, the mechanical arm 2 clamps the filter capsule, then the filter capsule is placed on the weighing device 4 for weighing, the data is transmitted to the control system, and the control system records and archives the data;
j. The mechanical arm 2 clamps the filter membrane box on the weighing device 4 and then moves the filter membrane box to a filter membrane box storing mechanism 5 for storing the filter membrane box filled with the filter membrane, then the driving mechanism 6 is controlled to start to drive the driving piece 66 to move downwards by one station, the filter membrane box moves downwards by one station along with the driving piece, until the filter membrane box storing mechanism 5 is fully stored, a signal is sent to the control system, and the control system controls the mechanical arm 2 to move the subsequent filter membrane box to another filter membrane box storing mechanism for storing;
k. if the detection is unqualified, the control system controls the manipulator 2 to screw the box cover down through the rotator 22 and then screw the box cover again, and then the step g-j is repeated, so that the box cover is accurately arranged on the filter box;
in the step e, the filter membrane transferring manipulator 71 clamps the prepared filter membrane and then places the filter membrane into the filter membrane box to prepare the filter membrane; the specific preparation method is as follows;
Firstly, controlling a filter membrane transferring manipulator 71 to drive a second laser sensor 712 to move to a filter membrane cylinder 73, and then measuring distance between the bottom of the filter membrane cylinder 73 and the second laser sensor 712 through the second laser sensor 712, wherein measured data are used as a reference;
Then throwing the collected filter membrane into a filter membrane cylinder 73 by a filter membrane transferring manipulator 71;
n, then the control system controls the driving air cylinder 74 to start, drives the movable seat 72 and the filter membrane cylinder 73 to move backwards to the lower part of the press 77, and then controls the press 77 to start;
After the press 77 drives the press rod to extend into the filter membrane cylinder 73 to extrude the filter membrane, the control system controls the motor 79 to start, the motor 79 drives the driving rod 710 to rotate, and the driving rod 710 drives the cover plate 711 to act so as to cover the filter membrane cylinder 73;
p, after the filter membrane extrusion is completed, the motor 79 drives the cover plate 711 to reset, and then the press 77 drives the compression bar to reset; the control system controls a driving air cylinder 74 to drive the movable seat 72 and the filter membrane cylinder 73 to reset;
Then the control system controls the second laser sensor 712 to measure the distance between the filter membrane and the second laser sensor 712, the control system subtracts the measured data from the reference value to obtain the thickness of the filter membrane, and the obtained thickness of the filter membrane is compared with the set standard thickness of the filter membrane to judge whether the thickness of the filter membrane is qualified or not;
and r, if the filter membrane is qualified, the control system controls the ejection cylinder 76 to drive the ejector rod 75 to move upwards so as to eject the filter membrane out of the filter membrane cylinder 73, the second laser sensor 712 continuously measures the distance between the filter membrane and the second laser sensor 712 in the ejection process, and the ejection cylinder 76 is controlled to stop moving until the measured data is the same as the set distance, and the filter membrane is judged to be ejected out of the filter membrane cylinder 73 at the moment and is ready to be fed;
And s, if the filter membrane is unqualified, the filter membrane is pressed, and the n-r steps are repeated.
Example 2
Referring to fig. 5, the difference between this embodiment and embodiment 1 is that the detection mode for detecting whether the lid is screwed is different, and in this embodiment, the clamping mechanism 3 further includes a clamping frame 33 connected to the frame 1, a rotating frame 38 movably connected to the clamping frame 33, a tension spring 39 disposed on the rotating frame 38 and the clamping frame 33 for limiting the position of the rotating frame 38 and resetting after rotating, a clamping cylinder 31 connected to the rotating frame 38, and a clamping jaw 32 disposed on the clamping cylinder 31, and a proximity switch 310 for sensing whether the rotating frame 38 rotates to determine whether the lid of the filter membrane box is screwed is further mounted on the clamping frame 33;
Through the arrangement of the rotating frame 38, the tension springs 39 connecting the rotating frame 38 and the clamping frame 33 and the proximity switch, the position of the rotating frame 38 is limited by pulling the rotating frame 38 to two sides through the tension springs 39 at two sides, when the rotating force applied to the filter membrane box when the box cover is screwed is smaller than the tension force of the tension springs 39, the rotating frame 38 cannot rotate, when the force applied to the filter membrane box when the box cover is rotated due to screwing in the rotating process is larger than the tension force of the tension springs 39, the rotating frame 38 rotates against the tension force of the tension springs 39, once the rotating frame contacts with the proximity switch 310 during rotation, the proximity switch 310 sends a signal to a control system, and the control system judges that the box cover is screwed at the moment and controls the rotator 22 to stop acting;
Detecting whether the box cover is screwed up: the manipulator 2 moves the box cover to the filter membrane box after clamping, then controls the rotator 22 to start, the rotator 22 drives the clamp 21 and the box cover to rotate reversely, the box cover is installed on the filter membrane box when rotating, in the screwing process of the box cover, when the rotator 22 drives the rotating force of the box cover to act on the filter membrane box, the whole rotating frame 38 is driven to rotate when the rotating force of the filter membrane box is larger than the pulling force of the tension spring 39, the rotating frame 38 rotates and contacts with the proximity switch 310 arranged on the clamping frame, the proximity switch 310 sends a signal to the control system, and the control system controls the rotator 22 to stop acting, and the box cover is judged to be screwed at the moment.
The scope of protection of the present invention is not limited to the above embodiments and variations thereof. Conventional modifications and substitutions by those skilled in the art based on the content of the present embodiment fall within the protection scope of the present invention.
Claims (6)
1. A multi-point composite filter membrane conveying and storing device comprises a rack; the clamping mechanism is connected to the frame and used for clamping the filter membrane box so as to facilitate the disassembly and assembly of the end cover of the filter membrane box; the manipulator on install the circulator that is used for pressing from both sides the clamp of getting the filter capsule and drives the clamp and rotate and carry out dismouting to the lid of filter capsule, its characterized in that: the laser sensor is arranged on the clamping device; the clamping mechanism comprises a clamping cylinder connected to the frame, a clamping jaw connected with the clamping cylinder and driven by the clamping cylinder to clamp the filter membrane box, a clamping frame connected to the frame, a bottom frame movably mounted on the clamping frame and a buffer spring arranged between the bottom frame and the clamping frame; the clamping cylinder is arranged on the underframe; the filter membrane box is connected to the frame and used for weighing the filter membrane box, and a weighing device for judging whether the filter membrane box is internally provided with the filter membrane or not through weighing is also included; the filter membrane transferring mechanism comprises a filter membrane transferring manipulator connected to the frame, a movable seat slidably mounted on the frame, a filter membrane cylinder mounted on the movable seat, and a driving cylinder mounted on the frame and used for driving the filter membrane cylinder to move; the movable seat is provided with a push rod, one end of which penetrates out of the filter membrane cylinder and is used for pushing the filter membrane out of the filter membrane cylinder, an ejection cylinder, and a press, wherein the ejection cylinder is connected to the frame and is used for driving the push rod to act; the movable seat is also provided with a motor seat, the motor seat is provided with a motor, the motor is connected with a driving rod in a transmission way, and the driving rod is provided with a cover plate for covering the filter membrane cylinder; a second laser sensor is also arranged on the filter membrane transferring manipulator;
before the device starts to run and in the working process, whether foreign matters or people exist in the whole detection device and a range interval set around the detection device or not is judged in real time by the camera, if not, the device starts to work normally, and if so, the device stops to send an alarm signal to an operator;
When the prepared filter membrane is put into the filter membrane box, the prepared filter membrane is clamped by a filter membrane transferring manipulator and then placed into the filter membrane box, then a control system controls the manipulator to drive a laser sensor to perform point taking distance measurement on the filter membrane, whether the filter membrane is completely placed in the filter membrane box is judged, if the numerical value difference of a plurality of measured points exceeds a set standard, the filter membrane is possibly partially placed on the edge of the filter membrane box, the control system controls the manipulator to move downwards, and the filter membrane is pressed into the filter membrane box by a clamp; the set standard value interval is set in the control system in advance, and if the difference value between the measured data of a plurality of points exceeds the set standard value interval, the filter membrane is completely positioned in the filter membrane box when being placed, and a shelving condition possibly exists;
when the box cover is screwed, the control system controls the mechanical arm to clamp the box cover placed on the weighing device to the filter box, then controls the rotator to drive the clamping device to rotate forward for n circles, the number of rotations is set in the control system in advance, the number of rotations required by screwing the box cover is set as k according to actual measurement of threads on the filter box, the number of rotations n during screwing is not less than k+1, and the box cover is ensured to be screwed and installed on the filter box; the clamping device drives the box cover to rotate so as to be arranged on the filter box;
When the filter membrane is used for preparing materials,
Firstly, controlling a filter membrane transferring manipulator to drive a second laser sensor to move to a filter membrane cylinder, and then measuring distance between the bottom of the filter membrane cylinder and the second laser sensor through the second laser sensor, wherein measured data are used as a reference;
thirdly, throwing the collected filter membrane into a filter membrane cylinder through a filter membrane transferring manipulator;
n, then the control system controls the driving air cylinder to start, drives the movable seat and the filter membrane cylinder to move backwards to the lower part of the press, and then controls the press to start;
After the press driving compression bar stretches into the filter membrane cylinder to extrude the filter membrane, the control system controls the motor to start, the motor drives the driving bar to rotate, and the driving bar drives the cover plate to act so as to cover the filter membrane cylinder;
p, after the filter membrane is extruded, the motor drives the cover plate to reset, and then the press drives the compression bar to reset; the control system controls the driving air cylinder to drive the movable seat and the filter membrane cylinder to reset;
then the control system controls the distance measurement between the second filter membrane and the second laser sensor, the control system subtracts the measured data from the reference value to obtain the thickness of the filter membrane, and the obtained thickness of the filter membrane is compared with the set standard thickness of the filter membrane to judge whether the thickness of the filter membrane is qualified or not;
And r, if the filter membrane is qualified, the control system controls the ejection cylinder to drive the ejector rod to move upwards so as to eject the filter membrane out of the filter membrane cylinder, the laser sensor II continuously measures the distance between the filter membrane and the laser sensor II in the ejection process, and the ejection cylinder is controlled to stop moving until the measured data is the same as the set distance, and the filter membrane is ejected out of the filter membrane cylinder at the moment and is fed;
and s, if the filter membrane is not qualified, the filter membrane is not pressed, and the n-r steps are repeated.
2. The multi-point composite filter transport and storage device according to claim 1, wherein: the device also comprises a detection frame connected to the clamping cylinder and an inductor connected to the detection frame and used for detecting the filter membrane box.
3. The multi-point composite filter transport and storage device according to claim 1, wherein: the clamping mechanism is characterized by further comprising a clamping frame connected to the frame, a rotating frame movably connected to the clamping frame, a tension spring arranged on the rotating frame and the clamping frame and used for limiting the position of the rotating frame and playing a resetting role after rotating, a clamping cylinder connected to the rotating frame and a clamping jaw arranged on the clamping cylinder, and a proximity switch used for sensing whether the rotating frame rotates to judge whether the filter membrane box cover is screwed or not is further arranged on the clamping frame.
4. The multi-point composite filter transport and storage device according to claim 1, wherein: the filter membrane box storing and taking mechanism is connected to the frame and used for automatically storing and taking filter membrane boxes; the filter membrane box storing and taking mechanism comprises a storing and taking rack, a charging barrel connected to the storing and taking rack and a driving mechanism arranged on the storing and taking rack and used for driving the filter membrane boxes stacked in the charging barrel to move up and down.
5. The multi-point composite filter transport and storage device according to claim 4, wherein: the driving mechanism comprises a sliding rail connected to the access rack, a driving motor connected to the access rack, a driving screw rod movably connected to the access rack and having one end connected to the driving motor in a transmission manner, a nut seat movably connected to the driving screw rod, and a sliding block mounted on the nut seat and slidably connected with the sliding rail.
6. The multi-point composite filter transport and storage device according to claim 5, wherein: a driving piece with one end extending into the charging barrel is arranged on the nut seat; the charging barrel is provided with a hollow groove for avoiding interference to the movement of the driving piece; the access rack is also provided with a control button for controlling the starting of the driving mechanism, and the control button is divided into an ascending button and a descending button.
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| CN202410214948.0A CN117773895B (en) | 2024-02-27 | 2024-02-27 | Multi-point combined type filter membrane conveying and storing device |
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|---|---|
| CN117773895A (en) | 2024-03-29 |
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