CN113893693B - Intelligent assembly production line for CDRO (compact disc read-Only) membrane column outer pull rod - Google Patents

Intelligent assembly production line for CDRO (compact disc read-Only) membrane column outer pull rod Download PDF

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Publication number
CN113893693B
CN113893693B CN202111311714.0A CN202111311714A CN113893693B CN 113893693 B CN113893693 B CN 113893693B CN 202111311714 A CN202111311714 A CN 202111311714A CN 113893693 B CN113893693 B CN 113893693B
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China
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cdro
pull rod
outer pull
assembly
tray
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CN202111311714.0A
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CN113893693A (en
Inventor
石涛
殷相龙
官旭然
曾凡文
杨龙
张翠娟
宋邵庆
尚余谦
徐玉伟
孙晓阳
董文杰
闫义涛
张焕礼
苏英明
张朋
李南
程博
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Qingdao Zhengda Heying Intelligent Technology Co ltd
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Qingdao Zhengda Heying Intelligent Technology Co ltd
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Priority to CN202111311714.0A priority Critical patent/CN113893693B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D61/00—Processes of separation using semi-permeable membranes, e.g. dialysis, osmosis or ultrafiltration; Apparatus, accessories or auxiliary operations specially adapted therefor
    • B01D61/02—Reverse osmosis; Hyperfiltration ; Nanofiltration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D63/00—Apparatus in general for separation processes using semi-permeable membranes
    • B01D63/02—Hollow fibre modules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B01—PHYSICAL OR CHEMICAL PROCESSES OR APPARATUS IN GENERAL
    • B01D—SEPARATION
    • B01D63/00—Apparatus in general for separation processes using semi-permeable membranes
    • B01D63/02—Hollow fibre modules
    • B01D63/021—Manufacturing thereof
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65C—LABELLING OR TAGGING MACHINES, APPARATUS, OR PROCESSES
    • B65C9/00—Details of labelling machines or apparatus
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G13/00—Roller-ways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Mechanical Engineering (AREA)
  • Water Supply & Treatment (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Nanotechnology (AREA)
  • Manufacturing & Machinery (AREA)
  • Automatic Assembly (AREA)

Abstract

The invention belongs to the technical field of intelligent assembly production lines and discloses a CDRO film column outer pull rod intelligent assembly production line, which comprises a cycle multiple chain conveying system, an outer pull rod lower nut upper line station, an outer pull rod lower nut gasket upper line station, a CDRO lower flange upper line station, a CDRO film shell assembly station, a CDRO film column insert core assembly station, a CDRO film column outer pull rod assembly station, an outer pull rod nut automatic tightening station, a CDRO film column automatic labeling station and a CDRO film column automatic lower line station, wherein the cycle multiple chain conveying system comprises a preassembled multiple speed chain, a total assembly multiple speed chain, a transition roller line, a jacking transplanting roller line, a jacking positioning mechanism, a CDRO outer pull rod assembly tool and a code scanning gun, and the outer pull rod lower nut upper line station comprises a first three-coordinate manipulator, an outer pull rod lower nut tray roller conveying line, a tray positioning mechanism and an outer pull rod lower nut hexagonal positioning mechanism.

Description

Intelligent assembly production line for CDRO (compact disc read-Only) membrane column outer pull rod
Technical Field
The invention belongs to the technical field of intelligent assembly production lines, and particularly relates to an intelligent assembly production line for a CDRO (compact disc read-Only) membrane column outer pull rod.
Background
The CDRO membrane column is a form of reverse osmosis, is a membrane component specially used for treating high-concentration sewage, has core technology and assembly precision reaching micron level, and has the advantages of lower qualification rate of manually operated products, and serious productivity waste caused by low qualification rate due to the fact that the manual cooperation of parts is used for carrying, quality detection, assembly, marking and packaging in the past.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention provides an intelligent assembly production line for an external pull rod of a CDRO membrane column, which comprises a circulation multiple chain conveying system, an external pull rod lower nut upper line station, an external pull rod lower nut gasket upper line station, a CDRO lower flange upper line station, a CDRO membrane shell assembly station, a CDRO membrane column core insert assembly station, a CDRO membrane column external pull rod assembly station, an external pull rod nut automatic tightening station, a CDRO membrane column automatic labeling station and a CDRO membrane column automatic off-line station; the automatic outer pull rod nut screwing station comprises a nut screwing module assembly, a membrane column righting mechanism assembly, a driving module assembly, a module connecting rod assembly, a module lifting mechanism assembly and a base assembly, wherein the module lifting mechanism assembly is installed on the base assembly, the driving module assembly, the nut screwing module assembly, the module connecting rod assembly and the membrane column righting mechanism assembly are sequentially installed on the module lifting mechanism assembly from top to bottom, a module connecting rod assembly is installed between the nut screwing module assembly and the membrane column righting mechanism assembly, lifting mechanism sliding rails are installed on two sides of the module lifting mechanism assembly, the driving module assembly and the membrane column righting mechanism assembly are slidably installed on the module lifting mechanism assembly, a ball screw nut is installed on the module lifting mechanism assembly, and the lower side of the ball screw nut is connected with a first servo motor.
The circulation multiple chain conveying system comprises a preassembled multiple speed chain, a final assembly multiple speed chain, a transition roller line, a jacking transplanting roller line, a jacking positioning mechanism, a CDRO outer pull rod assembly tooling plate and a code scanning gun, wherein the CDRO outer pull rod assembly tooling plate is used as a carrier to move on the multiple speed chain and drive a CDRO membrane column product to circulate between stations, the CDRO outer pull rod assembly tooling plate is rotated back and forth between the preassembled multiple speed chain and the final assembly multiple speed chain through the jacking transplanting roller line and the transition roller line, the jacking positioning mechanism is arranged at each station, after the CDRO outer pull rod assembly tooling plate flows in, the jacking positioning mechanism jacks the CDRO outer pull rod assembly tooling plate, the accurate positioning of the CDRO outer pull rod tooling plate is realized by respectively inserting four guide posts of the jacking positioning mechanism into 4 positioning holes of the CDRO outer pull rod assembly tooling plate, the code scanning gun is arranged at each station, after the accurate positioning of the CDRO outer pull rod assembly tooling plate, the two-dimensional code scanning on the CDRO outer assembly tooling plate is identified, and after the two-dimensional code is carried out on the CDRO outer assembly tooling plate, and the two-dimensional code is carried out in the station assembly tooling plate, and the process information is carried out after the station is carried out.
The outer pull rod lower nut winding station comprises a first three-coordinate manipulator, an outer pull rod lower nut tray roller conveying line, a tray positioning mechanism and an outer pull rod lower nut hexagonal positioning mechanism, wherein the outer pull rod lower nut tray is conveyed onto the outer pull rod lower nut tray roller conveying line through a backpack roller AGV, and is stopped when being blocked when advancing on the outer pull rod nut tray roller conveying line, the tray positioning mechanism is clamped, so that a trapezoid block of the tray positioning mechanism is inserted into a trapezoid groove of the tray, and a notch is always clamped and kept tightly attached, the precise positioning of the outer pull rod lower nut tray is realized, the first three-coordinate manipulator is provided with a first pneumatic clamping jaw, the first pneumatic clamping jaw clamps the cylindrical surface of the outer pull rod lower nut, sequentially clamps and places the cylindrical surface on the outer pull rod lower nut hexagonal positioning mechanism, the outer pull rod lower nut hexagonal positioning mechanism clamps six aspects of the outer pull rod lower nut, complete positioning of the outer pull rod lower nut is achieved, then the first three-coordinate manipulator clamps the cylindrical surface of the outer pull rod lower nut, places the cylindrical surface of the outer pull rod lower nut into a positioning hole of a CDRO outer pull rod assembly tooling plate, the positioning hole of the CDRO outer pull rod assembly tooling plate is profiling, the contour of the positioning hole is identical to that of the outer pull rod lower nut, accurate positioning and rotation prevention of the outer pull rod lower nut can be achieved, and finally batch information of the outer pull rod lower nut is bound with the CDRO outer pull rod assembly tooling plate.
The outer pull rod lower nut gasket online work station comprises a second three-coordinate mechanical arm, an outer pull rod lower nut gasket tray and an outer pull rod lower nut gasket feeding rod, the outer pull rod lower nut gasket is sleeved on the outer pull rod lower nut gasket feeding rod manually, a vacuum chuck is arranged on the second three-coordinate mechanical arm, the vacuum chuck absorbs the circular ring surface of the outer pull rod lower nut gasket, the circular ring surface of the outer pull rod lower nut gasket is sequentially grabbed and placed in a positioning hole of the CDRO outer pull rod assembly tooling plate, and then batch information of the outer pull rod lower nut gasket is bound with the CDRO outer pull rod assembly tooling plate.
The CDRO lower flange on-line work position comprises a three-coordinate mechanical arm, a CDRO lower flange tray roller conveying line, a tray positioning mechanism and a CDRO lower flange secondary positioning mechanism, the CDRO lower flange tray is transported to the CDRO lower flange tray roller conveying line through a knapsack roller AGV, the CDRO lower flange tray conveying line moves forward and stops when being blocked on an outer pull rod nut tray roller conveying line, the tray positioning mechanism is clamped, a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray, a notch is always clamped and kept tightly attached, accurate positioning of the outer pull rod nut tray is achieved, the three-coordinate mechanical arm absorbs the upper surface of the CDRO lower flange through a vacuum chuck, the three-coordinate mechanical arm is grabbed and placed on a positioning pin of the CDRO lower flange secondary positioning mechanism, the two ends of the three-coordinate mechanical arm clamp the edge of the CDRO lower flange to conduct circumferential direction angle positioning, the three-coordinate mechanical arm absorbs the CDRO lower flange through the vacuum chuck and places the CDRO lower flange into a positioning groove of the CDRO outer pull rod assembly work plate, and then the batch information of the CDRO lower flange is bound with the outer pull rod assembly work plate.
The CDRO film shell assembly station comprises a first six-axis robot and a clamp, a CDRO film shell tray roller conveying line, a tray positioning mechanism and a jacking transplanting chain machine, wherein the CDRO film shell tray is conveyed onto the CDRO film shell tray roller conveying line through a back-carried roller AGV, and is stopped when the CDRO film shell tray roller conveying line moves forward, the tray positioning mechanism pushes the tray forward, so that a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray, and is always clamped and kept tightly in a notch, the accurate positioning of the CDRO film shell tray is realized, the first six-axis robot is provided with a second pneumatic clamping jaw, the second pneumatic clamping jaw clamps the outer cylindrical surface of the CDRO film shell, sequentially grabs and sleeves the outer cylindrical surface onto a CDRO lower flange on a CDRO outer pull rod assembly tooling plate, and finally, the batch information of the CDRO film shell is bound with the CDRO outer pull rod assembly tooling plate.
The CDRO membrane column insert core assembly station comprises a second six-axis robot and a clamp, a CDRO membrane column clamping and positioning guide mechanism and a CDRO membrane column center pull rod guide mechanism, after the product of the CDRO membrane column assembly station flows in, the CDRO membrane column clamping and positioning guide mechanism centers and clamps the outer cylindrical surface of the membrane column, the membrane column guide conical surface of the CDRO membrane column clamping and positioning guide mechanism is combined with the position right above the inner cylindrical surface of the membrane column, the second six-axis robot grabs the hanging ring of the upper flange of the assembled CDRO membrane column filter core, moves to the position right above the membrane column, then slowly descends to insert the hanging ring into the CDRO membrane column through the membrane column guide conical surface of the CDRO membrane column clamping and positioning guide mechanism, the CDRO membrane column center pull rod guide mechanism jacks up a cone, passes through the cylindrical hole of the CDRO lower flange to enter the CDRO membrane column, the second six-axis robot drives the CDRO membrane column filter core to continuously descend, the center pull rod of the CDRO membrane column filter core is pressed onto the cone of the CDRO membrane column center pull rod guide mechanism, then the second six-axis robot continuously presses down and the center pull rod of the filter core through the cylindrical hole of the filter core insert flange, and finally the six-axis robot presses the center pull rod into the flange of the filter core to the flange of the filter core.
The CDRO membrane column outer pull rod assembly station comprises a third six-axis robot, a fixture, a CDRO membrane column outer pull rod tray roller line, a CDRO membrane column outer pull rod secondary positioning mechanism and a CDRO upper flange positioning mechanism; the CDRO film column outer pull rod tray is transported to a CDRO film column outer pull rod tray roller conveying line through a backpack roller AGV, and moves forward on the CDRO film column outer pull rod tray roller conveying line to stop when being blocked, and a tray positioning mechanism clamps, so that a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray and always clamps and keeps a notch tightly attached to realize accurate positioning of the CDRO film column outer pull rod tray; the six-axis robot is provided with an upper pneumatic clamping jaw and a lower pneumatic clamping jaw, each pneumatic clamping jaw is provided with two V-shaped grooves, the openings of the two V-shaped grooves are different in size, firstly, the V-shaped grooves with larger openings are used for clamping the cylindrical surface of the CDRO membrane outer pull rod from the CDRO membrane outer pull rod tray, the cylindrical surface is sequentially grabbed and placed on a CDRO membrane outer pull rod secondary positioning mechanism, the CDRO membrane outer pull rod secondary positioning mechanism is an inclined V-shaped groove, and after the CDRO membrane outer pull rod is placed, the center of the CDRO membrane outer pull rod is compacted by rotating a compacting cylinder; the CDRO upper flange positioning mechanism clamps and positions a central pull rod of the CDRO membrane column, and then clamps two side surfaces of the CDRO upper flange to position the CDRO upper flange in the circumferential direction; three pneumatic clamping jaws of the six-axis robot are respectively clamped by a small V-shaped groove from a CDRO film outer pull rod secondary positioning mechanism to insert the cylindrical surface of the CDRO film outer pull rod into a cylindrical hole of a flange on the CDRO; the first pneumatic clamping jaw of the third six-axis robot clamp is loosened and withdrawn to avoid the obstacle, the third six-axis robot drives the clamp and the CDRO membrane column outer pull rod to move downwards, after the clamp passes through the CDRO upper flange, the first pneumatic clamping jaw of the third six-axis robot clamp clamps the CDRO membrane column outer pull rod again, the second pneumatic clamping jaw and the third pneumatic clamping jaw of the third six-axis robot clamp are loosened, the third six-axis robot clamp drives the CDRO membrane column outer pull rod to continuously descend, the CDRO membrane column outer pull rod is finally inserted into a cylindrical hole of the CDRO lower flange, and then the first pneumatic clamping jaw of the third six-axis robot is loosened, so that the CDRO membrane column outer pull rod passes through a cylindrical hole of the CDRO lower flange and a lower nut gasket of the outer pull rod to enter into a lower nut of the outer pull rod; and finally, binding batch information of the CDRO membrane outer pull rod with a CDRO membrane outer pull rod assembly tooling plate.
The automatic labeling station of the CDRO film column comprises a jacking positioning mechanism, an automatic printer, an automatic labeling machine and a station, wherein the qualified film column enters the station, the jacking positioning mechanism jacks the tooling plate for positioning, the scanning gun scans the tooling plate to obtain production information of the film column, the production information comprises production batches of raw materials, the information such as the production station and time of the production line is processed by the server to generate two-dimension code information, the two-dimension code information is notified to the automatic printer, the two-dimension code is automatically printed on label paper by the automatic printer, and the automatic labeling machine is automatically attached to the film shell.
The automatic unloading station of CDRO membrane column includes four-axis pile up neatly robot and anchor clamps, CDRO membrane column tray of taking off the production line, and qualified membrane column gets into the station, and jacking positioning mechanism jacking frock board is fixed a position, and four-axis pile up neatly robot snatchs the finished product CDRO membrane column and places it on the CDRO membrane column tray of taking off the production line.
The automatic material turnover system comprises a backpack roller AGV (automatic guided vehicle) transport trolley, material trays and tray feeding roller lines, wherein the materials required by the invention are all pre-placed on a customized tray by manpower, and then the tray is conveyed to the tray feeding roller lines; the automatic feeding and discharging of materials is completed between a tray feeding roller line body and each station roller line by a backpack roller AGV; all trays are uniform in size, 1m standard plastic trays are used as a matrix, and carriers and positioning mechanisms suitable for each material are manufactured above the standard plastic trays.
The beneficial effects are that:
The intelligent assembly device is high in intelligent degree and reliable in structure, greatly improves the assembly efficiency, can also realize accurate assembly, ensures the quality and uniformity of products, improves the production efficiency of enterprises, and has higher economic value.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic diagram of an outer pull rod lower nut upper line station, an outer pull rod lower nut gasket upper line station and a CDRO lower flange upper line station structure;
FIG. 3 is a schematic diagram of a CDRO membrane shell assembly station in accordance with the present invention;
FIG. 4 is a schematic diagram of a CDRO membrane column core insert assembly station structure of the present invention;
FIG. 5 is a schematic diagram of an automatic off-line station structure of a CDRO membrane column of the present invention;
As shown in the figure: the automatic cycle multiple chain conveying system 1, the automatic CDRO membrane column offline station 2, the automatic CDRO membrane column offline tray 3, the external pull rod offline nut online station 4, the external pull rod offline nut gasket online station 5, the CDRO lower flange tray roller conveying line 6, the CDRO lower flange secondary positioning mechanism 7, the transition roller line 8, the CDRO membrane shell tray roller conveying line 9, the jacking transplanting roller line 10, the CDRO membrane column external pull rod secondary positioning mechanism 11, the CDRO membrane column external pull rod tray roller line 12 and the CDRO lower flange online station 13.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects solved by the invention more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The intelligent assembly production line for the outer pull rod of the CDRO membrane column comprises a circulation multiple chain conveying system 1, an outer pull rod lower nut upper line station 4, an outer pull rod lower nut gasket upper line station 5, a CDRO lower flange upper line station 13, a CDRO membrane shell assembly station, a CDRO membrane column core insert assembly station, a CDRO membrane column outer pull rod assembly station, an outer pull rod nut automatic tightening station, a CDRO membrane column automatic labeling station and a CDRO membrane column automatic lower line station 2; the automatic outer pull rod nut screwing station comprises a nut screwing module assembly, a membrane column righting mechanism assembly, a driving module assembly, a module connecting rod assembly, a module lifting mechanism assembly and a base assembly, wherein the module lifting mechanism assembly is installed on the base assembly, the driving module assembly, the nut screwing module assembly, the module connecting rod assembly and the membrane column righting mechanism assembly are sequentially installed on the module lifting mechanism assembly from top to bottom, a module connecting rod assembly is installed between the nut screwing module assembly and the membrane column righting mechanism assembly, lifting mechanism sliding rails are installed on two sides of the module lifting mechanism assembly, the driving module assembly and the membrane column righting mechanism assembly are slidably installed on the module lifting mechanism assembly, a ball screw nut is installed on the module lifting mechanism assembly, and the lower side of the ball screw nut is connected with a first servo motor.
The circulation multiple chain conveying system 1 comprises a preassembled multiple speed chain, a final assembly multiple speed chain, a transition roller line 8, a jacking transplanting roller line 10, a jacking positioning mechanism, a CDRO outer pull rod assembly tooling plate and a code scanning gun, wherein the CDRO outer pull rod assembly tooling plate moves on the multiple speed chain as a carrier to drive a CDRO film column product to flow between stations, the CDRO outer pull rod assembly tooling plate flows back and forth between the preassembled multiple speed chain and the final assembly multiple speed chain through the jacking transplanting roller line 10 and the transition roller line 8, each station is provided with a jacking positioning mechanism, after the CDRO outer pull rod assembly tooling plate flows in, the jacking positioning mechanism jacks the CDRO outer pull rod assembly tooling plate, the CDRO outer pull rod assembly tooling plate is accurately positioned by respectively inserting four guide posts of the jacking positioning mechanism into 4 positioning holes of the CDRO outer pull rod assembly tooling plate, each station is provided with the code scanning gun, after the CDRO outer pull rod assembly tooling plate is accurately positioned, the code scanning gun scans two-dimensional codes on the CDRO outer pull rod assembly tooling plate, and recognizes product information on the CDRO outer pull rod assembly tooling plate is finished, and after the two-dimensional code is finished in the station is finished, and the station information of the two-dimensional product is finished, and the process information is finished in the station is finished.
The outer pull rod lower nut winding station 4 comprises a first three-coordinate manipulator, an outer pull rod lower nut tray roller conveying line, a tray positioning mechanism and an outer pull rod lower nut hexagonal positioning mechanism, wherein the outer pull rod lower nut tray is conveyed onto the outer pull rod lower nut tray roller conveying line through a backpack roller AGV, and is stopped when being blocked when advancing on the outer pull rod nut tray roller conveying line, the tray positioning mechanism is clamped, so that a trapezoid block of the tray positioning mechanism is inserted into a trapezoid groove of the tray, and a notch is always clamped and kept tightly attached, the accurate positioning of the outer pull rod lower nut tray is realized, the first three-coordinate manipulator is provided with a first pneumatic clamping jaw, the first pneumatic clamping jaw clamps the cylindrical surface of the outer pull rod lower nut, sequentially clamps and places the cylindrical surface on the outer pull rod lower nut hexagonal positioning mechanism, the outer pull rod lower nut hexagonal positioning mechanism clamps six aspects of the outer pull rod lower nut, complete positioning of the outer pull rod lower nut is achieved, then the first three-coordinate manipulator clamps the cylindrical surface of the outer pull rod lower nut, places the cylindrical surface of the outer pull rod lower nut into a positioning hole of a CDRO outer pull rod assembly tooling plate, the positioning hole of the CDRO outer pull rod assembly tooling plate is profiling, the contour of the positioning hole is identical to that of the outer pull rod lower nut, accurate positioning and rotation prevention of the outer pull rod lower nut can be achieved, and finally batch information of the outer pull rod lower nut is bound with the CDRO outer pull rod assembly tooling plate.
The outer pull rod lower nut gasket online station 5 comprises a second three-coordinate manipulator, an outer pull rod lower nut gasket tray and an outer pull rod lower nut gasket feeding rod, the outer pull rod lower nut gasket is sleeved on the outer pull rod lower nut gasket feeding rod manually, a vacuum chuck is arranged on the second three-coordinate manipulator, the vacuum chuck absorbs the circular ring surface of the outer pull rod lower nut gasket, the circular ring surface of the outer pull rod lower nut gasket is sequentially grabbed and placed in a positioning hole of the CDRO outer pull rod assembly tooling plate, and then batch information of the outer pull rod lower nut gasket is bound with the CDRO outer pull rod assembly tooling plate.
The CDRO lower flange upper line station 13 comprises a three-coordinate mechanical arm, a CDRO lower flange tray roller conveying line 6, a tray positioning mechanism and a CDRO lower flange secondary positioning mechanism 7, the CDRO lower flange tray is transported to the CDRO lower flange tray roller conveying line 6 through a back-carried roller AGV, the CDRO lower flange is stopped when moving forward on an outer pull rod nut roller conveying line, the tray positioning mechanism is clamped, a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray, a notch is always clamped and kept tightly attached, accurate positioning of the outer pull rod nut tray is achieved, the three-coordinate mechanical arm absorbs the upper surface of the CDRO lower flange through a vacuum chuck, the three-coordinate mechanical arm is grabbed and placed on a positioning pin of the CDRO lower flange secondary positioning mechanism 7, two ends clamp the edge of the CDRO lower flange to perform circumferential direction angle positioning, the three-coordinate mechanical arm absorbs the CDRO lower flange through the vacuum chuck and places the CDRO lower flange into a positioning groove of the CDRO outer pull rod assembly worker, and then the batch information of the CDRO lower flange is bound with the CDRO outer pull rod assembly worker.
The CDRO film shell assembly station comprises a first six-axis robot and a clamp, a CDRO film shell tray roller conveying line 9, a tray positioning mechanism and a jacking transplanting chain machine, wherein the CDRO film shell tray is conveyed onto the CDRO film shell tray roller conveying line 9 through a back-carried roller AGV, the CDRO film shell tray conveying line 9 moves forward to stop when blocking, the tray positioning mechanism pushes the tray forward, a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray, and a notch is always clamped and kept tightly, so that the accurate positioning of the CDRO film shell tray is realized, the first six-axis robot is provided with a second pneumatic clamping jaw, the second pneumatic clamping jaw clamps the cylindrical surface of the CDRO film shell, sequentially grabs and sleeves the cylindrical surface onto a CDRO lower flange on a CDRO outer pull rod assembly tooling plate, and finally, the batch information of the CDRO film shell is bound with the CDRO outer pull rod tooling plate.
The CDRO membrane column insert core assembly station comprises a second six-axis robot and a clamp, a CDRO membrane column clamping and positioning guide mechanism and a CDRO membrane column center pull rod guide mechanism, after the product of the CDRO membrane column assembly station flows in, the CDRO membrane column clamping and positioning guide mechanism centers and clamps the outer cylindrical surface of the membrane column, the membrane column guide conical surface of the CDRO membrane column clamping and positioning guide mechanism is combined with the position right above the inner cylindrical surface of the membrane column, the second six-axis robot grabs the hanging ring of the upper flange of the assembled CDRO membrane column filter core, moves to the position right above the membrane column, then slowly descends to insert the hanging ring into the CDRO membrane column through the membrane column guide conical surface of the CDRO membrane column clamping and positioning guide mechanism, the CDRO membrane column center pull rod guide mechanism jacks up a cone, passes through the cylindrical hole of the CDRO lower flange to enter the CDRO membrane column, the second six-axis robot drives the CDRO membrane column filter core to continuously descend, the center pull rod of the CDRO membrane column filter core is pressed onto the cone of the CDRO membrane column center pull rod guide mechanism, then the second six-axis robot continuously presses down and the center pull rod of the filter core through the cylindrical hole of the filter core insert flange, and finally the six-axis robot presses the center pull rod into the flange of the filter core to the flange of the filter core.
The CDRO membrane column outer pull rod assembly station comprises a third six-axis robot, a fixture, a CDRO membrane column outer pull rod tray roller line 12, a CDRO membrane column outer pull rod secondary positioning mechanism 11 and a CDRO upper flange positioning mechanism; the CDRO film column outer pull rod tray is transported to a CDRO film column outer pull rod tray roller conveying line through a backpack roller AGV, and moves forward on the CDRO film column outer pull rod tray roller conveying line to stop when being blocked, and a tray positioning mechanism clamps, so that a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray and always clamps and keeps a notch tightly attached to realize accurate positioning of the CDRO film column outer pull rod tray; the six-axis robot is provided with an upper pneumatic clamping jaw and a lower pneumatic clamping jaw, each pneumatic clamping jaw is provided with two V-shaped grooves, the openings of the two V-shaped grooves are different in size, firstly, the V-shaped grooves with larger openings are used for clamping the cylindrical surface of the CDRO membrane outer pull rod from the CDRO membrane outer pull rod tray, the cylindrical surface is sequentially grabbed and placed on the CDRO membrane outer pull rod secondary positioning mechanism 11, the CDRO membrane outer pull rod secondary positioning mechanism 11 is an inclined V-shaped groove, and after the CDRO membrane outer pull rod is placed, the central positioning of the CDRO membrane outer pull rod is realized by rotating and pressing down by a pressing cylinder; the CDRO upper flange positioning mechanism clamps and positions a central pull rod of the CDRO membrane column, and then clamps two side surfaces of the CDRO upper flange to position the CDRO upper flange in the circumferential direction; three pneumatic clamping jaws of the six-axis robot are respectively clamped by a small V-shaped groove from a CDRO film outer pull rod secondary positioning mechanism 11 to insert the cylindrical surface of the CDRO film outer pull rod into a cylindrical hole of a flange on the CDRO; the first pneumatic clamping jaw of the third six-axis robot clamp is loosened and withdrawn to avoid the obstacle, the third six-axis robot drives the clamp and the CDRO membrane column outer pull rod to move downwards, after the clamp passes through the CDRO upper flange, the first pneumatic clamping jaw of the third six-axis robot clamp clamps the CDRO membrane column outer pull rod again, the second pneumatic clamping jaw and the third pneumatic clamping jaw of the third six-axis robot clamp are loosened, the third six-axis robot clamp drives the CDRO membrane column outer pull rod to continuously descend, the CDRO membrane column outer pull rod is finally inserted into a cylindrical hole of the CDRO lower flange, and then the first pneumatic clamping jaw of the third six-axis robot is loosened, so that the CDRO membrane column outer pull rod passes through a cylindrical hole of the CDRO lower flange and a lower nut gasket of the outer pull rod to enter into a lower nut of the outer pull rod; and finally, binding batch information of the CDRO membrane outer pull rod with a CDRO membrane outer pull rod assembly tooling plate.
The automatic labeling station of the CDRO film column comprises a jacking positioning mechanism, an automatic printer, an automatic labeling machine and a station, wherein the qualified film column enters the station, the jacking positioning mechanism jacks the tooling plate for positioning, the scanning gun scans the tooling plate to obtain production information of the film column, the production information comprises production batches of raw materials, the information such as the production station and time of the production line is processed by the server to generate two-dimension code information, the two-dimension code information is notified to the automatic printer, the two-dimension code is automatically printed on label paper by the automatic printer, and the automatic labeling machine is automatically attached to the film shell.
The automatic CDRO film column discharging station 2 comprises a four-axis stacking robot, a clamp and a CDRO film column discharging tray 3, the qualified film column enters the station, a jacking positioning mechanism jacks up a tooling plate for positioning, and the four-axis stacking robot grabs a finished product CDRO film column and places the finished product CDRO film column on the CDRO film column discharging tray 3.
The automatic material turnover system comprises a backpack roller AGV (automatic guided vehicle) transport trolley, material trays and tray feeding roller lines, wherein the materials required by the invention are all pre-placed on a customized tray by manpower, and then the tray is conveyed to the tray feeding roller lines; the automatic feeding and discharging of materials is completed between a tray feeding roller line body and each station roller line by a backpack roller AGV; all trays are uniform in size, 1m standard plastic trays are used as a matrix, and carriers and positioning mechanisms suitable for each material are manufactured above the standard plastic trays.
When an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element, or be directly connected to the other element or be indirectly connected to the other element.
The terms of the directions such as left, right, up, down, etc. in this embodiment are merely relative concepts or references to the normal use state of the product, and should not be construed as limiting.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.

Claims (1)

1. CDRO membrane column outer pull rod intelligence assembly line, its characterized in that: the automatic marking device comprises a circulation multiple chain conveying system, an outer pull rod lower nut upper line station, an outer pull rod lower nut gasket upper line station, a CDRO lower flange upper line station, a CDRO membrane shell assembly station, a CDRO membrane column core insertion assembly station, a CDRO membrane column outer pull rod assembly station, an outer pull rod nut automatic tightening station, a CDRO membrane column automatic marking station and a CDRO membrane column automatic lower line station;
The automatic outer pull rod nut screwing station comprises a nut screwing module assembly, a membrane column centering mechanism assembly, a driving module assembly, a module connecting rod assembly, a module lifting mechanism assembly and a base assembly, wherein the module lifting mechanism assembly is arranged on the base assembly, the driving module assembly, the nut screwing module assembly, the module connecting rod assembly and the membrane column centering mechanism assembly are sequentially arranged on the module lifting mechanism assembly from top to bottom, a module connecting rod assembly is arranged between the nut screwing module assembly and the membrane column centering mechanism assembly, lifting mechanism sliding rails are arranged on two sides of the module lifting mechanism assembly, the driving module assembly and the membrane column centering mechanism assembly are slidably arranged on the module lifting mechanism assembly, a ball screw nut is arranged on the module lifting mechanism assembly, and the lower side of the ball screw nut is connected with a first servo motor;
the circulation multiple chain conveying system comprises a preassembled multiple speed chain, a final assembly multiple speed chain, a transition roller line, a jacking transplanting roller line, a jacking positioning mechanism, a CDRO outer pull rod assembly tooling plate and a code scanning gun, wherein the CDRO outer pull rod assembly tooling plate is used as a carrier to move on the multiple speed chain so as to drive a CDRO film column product to circulate among stations, the CDRO outer pull rod assembly tooling plate is rotated back and forth between the preassembled multiple speed chain and the final assembly multiple speed chain through the jacking transplanting roller line and the transition roller line, a jacking positioning mechanism is arranged at each station, after the CDRO outer pull rod assembly tooling plate flows in, the jacking positioning mechanism jacks the CDRO outer pull rod assembly tooling plate, four guide posts of the jacking positioning mechanism are respectively inserted into 4 positioning holes of the CDRO outer pull rod assembly tooling plate, and each station is provided with the code scanning gun, after the precise positioning of the CDRO outer pull rod tooling plate, the code scanning gun scans two-dimensional codes on the CDRO outer pull rod assembly tooling plate, and identifies product information on the CDRO outer pull rod assembly tooling plate, and after the execution of the book outer pull rod assembly tooling plate is finished, and the product information on the two-dimensional code station tooling is complemented in the station tooling;
The outer pull rod lower nut upper line work position comprises a first three-coordinate manipulator, an outer pull rod lower nut tray roller conveying line, a tray positioning mechanism and an outer pull rod lower nut hexagonal positioning mechanism, wherein the outer pull rod lower nut tray is conveyed onto the outer pull rod lower nut tray roller conveying line through a back-carried roller AGV, the outer pull rod lower nut tray conveying line moves forward and stops when blocking, the tray positioning mechanism clamps, a trapezoid block of the tray positioning mechanism is inserted into a trapezoid groove of the tray, a slot is always clamped and kept tightly, the first three-coordinate manipulator is provided with a first pneumatic clamping jaw, the first pneumatic clamping jaw clamps the cylindrical surface of the outer pull rod lower nut, the first pneumatic clamping jaw sequentially clamps the six aspects of the outer pull rod lower nut, the outer pull rod lower nut hexagonal positioning mechanism clamps the cylindrical surface of the outer pull rod lower nut, the first three-coordinate manipulator clamps the cylindrical surface of the outer pull rod lower nut, the outer pull rod lower nut is placed into a CDRO outer pull rod assembly tool positioning hole, the positioning hole of the O outer pull rod assembly tool is in a contour machining mode, and finally the same as the outer pull rod assembly tool positioning hole of the outer pull rod assembly tool is used for contour machining, and the outer pull rod assembly tool positioning hole is used for binding the outer pull rod lower plate and the outer pull plate is used for binding the outer pull plate and the outer pull plate;
The outer pull rod lower nut gasket feeding station comprises a second three-coordinate manipulator, an outer pull rod lower nut gasket tray and an outer pull rod lower nut gasket feeding rod, the outer pull rod lower nut gasket is sleeved on the outer pull rod lower nut gasket feeding rod manually, a vacuum chuck is arranged on the second three-coordinate manipulator, the vacuum chuck absorbs the annular surface of the outer pull rod lower nut gasket, sequentially grabs and places the annular surface of the outer pull rod lower nut gasket into a positioning hole of a CDRO outer pull rod assembly tooling plate, and then binds batch information of the outer pull rod lower nut gasket with the CDRO outer pull rod assembly tooling plate;
The CDRO lower flange on-line work position comprises a three-coordinate mechanical arm, a CDRO lower flange tray roller conveying line, a tray positioning mechanism and a CDRO lower flange secondary positioning mechanism, wherein the CDRO lower flange tray is transported to the CDRO lower flange tray roller conveying line through a back-carried roller AGV, the CDRO lower flange is stopped when the CDRO lower flange is moved forward on an outer pull rod nut roller conveying line, the tray positioning mechanism clamps, a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray, a slot is always clamped and kept tightly attached, the three-coordinate mechanical arm absorbs the upper surface of the CDRO lower flange through a vacuum chuck, the three-coordinate mechanical arm is grabbed and placed on a positioning pin of the CDRO lower flange secondary positioning mechanism, the two ends of the three-coordinate mechanical arm clamp the edge of the CDRO lower flange to be positioned in a circumferential direction angle, the three-coordinate mechanical arm absorbs the CDRO lower flange through the vacuum chuck and places the CDRO lower flange into a positioning groove of a CDRO outer pull rod assembler, and then the batch information of the CDRO lower flange is bound with the CDRO outer assembler;
The CDRO film shell assembling station comprises a first six-axis robot, a clamp, a CDRO film shell tray roller conveying line, a tray positioning mechanism and a jacking transplanting chain machine, wherein the CDRO film shell tray is conveyed onto the CDRO film shell tray roller conveying line through a back-carried roller AGV, and moves forward on the CDRO film shell tray roller conveying line to stop when blocking, the tray positioning mechanism pushes the tray forward, so that a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray, and always clamps and keeps a notch to be tightly attached, the first six-axis robot is provided with a second pneumatic clamping jaw, the second pneumatic clamping jaw clamps the outer cylindrical surface of the CDRO film shell, sequentially grabs and sleeves the outer cylindrical surface onto a CDRO lower flange on a CDRO outer pull rod assembling tool plate, and finally, the batch information of the CDRO film shell is bound with the CDRO outer pull rod assembling tool plate;
The CDRO membrane column insert core assembly station comprises a six-axis robot and a clamp, a CDRO membrane column clamping and positioning guide mechanism and a CDRO membrane column center pull rod guide mechanism, after the product of the CDRO membrane column assembly station flows in, the CDRO membrane column clamping and positioning guide mechanism clamps the outer cylindrical surface of the membrane column in a centering way, the membrane column guide conical surface of the CDRO membrane column clamping and positioning guide mechanism is combined right above the inner cylindrical surface of the membrane column, the six-axis robot grabs the hanging ring of the upper flange of the assembled CDRO membrane column filter core, moves right above the membrane column, then slowly descends to pass through the membrane column guide conical surface of the CDRO membrane column clamping and positioning guide mechanism to be inserted into the CDRO membrane column, the central pull rod guide mechanism of the CDRO membrane column jacks up a cone, the cone passes through a cylindrical hole of a lower flange of the CDRO and enters the CDRO membrane shell, the six-axis robot drives the filter core of the CDRO membrane column to continuously descend, so that the central pull rod of the filter core of the CDRO membrane column is pressed onto the cone of the central pull rod guide mechanism of the CDRO membrane column, then the six-axis robot continuously presses down and applies force to insert the central pull rod of the filter core of the CDRO membrane column into the cylindrical hole of the lower flange of the CDRO, and finally the six-axis robot clamp clamps the side surface of the upper flange of the CDRO to rotationally press down, so that the sealing ring of the upper flange of the CDRO is pressed into the CDRO membrane shell;
The CDRO membrane column outer pull rod assembly station comprises a six-axis robot, a fixture, a CDRO membrane column outer pull rod tray roller line, a CDRO membrane column outer pull rod secondary positioning mechanism and a CDRO upper flange positioning mechanism; the CDRO film column outer pull rod tray is transported to a CDRO film column outer pull rod tray roller conveying line through a backpack roller AGV, and moves forwards on the CDRO film column outer pull rod tray roller conveying line to stop when blocking, and the tray positioning mechanism clamps, so that a trapezoid block of the positioning mechanism is inserted into a trapezoid groove of the tray and always clamps and keeps the notch tightly attached; the six-axis robot is provided with an upper pneumatic clamping jaw and a lower pneumatic clamping jaw, each pneumatic clamping jaw is provided with two V-shaped grooves, the openings of the two V-shaped grooves are different in size, firstly, the V-shaped grooves with larger openings are used for clamping the cylindrical surface of the CDRO film outer pull rod from a CDRO film outer pull rod tray, the cylindrical surface is sequentially grabbed and placed on a CDRO film outer pull rod secondary positioning mechanism, the CDRO film outer pull rod secondary positioning mechanism is an inclined V-shaped groove, and after the CDRO film outer pull rod is placed, the central positioning of the CDRO film outer pull rod is realized by rotating and pressing down by a pressing cylinder; the CDRO upper flange positioning mechanism clamps and positions a central pull rod of the CDRO membrane column, and then clamps two side surfaces of the CDRO upper flange to position the CDRO upper flange in the circumferential direction; the three pneumatic clamping jaws of the six-axis robot are respectively clamped by a small V-shaped groove from the CDRO film outer pull rod secondary positioning mechanism, and the cylindrical surface of the CDRO film outer pull rod is inserted into the cylindrical hole of the flange on the CDRO; the first pneumatic clamping jaw of the six-axis robot clamp is loosened and withdrawn to avoid the obstacle, the six-axis robot drives the clamp and the outer pull rod of the CDRO film column to move downwards, after the clamp passes through the upper CDRO flange, the first pneumatic clamping jaw of the six-axis robot clamp clamps the outer pull rod of the CDRO film column again, the second pneumatic clamping jaw and the third pneumatic clamping jaw of the six-axis robot clamp are loosened, the six-axis robot clamp drives the outer pull rod of the CDRO film column to continuously descend, and finally the outer pull rod of the CDRO film column is inserted into the cylindrical hole of the lower CDRO flange, and then the first pneumatic clamping jaw of the six-axis robot is loosened to enable the outer pull rod of the CDRO film column to pass through the cylindrical hole of the lower CDRO flange and the lower nut gasket of the outer pull rod to enter the lower nut of the outer pull rod; finally, the batch information of the CDRO membrane column outer pull rod is bound with a CDRO membrane column outer pull rod assembly tooling plate;
The automatic labeling station of the CDRO film column comprises a jacking positioning mechanism, an automatic printer, an automatic labeling machine and a qualified film column entering station, wherein the jacking positioning mechanism jacks a tooling plate for positioning, a scanning gun scans the tooling plate to obtain production information of the film column, the production information comprises production batches of raw materials, the production station of the production line and time information are processed by a server to generate two-dimensional code information, the two-dimensional code information is notified to the automatic printer, the automatic printer automatically prints the two-dimensional code on label paper, and the automatic labeling machine automatically pastes the two-dimensional code on a film shell;
The automatic unloading station of the CDRO film column comprises a four-axis stacking robot, a clamp and a CDRO film column unloading tray, the qualified film column enters the station, a jacking positioning mechanism jacks up a tooling plate for positioning, and the four-axis stacking robot grabs a finished product CDRO film column and places the finished product CDRO film column on the CDRO film column unloading tray.
CN202111311714.0A 2021-11-08 2021-11-08 Intelligent assembly production line for CDRO (compact disc read-Only) membrane column outer pull rod Active CN113893693B (en)

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