Automatic production system for glue injection and cutting of ultrafiltration membrane

Abstract

The invention provides an ultrafiltration membrane glue injection and cutting automatic production system. The ultrafiltration membrane glue injection and cutting automatic production system comprises a cutting device, a pouring device and a conveying device, the pouring device comprises a ground rail, a carrying assembly and a plurality of sets of pouring forming hanging frame assemblies. The transporting device is used for transporting the ultrafiltration membrane between the cutting device and the pouring device; the pouring molding hanger assembly is used for fixing the ultrafiltration membrane on a glue injection station; the carrying assembly is movably installed on the ground rail and used for carrying the ultrafiltration membrane to be poured to the pouring forming hanging frame assembly from the conveying device for glue injection, carrying the poured ultrafiltration membrane to the conveying device from the pouring forming hanging frame assembly, and finally conveying the ultrafiltration membrane to the cutting device through the conveying device for cutting. The device can realize automatic pouring and cutting of the ultrafiltration membrane, can greatly improve the carrying efficiency of the ultrafiltration membrane, reduces the station switching time, reduces the labor intensity, increases the productivity, reduces the production cost, and is high in practicability.

Description

Technical Field

[0001] The present invention relates to the technical field of wireless charging of unmanned aerial vehicles, and in particular to an automated production system for glue injection and cutting of ultrafiltration membranes. Background Art

[0002] Ultrafiltration membrane is a polymer semipermeable membrane that can separate polymer colloids or suspended particles from solutions. It is mostly used for deep treatment of industrial wastewater and process water. Ultrafiltration membranes are mostly long tubular, large in size and heavy in weight. During the production process, both ends need to be cast and cut. Currently, the casting and cutting work is mostly done manually, which is labor-intensive and inefficient. In addition, due to its excessive size and weight, it further increases the labor intensity during transportation and increases certain safety hazards. Therefore, the present invention provides an ultrafiltration membrane injection and cutting automated production system to solve the problem of labor-intensive and inefficient labor and eliminate the safety hazards of transportation. Summary of the invention

[0003] In view of the problems existing in the prior art, the present invention provides an ultrafiltration membrane glue injection and cutting automated production system, which integrates ultrafiltration membrane casting and cutting, can realize the whole process of ultrafiltration membrane casting production, can improve the production efficiency of ultrafiltration membrane, achieve the purpose of machine replacement, greatly reduce manual labor intensity, eliminate safety hazards, thereby increasing production capacity, reducing production costs and realizing automation.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] An automated production system for glue injection and cutting of ultrafiltration membranes, comprising a cutting device, a casting device and a transport device; the casting device comprises a ground rail, a transport assembly and a plurality of groups of casting and forming hanger assemblies; the transport device is used for transporting the ultrafiltration membrane between the cutting device and the casting device; the casting and forming hanger assembly is used for fixing the ultrafiltration membrane on a glue injection station; the transport assembly is movably mounted on the ground rail, and is used for transporting the ultrafiltration membrane to be cast from the transport device to the casting and forming hanger assembly for glue injection, and for transporting the cast ultrafiltration membrane from the casting and forming hanger assembly to the transport device, and finally transporting the transport device to the cutting device for cutting.

[0006] Furthermore, the casting and forming hanger assembly includes a casting and forming hanger and a hanger turntable, the casting and forming hanger is installed on the hanger turntable and can rotate horizontally with the hanger turntable; the casting and forming hanger includes a fixed hanger and a lifting hanger, the fixed hanger is fixed on the mounting surface of the hanger turntable, the lifting hanger is movably connected with the fixed hanger, the lifting hanger can rise or fall relative to the fixed hanger, and a plurality of hook assemblies are arranged on the lifting hanger for lifting the ultrafiltration membrane.

[0007] Furthermore, the lifting bracket is raised or lowered relative to the fixed bracket through a lifting drive device; the lifting drive device includes a double-sided screw lift, a single-sided screw lift and a sprocket drive assembly; the sprocket drive assembly includes an asynchronous motor, an outer sprocket group, an inner sprocket group, a linkage sprocket and a transmission shaft; the double-sided screw lift and the single-sided screw lift are respectively installed on both sides of the fixed bracket, and the screws of the double-sided screw lift and the single-sided screw lift are respectively threaded with copper nuts, and the two copper nuts are respectively fixedly connected to the two ends of the lifting bracket; the asynchronous motor, the outer sprocket The group and the linkage sprocket are arranged on a fixed bracket and distributed on one side of the double-sided screw elevator. The asynchronous motor is drivingly connected to the outer sprocket group, the outer sprocket group is drivingly connected to the double-sided screw elevator, and the double-sided screw elevator is drivingly connected to the linkage sprocket; the inner sprocket group is arranged on a fixed bracket and distributed on one side of the single-sided screw elevator, and the inner sprocket group is drivingly connected to the single-sided screw elevator; the two ends of the transmission shaft are respectively connected to the linkage sprocket and the inner sprocket group, and the linkage sprocket drives the transmission shaft to rotate, and then drives the inner sprocket group to rotate, thereby driving the screw of the single-sided screw elevator to rotate.

[0008] Furthermore, the fixed bracket includes a main frame, and mounting platforms are respectively arranged on both sides of the main frame, and the double-sided screw elevator and the single-sided screw elevator are respectively installed on the two mounting platforms; fixed plates are respectively arranged on both sides of the top of the main frame; the lifting bracket includes a main beam and two groups of lifting transition supports, and the two groups of lifting transition supports are symmetrically arranged on both sides of the fixed bracket, and the main beam is distributed on the top of the two groups of lifting transition supports and is fixedly connected to the two groups of lifting transition supports, and the hook assembly is fixedly connected to the main beam; the lifting transition support is a rectangular frame structure, and the spacing between the two side plates of the lifting transition support is greater than the width of the fixed plate; the lower surface of the bottom plate of the lifting transition support is fixedly connected to the copper nut, and the bottom plate and the fixed plate are provided with screw through holes, and the screws of the double-sided screw elevator / single-sided screw elevator pass through the screw through holes of the bottom plate and the fixed plate and extend to the inside of the lifting transition support; at least one group of guide shafts are fixedly arranged between the bottom plate and the top plate of the lifting transition support, and the fixed plate is provided with a through hole adapted to the guide shaft, and the guide shaft is slidably connected to the fixed plate.

[0009] Furthermore, the hook assembly includes an electric push rod and a hook; the electric push rod is installed on the main beam, and the output end of the electric push rod is connected to the hook to drive the hook to rise or fall; L-shaped adjustment blocks are respectively arranged on both sides of the fixed bracket, and the outer sprocket group and the inner sprocket group are respectively arranged on the horizontal sections of the two groups of L-shaped adjustment blocks; the L-shaped adjustment block can rise or fall within a certain range relative to the fixed bracket, thereby adjusting the height of the outer sprocket group and the inner sprocket group.

[0010] Furthermore, a lifting sensor is provided on the side of the fixed bracket close to the double-sided screw lift for transmitting an arrival signal; and a resistance scale is provided on the side of the fixed bracket close to the single-sided screw lift for providing a displacement distance parameter.

[0011] Furthermore, two sets of screw rod protection covers and two sets of sprocket covers are provided; the bottom end of the screw rod protection cover is fixedly connected to the upper surface of the lifting transition support bottom plate, and the top end passes through the fixed plate and extends to the top of the fixed plate, which is used to prevent dust and glue of the screw; the sprocket cover is arranged on the outside of the outer sprocket group / inner sprocket group, which is used to prevent dust and glue of the sprocket group.

[0012] Furthermore, the hanger turntable includes a pad assembly, a rotating platform frame, a first stepper motor, a first gear, a first slewing bearing and a transition plate; the rotating platform frame is fixed above the pad assembly; the first stepper motor and the first gear are arranged inside the rotating platform frame, the first stepper motor is drivingly connected to the first gear, the first gear is drivingly connected to the first slewing bearing, the transition plate is fixed on the top of the first slewing bearing, and the casting and forming hanger is installed on the transition plate; a speed regulating plate for adjusting the speed is arranged on one side of the rotating platform frame, and a first slewing sensor for detecting the rotation angle is arranged on the top of the rotating platform frame; a first limit block is also arranged on the top of the rotating platform frame, and a second limit block is arranged on the lower surface of the transition plate, and the first limit block is distributed on the rotation trajectory of the second limit block to form a movement obstacle to the second limit block.

[0013] Furthermore, two transition plates are provided and symmetrically mounted at the two ends of the top of the first slewing bearing; a maintenance cover is detachably provided between the two transition plates.

[0014] Furthermore, the transport device includes a moving trolley and a rotating lifting mechanism; the rotating lifting mechanism is fixedly arranged on one side or both sides of the ground rail; the moving trolley includes a base, a support frame and a universal wheel; the support frame is fixedly installed on the base for placing the ultrafiltration membrane; the universal wheel is installed under the base; a limiting sleeve is provided on the lower surface of the base for limiting the moving trolley and the rotating lifting mechanism.

[0015] Furthermore, the rotary lifting mechanism includes a lifting support frame, a lifting protection plate, a second stepper motor, a second gear, a second slewing bearing, a mounting plate, a lifting cylinder and 4 sets of small guide shafts; the lifting protection plate is arranged around the lifting support frame; the second stepper motor and the second gear are arranged inside the lifting support frame, and the second stepper motor is drivingly connected to the second gear; the second slewing bearing includes an inner ring and an outer ring, the outer ring is sleeved on the outer side of the inner ring and is rotatably connected to the inner ring, and a rack adapted to the second gear is arranged on the inner wall of the inner ring, the second gear is meshed with the rack of the inner ring, and the second gear can drive the inner ring to rotate; the mounting plate is fixedly connected to the top of the inner ring; The lifting cylinder is arranged below the outer ring of the second slewing bearing and is drivingly connected to the outer ring; the top plate of the lifting support frame is provided with a through hole adapted to the small guide shaft, the upper end of the small guide shaft is fixedly connected to the lower surface of the outer ring of the second slewing bearing, and the lower end extends through the through hole to below the top plate of the lifting support frame; a speed regulator for adjusting the rotation speed is provided on one side of the lifting support frame, and a second rotary sensor for detecting the rotation angle is provided on the top plate of the lifting support frame; a third limit block is also provided on the top plate of the lifting support frame, and a fourth limit block is provided on the lower surface of the mounting plate, and the third limit block is distributed on the rotation track of the fourth limit block to form a movement obstacle to the fourth limit block.

[0016] Furthermore, the mounting plate includes a guide transition plate and two groups of feeding transition plates, and the two groups of feeding transition plates are symmetrically fixed on both sides of the guide transition plate; a plurality of guide rollers are arranged on the guide transition plate, and the plurality of guide rollers are distributed in a straight line, and the central axis of the guide rollers coincides with the center line of the mounting plate; a C-shaped limit block adapted to the limit sleeve at the bottom of the moving trolley is arranged on the feeding transition plate; and an anti-sliding block is also arranged on the upper surface of the feeding transition plate.

[0017] Furthermore, the handling assembly includes an industrial robot and an end picker assembly, the end picker assembly is arranged at the end of the industrial robot, and the industrial robot can move along the ground rail; the end picker assembly includes an end picker frame and at least one group of clamping assemblies, and the clamping assembly is fixed on the side of the end picker frame facing away from the industrial robot; the clamping assembly includes a jaw mounting seat, a servo motor, a forward and reverse ball screw, two groups of movable blocks and two groups of jaws; the servo motor is installed on one side of the jaw mounting seat and is drivingly connected to the forward and reverse ball screws, and the two ends of the forward and reverse ball screws are respectively rotatably connected to the jaw mounting seat; the two groups of movable blocks are respectively movably installed at the two ends of the forward and reverse ball screws, and the two groups of movable blocks are slidably connected to the jaw mounting seat, and when the forward and reverse ball screws rotate, the two groups of movable blocks move toward each other; the two groups of jaws are respectively fixedly connected to the two groups of movable blocks, and a buffer layer is provided on the inner side of the jaws.

[0018] Furthermore, a visual component and a distance measuring component are arranged on the outside of the clamping jaw mounting seat; the visual component is used to identify the position of the ultrafiltration membrane to be clamped; and the distance measuring component is used to measure the distance between the ultrafiltration membrane to be clamped and the industrial robot.

[0019] The beneficial effects of the present invention are:

[0020] (1) The present invention can realize the automatic casting and cutting of ultrafiltration membranes, and adopts the method of automatic grabbing by robots, mounting, and automatic receiving by mobile carts, which greatly improves the handling efficiency of ultrafiltration membranes, reduces the switching time of workstations, reduces labor intensity, increases production capacity and reduces production costs, and brings long-term economic benefits to enterprises;

[0021] (2) The present invention adopts the method of rack rotation, bilateral mounting, and multiple lifting, which can solve the problems of multiple specifications, large occupied space, and low casting efficiency during the casting and storage of ultrafiltration membranes. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the ultrafiltration membrane production line of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the casting and forming hanger assembly of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the casting and forming hanger of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the rack turntable of the present invention;

[0026] Figure 5 It is a schematic diagram of the structure of the transport device of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the mobile vehicle of the present invention;

[0028] Figure 7 It is a structural schematic diagram of the rotary lifting mechanism of the present invention;

[0029] Figure 8 It is a structural schematic diagram of the industrial robot handling assembly of the present invention;

[0030] Fig. 9 is a schematic structural diagram of the clamping assembly of the present invention;

[0031] The reference numerals in the accompanying drawings are:

[0032] 1. Casting and forming hanger assembly; 2. Ground rail; 3. Transport device; 4. Handling assembly; 5. Independent cutting assembly; 6. High-power vacuum cleaner; 7. Cutting area control console; 8. Casting area control console; 9. Safety fence; 10. Line bridge; 11. Casting and forming hanger; 12. Hanger turntable; 13. Casting bracket; 14. Main frame; 15. Electric cabinet; 16. Asynchronous motor; 17. Double-sided screw lift; 18. External sprocket set; 19. Sprocket cover; 20. Copper nut; 21. Guide shaft support; 22. Guide shaft; 23 , linear bearing of guide shaft; 24, screw rod protective cover; 25, lifting over-support; 26, main beam; 27, electric push rod; 28, hook; 29, bearing seat; 30, inner sprocket assembly; 31, single-sided screw lift; 32, L-shaped adjustment block; 33, resistance ruler; 34, shaft support; 35, transmission shaft; 36, lifting sensor; 37, rotating platform frame; 38, first slewing bearing; 39, pad assembly; 40, maintenance cover; 41, speed regulating plate; 42, first gear; 43, first stepper motor; 44, transition Plate; 45, first limit block; 46, first rotary sensor; 47, ultrafiltration membrane; 48, mobile trolley; 49, rotary lifting mechanism; 50, support frame; 51, limit sleeve; 52, universal wheel; 53, second stepping motor; 54, second gear; 55, lifting support frame; 56, lifting protection plate; 57, speed regulator; 58, anti-sliding block; 59, C-type limit block; 60, feeding transition plate; 61, guide transition plate; 62, second rotary bearing; 63, lifting cylinder; 64, linear bearing; 65, small guide shaft; 66. Second rotary sensor; 67. Third limit block; 68. Ultrafiltration membrane to be clamped; 69. Clamping assembly; 70. Visual assembly; 71. Distance measuring assembly; 72. End picker frame; 73. Industrial robot; 74. Servo motor; 75. Reducer; 76. Gripper mounting seat; 77. Control line; 78. Support plate; 79. In-position sensor; 80. Forward and reverse ball screw; 81. Guide rail; 82. Slider; 83. Coupling; 84. Deep groove ball bearing; 85. Screw sleeve; 86. Movable block 87. Gripper; 88. Buffer layer. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention and the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0034] Example 1

[0035] The embodiment of the present invention provides an ultrafiltration membrane glue injection and cutting automated production system, including a cutting device, a casting device and a transport device. The cutting device is arranged in the cutting area, and is used to cut the residue after the ultrafiltration membrane is cast. A high-power vacuum cleaner 6 is also arranged in the cutting area to discharge the cutting debris. The casting device is arranged in the casting area, and a safety fence 9 is arranged in the casting area to remind personnel of the safety range; the casting area is also provided with a line bridge 10 to protect the lines connecting each rack and platform.

[0036] Specifically, refer to Figure 1 The casting device includes a ground rail 2, a transport assembly 4 and a plurality of casting and forming hanger assemblies 1, and the casting and forming hanger assemblies 1 are distributed on both sides of the ground rail 2.

[0037] Among them, the transport device is used to transport the ultrafiltration membrane between the cutting device and the casting device; the casting and molding rack assembly 1 is used to fix the ultrafiltration membrane on the glue injection station, and then perform glue injection; the transport assembly 4 is movably installed on the ground rail 4 and can slide along the ground rail 4 for transporting the ultrafiltration membrane to be cast.

[0038] In this embodiment, a casting area control console and a cutting area control console are also provided. The cutting area control console is located in the lower middle of the cutting area and is used to monitor and control the operation of each device in the cutting area, and to modify and record relevant technical parameters. The casting area control console is located in the lower left of the casting area and is used to monitor and control the operation of each rack and platform in the casting area, and to modify and record relevant technical parameters.

[0039] When in use, after the transport device transports the ultrafiltration membrane to be cast to the casting device, the transport component 4 transports the ultrafiltration membrane to be cast from the transport device to the casting and molding hanger component 1 for glue injection, and transports the cast ultrafiltration membrane from the casting and molding hanger component 1 back to the transport device, and finally transports it to the cutting device for cutting. After cutting is completed, the above steps are repeated again, and then glue injection and cutting are performed twice.

[0040] Example 2

[0041] The main structure of this embodiment is the same as that of Embodiment 1, except that this embodiment limits the structure of the casting and forming hanger assembly 1.

[0042] Specifically, refer to Figures 1 to 3The casting and forming hanger assembly 1 includes a casting and forming hanger 11 and a hanger turntable 12. The casting and forming hanger 11 is installed on the hanger turntable 12 and can be horizontally rotated 180° along with the hanger turntable 12, so as to operate the ultrafiltration membrane on the other side of the hanger turntable 12. The casting and forming hanger 11 includes a fixed hanger and a lifting hanger. The fixed hanger is fixed on the mounting surface of the hanger turntable 12. The lifting hanger is movably connected with the fixed hanger. The lifting hanger can rise or fall relative to the fixed hanger. The lifting hanger is provided with a plurality of hook assemblies for lifting the ultrafiltration membrane.

[0043] Among them, the lifting bracket rises or falls relative to the fixed bracket through a lifting drive device, and the lifting drive device includes a double-sided screw elevator 17, a single-sided screw elevator 31 and a sprocket drive assembly, and the sprocket drive assembly includes an asynchronous motor 16, an outer sprocket group 18, an inner sprocket group 30, a linkage sprocket and a transmission shaft 35.

[0044] The double-sided screw lift 17 and the single-sided screw lift 31 are respectively installed on both sides of the fixed bracket, and the screws of the double-sided screw lift 17 and the single-sided screw lift 31 are respectively threaded with copper nuts 20, and the two copper nuts 20 are respectively fixedly connected to the two ends of the lifting bracket. The asynchronous motor 16, the outer sprocket set 18 and the linkage sprocket are arranged on the fixed bracket and distributed on one side of the double-sided screw lift 17. The asynchronous motor 16 is connected to the outer sprocket set 18 by driving, the outer sprocket set 18 is connected to the double-sided screw lift 17 by driving, and the double-sided screw lift 17 is connected to the linkage sprocket by driving. The inner sprocket set 30 is arranged on the fixed bracket and distributed on one side of the single-sided screw lift 31. The inner sprocket set 30 is connected to the single-sided screw lift 31 by driving. Both ends of the transmission shaft 35 are connected to the linkage sprocket and the inner sprocket set 30 respectively. The linkage sprocket drives the transmission shaft 35 to rotate, and then drives the inner sprocket set 30 to rotate, thereby driving the screw of the single-sided screw elevator 31 to rotate.

[0045] When in use, the ultrafiltration membrane to be cast is hoisted onto the lifting bracket. When the height of the ultrafiltration membrane needs to be adjusted, the asynchronous motor 16 is started, and the asynchronous motor 16 drives the outer sprocket set 18 to rotate, and the outer sprocket set 18 drives the double-sided screw elevator 17 to rotate, and the double-sided screw elevator 17 drives the linkage sprocket to rotate, and the linkage sprocket drives the inner sprocket set 30 to rotate through the transmission shaft 35, thereby driving the rotation of the single-sided screw elevator 31. At this time, the screws of the single-sided screw elevator 31 and the double-sided screw elevator 17 rotate synchronously, and the copper nut 20 and the lifting bracket rise or fall along the screw, thereby realizing the adjustment of the height of the ultrafiltration membrane.

[0046] Example 3

[0047] The main structure of this embodiment is the same as that of Embodiment 2, except that: this embodiment limits the structures of the fixed hanger and the lifting hanger.

[0048] Specifically, refer to Figures 1 to 3 The fixed bracket includes a main frame 14, and mounting platforms are respectively provided on both sides of the main frame 14. The double-sided screw lift 17 and the single-sided screw lift 31 are respectively installed on the two mounting platforms, and fixing plates are respectively provided on both sides of the top of the main frame 14. An electric cabinet 15 for providing power to the casting and molding hanger and receiving signals from the main control console is also provided in the fixed bracket. A height-adjustable shaft support 34 is provided on the fixed bracket, and at least one bearing seat 29 is provided on the transmission shaft 35. The shaft support 34 is used to support the bearing seat 29.

[0049] The lifting bracket includes a main beam 26 and two groups of lifting transition supports 25. The two groups of lifting transition supports 25 are symmetrically arranged on both sides of the fixed bracket. The main beam 26 is distributed on the top of the two groups of lifting transition supports 25 and is fixedly connected to the two groups of lifting transition supports 25. The hook assembly is fixedly connected to the main beam 26. The hook assembly includes an electric push rod 27 and a hook. The electric push rod 27 is installed on the main beam 26. The output end of the electric push rod 27 is connected to the hook, which can drive the hook to rise or fall, thereby further realizing the adjustment of the height of the ultrafiltration membrane.

[0050] Among them, the lifting transition support 25 is a rectangular frame structure, the spacing between the two side plates of the lifting transition support 25 is greater than the width of the fixed plate, the lower surface of the bottom plate of the lifting transition support 25 is fixedly connected to the copper nut 20, and the bottom plate and the fixed plate are provided with screw through holes, and the screws of the double-sided screw elevator 17 / single-sided screw elevator 31 pass through the screw through holes of the bottom plate and the fixed plate and extend to the inside of the lifting transition support 25. Two groups of guide shafts 22 are fixedly arranged between the bottom plate and the top plate of the lifting transition support 25, and the two groups of guide shafts 22 are symmetrically distributed on both sides of the screw, and the fixed plate is provided with through holes adapted to the guide shafts 22, and the guide shaft linear bearings 23 are arranged in the through holes, and the guide shaft 22 is slidably connected to the fixed plate through the guide shaft linear bearings 23.

[0051] In this embodiment, L-shaped adjustment blocks 32 are respectively provided on both sides of the fixed bracket, and the outer sprocket group 18 and the inner sprocket group 30 are respectively provided in the horizontal sections of the two groups of L-shaped adjustment blocks 32. The L-shaped adjustment blocks 32 can rise or fall within a certain range relative to the fixed bracket, thereby adjusting the height of the outer sprocket group 18 and the inner sprocket group 30, which is used for the tensioning of the inner sprocket group 30 and the leveling of the transmission shaft 35.

[0052] In this embodiment, a lifting sensor 36 is provided on the side of the fixed bracket close to the double-sided screw lift 17 for transmitting the arrival signal; a resistance scale 33 is provided on the side of the fixed bracket close to the single-sided screw lift 31 for providing the displacement distance parameter.

[0053] In this embodiment, two sets of screw protection covers 24 and two sets of sprocket covers 19 are also provided. The bottom end of the screw protection cover 24 is fixedly connected to the upper surface of the bottom plate of the lifting transition support 25, and the top end passes through the fixed plate and extends to the top of the fixed plate to prevent dust and glue on the screw. The sprocket cover 19 is provided on the outside of the outer sprocket group 18 / inner sprocket group 30 to prevent dust and glue on the sprocket group.

[0054] Example 4

[0055] The main structure of this embodiment is the same as that of Embodiment 3, except that: this embodiment limits the structure of the rack turntable 12.

[0056] Specifically, refer to Figure 4 , the pylon turntable 12 includes a pad assembly 39, a rotating platform frame 37, a first stepper motor 43, a first gear 42, a first slewing bearing 38 and a transition plate 44;

[0057] The rotating platform frame 37 is fixed above the pad assembly 39, the first stepper motor 43 and the first gear 42 are arranged inside the rotating platform frame 37, the first stepper motor 43 is drivingly connected to the first gear 42, the first gear 42 is drivingly connected to the first slewing bearing 38, the transition plate 44 is fixed on the top of the first slewing bearing 38, and the casting and forming hanger 11 is installed on the transition plate 44. Two transition plates 44 are provided, which are symmetrically installed at both ends of the top of the first slewing bearing 38, and a maintenance cover 40 is detachably arranged between the two transition plates 44.

[0058] In this embodiment, a speed regulating plate 41 for adjusting the speed is provided on one side of the rotating platform frame 37, and a first rotation sensor 46 for detecting the rotation angle is provided on the top of the rotating platform frame 37. A first limit block 45 is also provided on the top of the rotating platform frame 37, and a second limit block is provided on the lower surface of the transition plate 44. The first limit block 45 is distributed on the rotation track of the second limit block, forming a movement obstacle to the second limit block.

[0059] When in use, the first stepper motor 43 is started, and the first stepper motor 43 drives the first gear 42 to rotate, thereby driving the first slewing bearing 38 and the transition plate 44 to rotate, thereby driving the casting and forming hanger 11 to rotate horizontally. The first rotation sensor 46 can detect the rotation angle and feedback adjustment to serve as a soft limit. When the first rotation sensor 46 fails, as the casting and forming hanger 11 rotates, the first limit block 45 contacts the second limit block and prevents it from continuing to rotate, which can achieve the role of rotation limit and serve as a hard limit.

[0060] Example 5

[0061] The main structure of this embodiment is the same as that of Embodiment 4, except that: this embodiment limits the structure of the transportation device.

[0062] Specifically, refer to Figures 5-6 The transport device includes a mobile trolley 48 and a rotating lifting mechanism, and the rotating lifting mechanism is fixedly arranged on one side of the ground rail 2. The rotating lifting mechanism is arranged on the ground, and is used to lift the mobile trolley 48 off the ground, rotate 180 degrees, and deliver the ultrafiltration membrane to the side of the industrial robot. The mobile trolley 48 travels back and forth between the casting area and the cutting area, and is used to transport the ultrafiltration membrane at each process stage.

[0063] The mobile trolley 48 includes a base, a support frame 50 and a universal wheel 52. The support frame 50 is fixedly mounted on the base for placing the ultrafiltration membrane, and the universal wheel 52 is mounted below the base. A limiting sleeve 51 is provided on the lower surface of the base for limiting the position of the mobile trolley 48 and the rotating lifting mechanism.

[0064] Reference Figure 7 The rotary lifting mechanism includes a lifting support frame 55, a lifting protection plate 56, a second stepper motor 53, a second gear 54, a second slewing bearing 62, a mounting plate, a lifting cylinder 63 and four sets of small guide shafts 65. The lifting protection plate 56 is arranged around the lifting support frame 55 to prevent dust and glue. The second stepper motor 53 and the second gear 54 are arranged inside the lifting support frame 55. The second stepper motor 53 is connected to the second gear 54 by driving. The second slewing bearing 62 includes an inner ring and an outer ring. The outer ring is sleeved on the outer side of the inner ring and is rotatably connected with the inner ring. The inner wall of the inner ring is provided with a rack adapted to the second gear 54. The second gear 54 is meshed with the rack of the inner ring. The second gear 54 can drive the inner ring to rotate (the outer ring does not rotate therewith). The mounting plate is fixedly connected to the top of the inner ring. The lifting cylinder 63 is arranged below the outer ring of the second slewing bearing 62 and is connected to the outer ring by driving. It can drive the outer ring to rise or fall, and the outer ring can drive the inner ring to rise or fall. The top plate of the lifting support frame 55 is provided with a through hole adapted to the small guide shaft 65, the upper end of the small guide shaft 65 is fixedly connected to the lower surface of the outer ring of the second slewing bearing 62, and the lower end passes through the through hole and extends to the bottom of the top plate of the lifting support frame 55. A linear bearing 64 is provided in the through hole, and the small guide shaft 65 slides up and down relative to the lifting support frame 55 through the linear bearing 64.

[0065] A speed regulator 57 for adjusting the rotation speed is provided on one side of the lifting support frame 55, and a second rotation sensor 66 for detecting the rotation angle is provided on the top plate of the lifting support frame 55, which is used to transmit a position signal and serve as a soft limit. A third limit block 67 is also provided on the top plate of the lifting support frame 55, and a fourth limit block is provided on the lower surface of the mounting plate. The third limit block 67 is distributed on the rotation track of the fourth limit block, forming a movement obstacle to the fourth limit block, and is used to limit the rotation angle and serve as a hard limit.

[0066] In this embodiment, the mounting plate includes a guide transition plate 61 and two groups of feeding transition plates 60, and the two groups of feeding transition plates 60 are symmetrically fixed on both sides of the guide transition plate 61. The guide transition plate 61 is provided with a plurality of guide rollers, which are distributed in a straight line, and the central axis of the guide rollers coincides with the central line of the mounting plate. The plurality of guide rollers can guide the trolley, so that the trolley can maintain the correct moving angle when it moves above the rotating lifting mechanism to avoid deviation. The feeding transition plate 60 is provided with a C-shaped limit block 59 adapted to the limit sleeve 51 at the bottom of the moving trolley 48. When the trolley is in place, the C-shaped limit block 59 moves into the limit sleeve 51 to limit the trolley. At the same time, an anti-sliding block 58 is also provided on the upper surface of the feeding transition plate 60 to further prevent the movement of the trolley.

[0067] When in use, the mobile trolley 48 moves to the top of the rotary lifting mechanism according to the guidance of the guide roller, and the lifting cylinder 63 is started. The lifting cylinder 63 drives the outer ring of the second slewing bearing 62 to rise, and then drives the inner ring and the mounting plate to rise (the rising range will not cause the inner ring to be separated from the second gear 54, that is, it will not affect the driving effect of the second gear 54 on the inner ring). After the mounting plate rises, the C-shaped limit block 59 moves into the limit sleeve 51 to limit the trolley, and at the same time, the anti-sliding block 58 contacts the mobile trolley 48 to further play an anti-slip role. In addition, the rotation angle can be detected by the second rotation sensor 66 and feedback adjustment can be made. When the second rotation sensor 66 fails, as the mounting plate rotates, the third limit block 67 contacts the fourth limit block and prevents it from continuing to rotate, which can achieve the role of rotation limit.

[0068] Example 6

[0069] The main structure of this embodiment is the same as that of Embodiment 5, except that: this embodiment limits the structure of the transport component 4.

[0070] Specifically, refer to Figures 7-8 The transport assembly 4 includes an industrial robot 73 and an end picker assembly, the end picker assembly is arranged at the end of the industrial robot 73, and the industrial robot 73 can move along the ground rail 2. The industrial robot 73 can move in three-dimensional space, and its specific structure belongs to the conventional structure in the field, which is not the protection point of the present invention, so its structure is not described in detail here.

[0071] The end tool assembly includes an end tool frame 72 and two groups of clamping assemblies. The clamping assemblies are fixed on a side of the end tool frame 72 facing away from the industrial robot 73, and the two groups of clamping assemblies are parallel to each other.

[0072] In this embodiment, the clamping assembly includes a clamping jaw mounting seat 76, a servo motor 74, a forward and reverse ball screw 80, two sets of movable blocks 86 and two sets of clamping jaws 87. The cross section of the clamping jaw mounting seat 76 is "L" shaped, with side plates arranged on both sides, a support plate 78 arranged between the two side plates, and the support plate 78 is fixedly connected to the clamping jaw mounting seat 76; the two ends of the forward and reverse ball screw 80 are rotatably connected to the support plate 78 and one side plate respectively, and the support plate 78 is connected to the forward and reverse ball screw 80 through a deep groove ball bearing 84. The servo motor 74 is installed on one side of the clamping jaw mounting seat 76, and the servo motor 74 and the reducer 75 are connected to the forward and reverse ball screw 80 through a coupling 83 to provide power for the forward and reverse ball screw 80. The two groups of movable blocks 86 (through the screw sleeve 85) are movably installed at the two ends of the forward and reverse ball screws 80, and the two groups of movable blocks 86 are slidably connected with the clamping jaw mounting seat 76 (through the guide rail 81 and the slider 82). When the forward and reverse ball screws 80 rotate, the two groups of movable blocks 86 move toward each other; the two groups of clamping jaws 87 are fixedly connected with the two groups of movable blocks 86, respectively, and a buffer layer 88 is arranged on the inner side of the clamping jaws 87, which is used to protect the ultrafiltration membrane shell when clamping the ultrafiltration membrane.

[0073] In this embodiment, a visual component 70 and a distance measuring component 71 are arranged outside the clamping jaw mounting seat 76. The visual component 70 is used to identify the position of the ultrafiltration membrane 68 to be clamped, and the distance measuring component 71 is used to measure the distance between the ultrafiltration membrane 68 to be clamped and the industrial robot 73.

[0074] When in use, start the servo motor 74, which drives the forward and reverse ball screws 80 to rotate, and drives the two sets of movable blocks 86 and clamps 87 to move linearly in opposite directions, that is, the two sets of movable blocks 86 and clamps 87 move closer to or farther from each other, thereby achieving the clamping effect.

[0075] The specific working process of the present invention is as follows:

[0076] Employees push the mobile cart carrying the semi-finished ultrafiltration membrane into the casting area, and start the rotating lifting mechanism through the casting area main control console to position the mobile cart. After positioning, the industrial robot handling assembly grabs and transports it to the corresponding casting and molding bracket assembly for mounting and casting. The ultrafiltration membrane after single-sided casting is grabbed by the industrial robot and transported to the cutting area. After cutting, the industrial robot retrieves it for casting on the opposite side until the double-sided casting and cutting are completed. After processing, the industrial robot transports it to the positioned mobile cart. The employee cancels the positioning through the cutting area main control console and pushes the cart for subsequent work.

[0077] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. An ultrafiltration membrane glue injection and cutting automated production system, characterized in that: It includes cutting device, pouring device and transportation device; The casting device comprises a ground rail (2), a transport assembly (4) and a plurality of groups of casting and molding hanger assemblies (1); The transport device is used to transport the ultrafiltration membrane between the cutting device and the casting device; the casting and forming hanger assembly (1) is used to fix the ultrafiltration membrane on the glue injection station; the transport assembly (4) is movably installed on the ground rail (4) and is used to transport the ultrafiltration membrane to be cast from the transport device to the casting and forming hanger assembly (1) for glue injection, and to transport the cast ultrafiltration membrane from the casting and forming hanger assembly (1) to the transport device, and finally transport it to the cutting device for cutting.

2. The ultrafiltration membrane glue injection and cutting automated production system according to claim 1, characterized in that: The casting and forming hanger assembly (1) comprises a casting and forming hanger (11) and a hanger turntable (12); the casting and forming hanger (11) is mounted on the hanger turntable (12) and can rotate horizontally along with the hanger turntable (12); The casting and forming hanger (11) comprises a fixed hanger and a lifting hanger, wherein the fixed hanger is fixed on the mounting surface of the hanger turntable (12), and the lifting hanger is movably connected to the fixed hanger. The lifting hanger can rise or fall relative to the fixed hanger, and a plurality of hook assemblies are arranged on the lifting hanger for lifting the ultrafiltration membrane.

3. The ultrafiltration membrane glue injection and cutting automated production system according to claim 2, characterized in that: The lifting bracket is raised or lowered relative to the fixed bracket by a lifting drive device; The lifting drive device comprises a double-sided screw lifter (17), a single-sided screw lifter (31) and a sprocket drive assembly; the sprocket drive assembly comprises an asynchronous motor (16), an outer sprocket assembly (18), an inner sprocket assembly (30), a linkage sprocket and a transmission shaft (35); The double-sided screw lift (17) and the single-sided screw lift (31) are respectively installed on both sides of the fixed bracket, and the screws of the double-sided screw lift (17) and the single-sided screw lift (31) are respectively threadedly connected with copper nuts (20), and the two copper nuts (20) are respectively fixedly connected to the two ends of the lifting bracket; The asynchronous motor (16), the outer sprocket group (18) and the linkage sprocket are arranged on a fixed bracket and distributed on one side of the double-sided lead screw elevator (17); the asynchronous motor (16) is drivingly connected to the outer sprocket group (18), the outer sprocket group (18) is drivingly connected to the double-sided lead screw elevator (17), and the double-sided lead screw elevator (17) is drivingly connected to the linkage sprocket; the inner sprocket group (30) is arranged on a fixed bracket and distributed on one side of the single-sided lead screw elevator (31), the inner sprocket group (30) is drivingly connected to the single-sided lead screw elevator (31); the two ends of the transmission shaft (35) are respectively connected to the linkage sprocket and the inner sprocket group (30), the linkage sprocket drives the transmission shaft (35) to rotate, and then drives the inner sprocket group (30) to rotate, thereby driving the lead screw of the single-sided lead screw elevator (31) to rotate.

4. The ultrafiltration membrane glue injection and cutting automated production system according to claim 3, characterized in that: The fixed hanger comprises a main frame (14), and mounting platforms are respectively arranged on both sides of the main frame (14), and the double-sided screw lift (17) and the single-sided screw lift (31) are respectively installed on the two mounting platforms; and fixing plates are respectively arranged on both sides of the top of the main frame (14); The lifting bracket comprises a main beam (26) and two groups of lifting transition supports (25), the two groups of lifting transition supports (25) are symmetrically arranged on both sides of the fixed bracket, the main beam (26) is distributed on the top of the two groups of lifting transition supports (25), and is fixedly connected to the two groups of lifting transition supports (25), and the hook assembly is fixedly connected to the main beam (26); The lifting transition support (25) is a rectangular frame structure, and the spacing between the two side plates of the lifting transition support (25) is greater than the width of the fixed plate; the lower surface of the bottom plate of the lifting transition support (25) is fixedly connected to the copper nut (20), and the bottom plate and the fixed plate are provided with screw through holes, and the screw of the double-sided screw elevator (17) / single-sided screw elevator (31) passes through the screw through holes of the bottom plate and the fixed plate and extends to the inside of the lifting transition support (25); At least one set of guide shafts (22) is fixedly arranged between the bottom plate and the top plate of the lifting transition support (25), and a through hole adapted to the guide shafts (22) is arranged on the fixed plate, and the guide shafts (22) are slidably connected to the fixed plate.

5. The ultrafiltration membrane glue injection and cutting automated production system according to claim 4, characterized in that: A lifting sensor (36) is provided on one side of the fixed bracket close to the double-sided screw lift (17) for transmitting a position signal; and a resistance scale (33) is provided on one side of the fixed bracket close to the single-sided screw lift (31) for providing a displacement distance parameter.

6. The ultrafiltration membrane glue injection and cutting automated production system according to claim 1, characterized in that: The pylon turntable (12) comprises a pad assembly (39), a rotating platform frame (37), a first stepper motor (43), a first gear (42), a first slewing bearing (38) and a transition plate (44); The rotating platform frame (37) is fixed above the pad assembly (39); the first stepper motor (43) and the first gear (42) are arranged inside the rotating platform frame (37); the first stepper motor (43) is drivingly connected to the first gear (42); the first gear (42) is drivingly connected to the first slewing bearing (38); the transition plate (44) is fixed on the top of the first slewing bearing (38); and the casting and forming hanger (11) is installed on the transition plate (44); A rotation speed regulating plate (41) for adjusting the rotation speed is arranged on one side of the rotating platform frame (37), and a first rotation sensor (46) for detecting the rotation angle is arranged on the top of the rotating platform frame (37); A first limit block (45) is also provided on the top of the rotating platform frame (37), and a second limit block is provided on the lower surface of the transition plate (44). The first limit block (45) is distributed on the rotation track of the second limit block to form a movement obstacle for the second limit block.

7. The ultrafiltration membrane glue injection and cutting automated production system according to claim 1, characterized in that: The transport device comprises a moving trolley and a rotating lifting mechanism; The rotating lifting mechanism is fixedly arranged on one side or both sides of the ground rail (2); The mobile vehicle comprises a base, a support frame (50) and universal wheels (52); the support frame (50) is fixedly mounted on the base and is used to place the ultrafiltration membrane; the universal wheels (52) are mounted below the base; A limiting sleeve (51) is provided on the lower surface of the base, which is used for limiting the position of the moving trolley and the rotating lifting mechanism.

8. The ultrafiltration membrane glue injection and cutting automated production system according to claim 1, characterized in that: The rotary lifting mechanism comprises a lifting support frame (55), a lifting protection plate (56), a second stepping motor (53), a second gear (54), a second slewing bearing (62), a mounting plate, a lifting cylinder (63) and four sets of small guide shafts (65); The lifting protection plate (56) is arranged around the lifting support frame (55); the second stepper motor (53) and the second gear (54) are arranged inside the lifting support frame (55), and the second stepper motor (53) is drivingly connected to the second gear (54); the second slewing bearing (62) includes an inner ring and an outer ring, the outer ring is sleeved on the outer side of the inner ring and is rotatably connected to the inner ring, and a rack matched with the second gear (54) is arranged on the inner wall of the inner ring, the second gear (54) is meshed with the rack of the inner ring, and the second gear (54) can drive the inner ring to rotate; the mounting plate is fixedly connected to the top of the inner ring; The lifting cylinder (63) is arranged below the outer ring of the second slewing bearing (62) and is drivingly connected to the outer ring; the top plate of the lifting support frame (55) is provided with a through hole adapted to the small guide shaft (65); the upper end of the small guide shaft (65) is fixedly connected to the lower surface of the outer ring of the second slewing bearing (62), and the lower end passes through the through hole and extends to below the top plate of the lifting support frame (55); A speed regulator (57) for adjusting the rotation speed is provided on one side of the lifting support frame (55), and a second rotation sensor (66) for detecting the rotation angle is provided on the top plate of the lifting support frame (55); A third limit block (67) is also provided on the top plate of the lifting support frame (55), and a fourth limit block is provided on the lower surface of the mounting plate. The third limit block (67) is distributed on the rotation track of the fourth limit block to form a movement obstacle for the fourth limit block.

9. The ultrafiltration membrane glue injection and cutting automated production system according to claim 8, characterized in that: The mounting plate comprises a guide transition plate (61) and two groups of feeding transition plates (60), and the two groups of feeding transition plates (60) are symmetrically fixedly arranged on both sides of the guide transition plate (61); The guide transition plate (61) is provided with a plurality of guide rollers, the plurality of guide rollers are distributed in a straight line, and the central axis of the guide rollers coincides with the central line of the mounting plate; The feeding transition plate (60) is provided with a C-shaped limit block (59) adapted to the limit sleeve (51) at the bottom of the moving trolley; and an anti-sliding block (58) is also provided on the upper surface of the feeding transition plate (60).

10. The ultrafiltration membrane glue injection and cutting automated production system according to claim 1, characterized in that: The transport assembly (4) comprises an industrial robot (73) and an end picker assembly, wherein the end picker assembly is arranged at the end of the industrial robot (73), and the industrial robot (73) is capable of moving along the ground rail (2); The end tool assembly comprises an end tool frame (72) and at least one set of clamping assemblies, wherein the clamping assemblies are fixed to a side of the end tool frame (72) facing away from the industrial robot (73); The clamping assembly comprises a clamping jaw mounting seat (76), a servo motor (74), a forward and reverse ball screw (80), two groups of movable blocks (86) and two groups of clamping jaws (87); the servo motor (74) is mounted on one side of the clamping jaw mounting seat (76) and is drivingly connected to the forward and reverse ball screw (80); the two ends of the forward and reverse ball screw (80) are respectively rotatably connected to the clamping jaw mounting seat (76); the two groups of movable blocks (86) are respectively movably mounted on the two ends of the forward and reverse ball screw (80), and the two groups of movable blocks (86) are slidably connected to the clamping jaw mounting seat (76); when the forward and reverse ball screw (80) rotates, the two groups of movable blocks (86) move towards each other; the two groups of clamping jaws (87) are respectively fixedly connected to the two groups of movable blocks (86), and a buffer layer (88) is provided inside the clamping jaw (87); A visual component (70) and a distance measuring component (71) are arranged outside the clamping jaw mounting seat (76); the visual component (70) is used to identify the position of the ultrafiltration membrane (68) to be clamped; and the distance measuring component (71) is used to measure the distance between the ultrafiltration membrane (68) to be clamped and the industrial robot (73).

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