Filter element replacement system and use method

Abstract

The invention relates to a filter element replacement system and a use method. The replacement system comprises a cover opening and closing device, the filter element replacement device comprises a box body, a flexible lifting unit, a rigid lifting unit and a platform, the flexible lifting unit comprises a first driving part and a flexible lifting part; the first driving piece is connected with the flexible lifting piece; the rigid lifting unit is connected with the flexible lifting piece and extends into the box body; the rigid lifting unit comprises a shell, a second driving piece, a rigid lifting piece and a grabber; the second driving piece is connected with the rigid lifting piece, and the grabber is connected to the rigid lifting piece; the platform is installed in the box body and located below the flexible lifting unit. The platform is provided with a through hole into which the shell extends; and a butt joint auxiliary device. According to the invention, rigid lifting and flexible lifting are coupled, on the premise that enough lifting stroke is ensured, the occupied space is reduced, and the alignment precision is improved.

Description

Technical Field

[0001] This application relates to the technical field of filter element disassembly and assembly, and particularly to a filter element replacement system and a usage method thereof. Background Art

[0002] In workplaces such as the nuclear industry and the chemical industry, it is usually necessary to set up filtering equipment to filter toxic and harmful substances. The filter elements in the filtering equipment need to be replaced frequently. However, due to many limiting factors in such workplaces, such as narrow space, high radiation, and the presence of toxic and harmful substances, it is impossible to directly replace the filter elements manually. Usually, a filter element replacement device with a high degree of automation is used for the disassembly and assembly of the filter elements.

[0003] Currently, for the replacement of filter elements in these special fields, it mainly relies on a lifting mechanism for disassembly and assembly. During the research and development process, the applicant found that the lifting mechanisms are mainly divided into two categories: One is a flexible lifting mechanism, which uses, such as steel wires and iron chains, as the lifting parts, and controls the lifting and lowering by winding or releasing the steel wires. The flexible lifting mechanism has the advantage of simple structure and can achieve a large vertical lift in a small installation space. However, its disadvantages are also obvious. The steel wires are prone to shaking, and the positioning heavily depends on external sensors to judge the release height, etc. The dust, steam, etc. in the working environment will affect the accuracy of the sensors, resulting in poor positioning accuracy and prone to inaccurate alignment; since the moving direction of the flexible lifting mechanism is the vertical direction, when the reference plane is not in a horizontal state, there will be a verticality error, which will also easily lead to inaccurate alignment.

[0004] The other is a rigid lifting mechanism, which usually uses a lead screw-nut pair, a gear-rack mechanism, etc. to drive the lifting. The lifting direction of the rigid lifting mechanism is fixed, with high precision and good rigidity, and can provide stable support. However, it also has the defects of complex and heavy structure and large space occupation; compared with the flexible lifting mechanism, in the same lifting stroke, the rigid lifting mechanism occupies a very large space, which is not conducive to working in a space-limited environment and the cost is also more expensive.

[0005] During the disassembly and assembly operation of the filter element, due to construction reasons or other factors, there is a situation where the ground is not in a completely horizontal state. The filter element structure itself includes an installation part and a filtering part, and its length is relatively long, so a relatively long lifting stroke is required. When performing the disassembly and assembly operation of the filter element in special environments such as the nuclear industry and the chemical industry, using a pure rigid lifting mechanism requires a large amount of space, and the space in the special environment is limited, and the cost is also extremely expensive; while using a pure flexible lifting mechanism, when the reference plane is not in a horizontal state, since the flexible lifting mechanism is vertically lifted and its moving direction is the vertical direction and not perpendicular to the reference plane, there will be a verticality error, resulting in inability to accurately align with the filter element.

[0006] Therefore, it is necessary to provide a filter element replacement system with a small occupied space, relatively low cost, and high alignment accuracy for disassembling and assembling the filter element. Summary of the Invention

[0007] Based on this, it is necessary to provide a filter element replacement system and a usage method, and the specific technical solutions are as follows.

[0008] A filter element replacement system includes: An opening and closing cover device for opening the sealing cover above the filter element; A filter element replacement device, including a box body, a flexible lifting unit, a rigid lifting unit, and a platform; the flexible lifting unit includes a first driving member and a flexible lifting member; the first driving member is connected to the flexible lifting member for releasing or winding the flexible lifting member; the rigid lifting unit is connected to the flexible lifting member and extends into the box body; the rigid lifting unit includes a housing, a second driving member, a rigid lifting member, and a gripper; a first plane is provided on the outer surface of the housing; a channel extending along its axial direction is provided inside the housing; the rigid lifting member is movably disposed in the channel along the axial direction of the channel; the second driving member is connected to the rigid lifting member for driving the rigid lifting member to move; the gripper is connected to the rigid lifting member; the platform is installed inside the box body and is located below the flexible lifting unit; a through hole for the housing to extend into is provided on the platform; a stopping surface for supporting the first plane is formed above the platform; A docking auxiliary device for carrying the filter element replacement device and adjusting the position of the filter element replacement device.

[0009] Further, a centering and guiding structure is provided between the housing and the platform; the centering and guiding structure includes a first guiding surface located on the platform and a second guiding surface located on the outer surface of the housing; the first guiding surface is V-shaped or conical, and the shape of the second guiding surface is adapted to the shape of the first guiding surface.

[0010] Further, the flexible lifting unit further includes an outer shell, a reel, and a first pulley; the first driving member is installed on the outer shell and is in transmission connection with the reel; the first pulley is installed on the outer shell; the flexible lifting member is wound around the reel and extends into the box body after passing through the first pulley.

[0011] Further, the docking auxiliary device includes: A bottom plate assembly with a docking groove in the middle for docking with the flange at the filter element installation position; A vertical adjustment assembly, including a first adjustment plate, a lifting member, and a base; the first adjustment plate is connected to the bottom plate assembly, and lifting members are respectively connected to the four corners of the first adjustment plate; the lifting members are connected to the base through flexible connection nodes, and the flexible connection nodes allow the lifting members to deflect relative to the base; The horizontal adjustment assembly includes a second adjustment plate and a third adjustment plate; the second adjustment plate is connected to the first adjustment plate through an X-direction adjustment member, so that the second adjustment plate is movably mounted on the first adjustment plate along the X direction; the third adjustment plate is connected to the second adjustment plate through a Y-direction adjustment member, so that the third adjustment plate is movably mounted on the second adjustment plate along the Y direction; a clamping member for engaging with the filter element replacement device is provided on the top of the third adjustment plate; Through grooves for accommodating the box body are provided in the middle of the first adjustment plate, the second adjustment plate, and the third adjustment plate.

[0012] Further, a U-shaped groove is provided on the clamping member; a support column is provided on the side wall of the filter element replacement device, and the support column is clamped in the U-shaped groove; a cushion block is provided on the top of the third adjustment plate; a connection block for abutting against the cushion block is connected to the side wall of the filter element replacement device.

[0013] Further, a groove is provided on the upper surface of the bottom plate assembly, and the groove is located outside the docking groove; a vision sensor is installed in the groove.

[0014] Further, the opening and closing cover device includes a left module and a right module arranged oppositely; The left module includes a left mounting plate, a left lifting mechanism, a left lifting bracket, and a transition guide rail; the left lifting mechanism is installed on the left mounting plate; the left lifting bracket is installed on the left lifting mechanism, and the left lifting bracket is driven to move by the left lifting mechanism; the left lifting mechanism is hinged to the sealing cover; the transition guide rail is connected to the left mounting plate and extends towards the right module; The right module includes a right mounting plate, a right lifting mechanism, and a right lifting bracket; the right lifting mechanism is installed on the right mounting plate; the right lifting bracket is installed on the right lifting mechanism, and the right lifting bracket is driven to move by the right lifting mechanism; a guide groove is provided on the right lifting bracket; An auxiliary bracket is connected to the sealing cover, and a docking column is provided on the auxiliary bracket, and the docking column can be movably inserted into the guide groove or the transition guide rail.

[0015] Further, a left height sensor for monitoring the left lifting bracket is provided on the left lifting bracket; a right height sensor for monitoring the right lifting bracket is provided on the right bracket.

[0016] Further, the platform includes a platform body and a clamping mechanism; the clamping mechanism is installed on the platform body and is used for clamping the housing or the filter element; the clamping mechanism includes two oppositely arranged clamping members and a third driving member; the third driving member is respectively connected to the two clamping members and is used for driving the two clamping members to open and close.

[0017] A method for using the above filter element replacement system to remove the filter element includes the following steps: Use the opening and closing cover device to remove the sealing cover above the filter element; Place the auxiliary docking device at the installation position of the filter element, and initially dock the auxiliary docking device with the flange at the installation position of the filter element; Adjust the top of the auxiliary docking device to be in a horizontal state, hoist the filter element replacement device above the auxiliary docking device, adjust the horizontal position of the filter element replacement device, and then lower the filter element replacement device to dock the box body with the flange; The first driving member releases the flexible lifting member, so that the rigid lifting unit moves downward under the action of gravity; As the rigid lifting unit moves downward, the housing enters the through hole of the platform until the first plane on the outer surface of the housing abuts against the stopping surface on the platform; The clamping mechanism clamps the housing; The second driving member drives the rigid lifting member to move downward until the gripper grabs the filter element; The second driving member drives the rigid lifting member to move upward and reset to remove the filter element; The first driving member winds up the flexible lifting member, so that the filter element is lifted completely away from the installation surface and reaches the preset height.

[0018] Beneficial effects: 1. The present invention can realize the automatic disassembly and assembly operation of the filter element. By adopting the coupling method of rigid lifting and flexible lifting, the flexible lifting unit controls the lifting and lowering of the rigid lifting unit. On the premise of ensuring sufficient lifting stroke, the space occupation is reduced, and it can be very well applied to special environments with limited space. And by positioning the rigid lifting unit through the platform and using the rigid lifting unit to drive the gripper to align with the filter element, the alignment accuracy is guaranteed, and it is not affected by whether the installation surface of the filter element is in a horizontal state, improving the positioning accuracy, stability and success rate.

[0019] 2. By arranging a centering and guiding structure between the housing and the platform, the present invention can compensate for the deviation in the horizontal direction during the lifting and lowering process of the flexible lifting member, ensuring the alignment accuracy between the rigid lifting unit and the filter element, and thus further improving the success rate.

[0020] 3. When disassembling the filter element, the present invention can first lift the filter element by the rigid lifting unit until the installation part is separated from the installation surface. The rigidity of the rigid lifting unit is good, which can avoid the jamming phenomenon of the inclined filter element during disassembly.

[0021] 4. After clamping the housing by the clamping mechanism, and then driving the rigid lifting member to move to disassemble and assemble the filter element, the present invention can keep the rigid lifting unit stable, thus ensuring the stability of the disassembly and assembly operation and further improving the success rate; and the disassembled filter element can be clamped by the clamping mechanism, which is convenient for subsequent transfer and other operations.

[0022] 5. The present invention can automatically remove the sealing cover by means of the opening and closing cover device, and switch the sealing cover to a vertical state, avoiding the occlusion of the space above the filter element, which is convenient for subsequent operations. Moreover, by real-time monitoring the heights of the lifting brackets on the left and right modules, the synchronism on both sides of the sealing cover can be adjusted at all times, avoiding tilting or jamming.

[0023] 6. The present invention adjusts the angle of the lifting member through the flexible connection node located below the lifting member, so that each lifting member can be in a vertical state. Even when the ground is not in a horizontal state, the first adjusting plate can be adjusted to a horizontal state, thus avoiding the tilting of the filter element replacement device, ensuring that the filter element replacement device always descends vertically with the center of gravity during the descending docking process, and avoiding the overturning of the filter element replacement device. The flange at the filter element installation location is preliminarily docked through the docking groove on the bottom plate assembly, and the position of the filter element replacement device in the horizontal direction is adjusted through the horizontal adjusting assembly, so as to ensure the docking accuracy between the gripper of the filter element replacement device and the filter element. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1 It is a schematic diagram of the cooperation between the filter element replacement device and the docking auxiliary device; Figure 2 It is a sectional view of the filter element replacement device; Figure 3 It is a schematic diagram of the flexible lifting unit; Figure 4 It is a sectional view of the rigid lifting unit; Figure 5 It is a schematic diagram of the platform; Figure 6 It is a schematic diagram of the cooperation between the platform and the rigid lifting unit; Figure 7 It is a schematic diagram of the clamping mechanism clamping the filter element; Figure 8 It is an overall schematic diagram of the docking auxiliary device; Figure 9 It is a schematic diagram of the bottom plate assembly; Figure 10 It is a schematic diagram of the horizontal adjusting assembly; Figure 11 It is a schematic diagram of the vertical adjusting assembly; Figure 12Partial schematic diagram of the bottom plate assembly; Figure 13 Schematic diagram of the state where the lid opening and closing device has not opened the sealing cover; Figure 14 Schematic diagram of the state where the lid opening and closing device has opened the sealing cover; Figure 15 Schematic diagram of the left module; Figure 16 Schematic diagram of the right module; Figure 17 Partial schematic diagram of the sealing cover; Figure 18 Flow schematic diagram of the usage method for the filter element replacement system to remove the filter element.

[0026] Explanation of reference numerals: 1000, filter element replacement device; 2000, lid opening and closing device; 3000, docking auxiliary device; 4000, filter element; 5000, sealing cover; 100, flexible lifting unit; 200, rigid lifting unit; 300, platform; 400, box body; 500, bottom plate assembly; 600, horizontal adjustment assembly; 700, vertical adjustment assembly; 800, left module; 900, right module; 101, flexible lifting member; 102, reel; 103, first driving member; 104, first pulley; 105, force sensor; 201, housing; 202, rigid lifting member; 203, second driving member; 204, second pulley; 205, first plane; 206, annular protrusion; 2021, channel; 2022, gripper; 301, platform body; 302, clamping member; 303, third driving member; 304, through hole; 305, clamping state sensor; 306, positioning sensor; 307, first part; 308, second part; 410, support column; 420, connecting block; 510, vision sensor; 520, lighting unit; 530, control system; 540, docking groove; 610, X-direction adjustment member; 620, Y-direction adjustment member; 630, third adjustment plate; 640, second adjustment plate; 631, engaging member; 632, cushion block; 710, lifting member; 720, flexible connection node; 730, first adjustment plate; 740, limiting column; 750, base; 810, left mounting plate; 820, left lifting mechanism; 830, left lifting bracket; 840, transition guide rail; 850, left height sensor; 910, Right mounting plate; 920, Right lifting mechanism; 930, Right lifting bracket; 940, Right height sensor; 950, Auxiliary bracket; 960, Docking column; 931, Guide groove. Detailed implementation manners

[0027] To make the above objects, features, and advantages of the present application more obvious and understandable, the following will describe the detailed implementation manners of the present application with reference to the accompanying drawings. Many specific details are set forth in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0028] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation of the present application.

[0029] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0030] In the present application, unless otherwise clearly specified and limited, the terms "mount", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0031] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature has a lower horizontal height than the second feature.

[0032] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation.

[0033] Embodiment 1 This embodiment provides a filter element 4000 replacement system, including an opening and closing cover device 2000, a filter element replacement device 1000 and a docking auxiliary device 3000. The opening and closing cover device 2000 is used to open the sealing cover 5000 above the filter element 4000. It should be noted that the application scenarios of this embodiment are at filtering devices in the nuclear industry, chemical industry and other fields, and these special application scenarios have problems such as limited space and the presence of toxic and harmful substances.

[0034] Referring to Figure 2 As shown, the filter element replacement device 1000 includes a box body 400, a flexible lifting unit 100, a rigid lifting unit 200 and a platform 300. After the sealing cover 5000 is opened, the flange at the installation position of the filter element 4000 is exposed. The bottom of the box body 400 is provided with an opening. When one side of the opening of the box body 400 is fitted with the flange, a closed space is formed, which can prevent the leakage of toxic and harmful substances during the disassembly and assembly of the filter element 4000.

[0035] Specifically, referring to Figure 3 As shown, the flexible lifting unit 100 includes a first driving member 103 and a flexible lifting member 101; the first driving member 103 is connected to the flexible lifting member 101 and is used to release or wind up the flexible lifting member 101. The flexible lifting member 101 has a certain flexibility. During the release process, the flexible lifting member 101 will move downward in the vertical direction.

[0036] Specifically, referring to Figure 4As shown, the rigid lifting unit 200 is connected to the flexible lifting member 101 and extends into the box body 400. When the flexible lifting member 101 is wound or released, the rigid lifting unit 200 will rise or fall accordingly. At this time, the moving direction of the rigid lifting unit 200 is the vertical direction. The rigid lifting unit 200 includes a housing 201, a second driving member 203, a rigid lifting member 202, and a gripper 2022. The outer surface of the housing 201 is provided with a first plane 205, and an annular protrusion 206 is provided on the outer surface of the housing 201. The first plane 205 is located on the annular protrusion 206 and serves as a limiting surface. A channel 2021 extending along the axis direction of the housing 201 is provided inside the housing 201. The rigid lifting member 202 is movably disposed in the channel 2021 along the axis direction of the channel 2021. The channel 2021 restricts the moving direction of the rigid lifting member 202, so that the rigid lifting member 202 moves along the axis direction of the channel 2021. The second driving member 203 is connected to the rigid lifting member 202 and is used to drive the rigid lifting member 202 to move. Therefore, when the second driving member 203 drives the rigid lifting member 202, the rigid lifting member 202 moves along the axis direction of the channel 2021 under the restriction of the channel 2021. The gripper 2022 is connected to the rigid lifting member 202, specifically connected to the end of the rigid lifting member 202. When the rigid lifting member 202 moves, it drives the gripper 2022 to move, thereby driving the gripper 2022 to approach the filter element 4000 or lift the filter element 4000.

[0037] Specifically, the platform 300 is installed inside the box body 400 and is located below the flexible lifting unit 100. A through hole 304 for accommodating the housing 201 to extend into is provided inside the platform 300. A stopping surface for supporting the first plane 205 is formed above the platform 300. When the housing 201 extends into the through hole 304, the first plane 205 is supported by the stopping surface to position the rigid lifting unit 200. In this embodiment, the platform 300 is installed on the box body 400 and the relative position with the box body 400 remains fixed. After the housing 201 of the rigid lifting unit 200 extends into the through hole 304, it is supported by the platform 300, so that the relative position between the rigid lifting unit 200 and the platform 300 remains fixed. Therefore, when disassembling and assembling the filter element 4000, after aligning the positions of the box body 400 and the filter element 4000, the alignment accuracy between the rigid lifting unit 200 and the filter element 4000 during the grasping process can be ensured, thereby ensuring the success rate during the grasping process of the gripper 2022.

[0038] Specifically, the docking auxiliary device 3000 is used to carry the filter element replacement device 1000 and adjust the position of the filter element replacement device 1000.

[0039] A filter element 4000 replacement system provided in this embodiment can realize the automatic disassembly and assembly operations of the filter element 4000. By adopting a coupling method of rigid lifting and flexible lifting, the flexible lifting unit 100 controls the lifting of the rigid lifting unit 200. On the premise of ensuring sufficient lifting stroke, the space occupation is reduced, and it can be very well applied to special environments with limited space. By positioning the rigid lifting unit 200 through the platform 300 and using the rigid lifting unit 200 to drive the gripper 2022 to align with the filter element 4000, the alignment accuracy is ensured, and it is not affected by whether the installation surface of the filter element 4000 is in a horizontal state, improving the positioning accuracy, stability and success rate.

[0040] Specifically, in this embodiment, the gripper 2022 can be designed according to the structural characteristics of the filter element 4000 and is used to grasp and release the filter element 4000. A mechanical claw, or an electromagnetic chuck, or a specific snap structure can be selected.

[0041] Specifically, the flexible lifting member 101 can be connected to the rigid lifting unit 200 through the second pulley 204. The second pulley 204 is installed on the top of the housing 201, and the flexible lifting member 101 is wound around the second pulley 204. When the flexible lifting member 101 is wound or released, the rigid lifting unit 200 can be driven to lift and lower.

[0042] Specifically, in this embodiment, the first driving member 103 can adopt equipment such as a winch or a hoist, the flexible lifting member 101 can select a steel wire rope, an iron chain or other flexible ropes. The rigid lifting member 202 can select structures such as a cylinder, a motor screw pair, a cylinder, etc., and the second driving member 203 can select a corresponding driving source. When disassembling the filter element 4000, the rigid lifting unit 200 can first lift the filter element 4000 until the installation part is separated from the installation surface. The rigid lifting unit 200 has good rigidity and can avoid the jamming phenomenon of the filter element 4000 arranged obliquely during disassembly.

[0043] Specifically, referring to Figure 5 As shown, a centering and guiding structure is provided between the housing 201 and the platform 300, so that the housing 201 is coaxially arranged with the through hole 304 after extending into the through hole 304. Specifically, the centering and guiding structure includes a first guiding surface on the platform 300 and a second guiding surface on the outer surface of the housing 201. The shapes of the guiding surfaces can be various. For example, the first guiding surface can be set as a V shape or a conical shape, and the shape of the second guiding surface is correspondingly set to match the shape of the first guiding surface. In this embodiment, through the cooperation of the first guiding surface and the second guiding surface, the housing 201 is coaxially arranged with the through hole 304, which can compensate for the deviation in the horizontal direction during the lifting process of the flexible lifting member 101, ensure the alignment accuracy between the rigid lifting unit 200 and the filter element 4000, and thus further improve the success rate.

[0044] Specifically, with continued reference to Figure 3 As shown, the flexible lifting unit 100 further includes a housing, a drum 102, and a first pulley 104. The first driving member 103 is mounted on the housing and is in transmission connection with the drum 102, and the drum 102 is driven to rotate by the first driving member 103. The first pulley 104 is mounted on the housing; the flexible lifting member 101 is wound around the drum 102 and extends into the box body 400 after passing through the first pulley 104. In this embodiment, the housing is mounted on the box body 400, and a circular hole is provided at the top of the box body 400, so that the flexible lifting member 101 extends into the box body 400 from the circular hole. The circular hole is closed by the housing, so that a sealed space can be formed when the box body 400 fits with the mounting surface.

[0045] Specifically, a force sensor 105 is provided on the flexible lifting member 101, and the force sensor 105 is used to monitor the tension of the flexible lifting member 101. By monitoring the tension of the flexible lifting member 101 through the force sensor 105, the state of the rigid lifting unit 200 can be known. For example, when the rigid lifting unit 200 is continuously descending, the tension of the flexible lifting member 101 is maintained within a certain range under the action of the rigid lifting unit 200; when the first surface of the housing 201 abuts against the stopping surface of the platform 300, the tension of the flexible lifting member 101 rapidly decreases; when the flexible lifting member 101 is wound up to lift the rigid lifting member 202, if the filter element 4000 is successfully grasped, the tension will be greater than the tension when the filter element 4000 is not successfully grasped, so as to know whether the filter element 4000 is successfully grasped.

[0046] Specifically, with continued reference to Figure 5 As shown, the platform 300 includes a platform body 301 and a clamping mechanism; the clamping mechanism is mounted on the platform body 301 and is used for clamping the housing 201 or the filter element 4000. When the housing 201 passes through the through hole 304, the housing 201 is clamped by the clamping mechanism, which can ensure the stability of the rigid lifting unit 200. The platform 300 provides rigid support and precise positioning for the rigid lifting mechanism, so as to ensure the stability of the disassembly and assembly operation and further improve the success rate; and the disassembled filter element 4000 can be clamped by the clamping mechanism, which is convenient for other subsequent operations such as transfer.

[0047] Specifically, referring to Figure 5As shown, the clamping mechanism includes two oppositely arranged clamping members 302 and a third driving member 303. The two clamping members 302 are respectively located on both sides of the through hole 304. The third driving member 303 is connected to the two clamping members 302 respectively. By driving the two clamping members 302 to open and close, the clamping and releasing of the housing 201 or the filter element 4000 are realized. In this embodiment, the third driving member 303 can adopt a motor and a lead screw structure. A clamping state sensor 305 is provided on the clamping member 302 for monitoring whether full clamping or full release is achieved. The clamping state sensor 305 can adopt a limit switch, a ranging sensor, etc., or directly monitor the clamping or releasing state by reading the encoder of the motor.

[0048] Specifically, the clamping member 302 can be set to a shape matching the outer contour of the housing 201, so as to stably clamp the housing 201. Generally, the housing 201 is usually set to a cylindrical shape, and the clamping member 302 is set to a shape matching the cylindrical shape, so as to clamp the housing 201, and can also clamp the filter element 4000.

[0049] In this embodiment, the clamping member 302 includes a first part 307 and a second part 308, and the first part 307 is perpendicular to the second part 308; the first part 307 includes a first clamping surface matching the outer contour of the annular protrusion 206 on the housing 201, and the stopping surface is arranged at the top of the second part 308; when clamping the rigid lifting unit 200, the first plane 205 of the annular protrusion 206 abuts against the stopping surface, and the outer contour surface of the annular protrusion 206 is clamped by the first clamping surface. The second part 308 further includes a second clamping surface matching the filter element 4000, and the second clamping surface can clamp the filter element 4000.

[0050] Specifically, referring to Figure 4 - 6 As shown, the first guiding surface can be arranged on the inner side wall of the first part 307 of the clamping member 302, and the second guiding surface can be arranged on the outer side wall of the annular protrusion 206 of the housing 201. The two clamping members 302 are symmetrically arranged along the axis of the through hole 304 and always remain coaxially arranged with the through hole 304, so as to ensure the accuracy of the rigid lifting member 202.

[0051] Specifically, a positioning sensor 306 is further arranged on the stopping surface. The positioning sensor 306 is used to measure the distance between the first plane 205 and the stopping surface. When the first plane 205 is close to the stopping surface within a certain distance, the release speed of the flexible lifting member 101 can be reduced to ensure the smooth alignment and cooperation of the housing 201 and the through hole 304 as much as possible. The positioning sensor 306 can adopt a laser sensor.

[0052] When placing the filter element replacement device 1000, it is necessary to perform centering adjustment on the filter element replacement device 1000 so that the gripper 2022 can be aligned with the filter element 4000 to be grabbed. Since the ground is not necessarily horizontal, it may cause the filter element 4000 replacement device to be tilted during the descending docking process, posing a risk of overturning. Therefore, it is necessary to use the docking auxiliary device 3000 to perform horizontal centering adjustment on the filter element 4000 replacement device and adjust it to a horizontal state.

[0053] Specifically, referring to Figure 8 As shown, the docking auxiliary device 3000 includes a bottom plate assembly 500, a vertical adjustment assembly 700, and a horizontal adjustment assembly 600. Referring to Figure 9 As shown, a docking groove 540 for docking with the flange at the installation location of the filter element 4000 is provided in the middle of the bottom plate assembly 500. The flange is inserted into the docking groove 540 for preliminary positioning.

[0054] Specifically, referring to Figure 11 As shown, the vertical adjustment assembly 700 includes a first adjustment plate 730, a lifting member 710, and a base 750; the first adjustment plate 730 is connected to the bottom plate assembly 500, so that the bottom plate assembly 500 is located in the middle position of the first adjustment plate 730, and lifting members 710 are respectively connected to the four corners of the first adjustment plate 730. The lifting member 710 is connected to the base 750 through a flexible connection node 720, and the flexible connection node 720 allows the lifting member 710 to deflect relative to the base 750, and the base 750 is directly supported on the ground. By providing the flexible connection node 720 at the bottom of the lifting member 710, when the ground is not in a completely horizontal state due to construction factors, the lifting member 710 can be adjusted to a vertical arrangement state through the flexible connection node 720.

[0055] Specifically, referring to Figure 10As shown, the horizontal adjustment assembly 600 includes a second adjustment plate 640 and a third adjustment plate 630; the second adjustment plate 640 is connected to the first adjustment plate 730 through an X-direction adjustment member 610, so that the second adjustment plate 640 is movably mounted on the first adjustment plate 730 along the X direction; the third adjustment plate 630 is connected to the second adjustment plate 640 through a Y-direction adjustment member 620, so that the third adjustment plate 630 is movably mounted on the second adjustment plate 640 along the Y direction. Among them, both the X-direction adjustment member 610 and the Y-direction adjustment member 620 can adopt the cooperation structure of a slide rail and a slider for guiding, and a lead screw or an oil cylinder or an electric cylinder for driving. A clamping member 631 for clamping the filter element 4000 replacement device is provided on the top of the third adjustment plate 630; the filter element 4000 replacement device is supported by the third adjustment plate 630. The horizontal adjustment assembly 600 can be adjusted to a horizontal state through the vertical adjustment assembly 700, so as to always keep the center of gravity descending vertically, and avoid the filter element 4000 replacement device with a very large weight from tipping over due to the change of the center of gravity during the descending process.

[0056] Specifically, through grooves for accommodating the filter element 4000 replacement device are provided in the middle of the first adjustment plate 730, the second adjustment plate 640 and the third adjustment plate 630. During auxiliary docking, part of the filter element 4000 replacement device can be placed in the through groove.

[0057] The angle of the lifting member 710 is adjusted through the flexible connection node 720 located below the lifting member 710, so that each lifting member 710 can be in a vertical state. Even when the ground is not in a horizontal state, the first adjustment plate 730 can be adjusted to a horizontal state, thereby preventing the filter element 4000 replacement device from tilting, ensuring that the center of gravity of the filter element 4000 replacement device descends vertically during the descending docking process, and avoiding the filter element 4000 replacement device from tipping over; the flange at the installation position of the filter element 4000 is initially docked through the docking groove 540 on the bottom plate assembly 500, and the position of the filter element 4000 replacement device in the horizontal direction is adjusted through the horizontal adjustment assembly 600, so as to ensure the docking accuracy between the gripper 2022 of the filter element 4000 replacement device and the filter element 4000. It should be noted that there is a clearance fit between the docking groove 540 and the flange, which is convenient for subsequent horizontal adjustment.

[0058] Specifically, the flexible joint can be selected as a ball hinge joint or a universal joint.

[0059] Specifically, engaging members 631 are respectively provided around the third adjusting plate 630, and U-shaped grooves are provided on the engaging members 631; support columns 410 are provided on the side wall of the filter element 4000 replacement device, and the support columns 410 are engaged in the U-shaped grooves. After the vertical adjusting assembly 700 is leveled, the filter element 4000 replacement device is hoisted onto the docking auxiliary device 3000, so that part of the filter element 4000 replacement device enters the through grooves of each adjusting plate, and the support columns 410 on the side wall of the filter element 4000 replacement device are engaged in the U-shaped grooves, thereby placing the filter element 4000 replacement device on the docking auxiliary device 3000.

[0060] Specifically, the diameter of the docking groove 540 gradually decreases from bottom to top, so that the side wall of the docking groove 540 forms a guiding structure, thereby facilitating the docking of the docking groove 540 and the flange.

[0061] Specifically, a cushion block 632 is provided on the top of the third adjusting plate 630; a connecting block 420 that abuts against the cushion block 632 is connected to the side wall of the filter element 4000 replacement device. By abutting the cushion block 632 against the connecting block 420, the contact area is increased to prevent the support column 410 from breaking due to too small a force-bearing area.

[0062] Specifically, referring to Figure 12 As shown, a groove is provided on the upper surface of the bottom plate assembly 500, and the groove is located outside the docking groove 540. A visual sensor 510 is installed in the groove, and the visual sensor faces the center of the bottom plate assembly 500, and is used to directly detect the relative position between the filter element 4000 replacement device and the flange, so as to be able to adjust the docking of the filter element 4000 replacement device and the flange more accurately and quickly. During the detection process, the docking features respectively provided on the filter element 4000 replacement device and the flange can be used for judgment.

[0063] Specifically, an illumination unit 520 is also installed in the groove, and the relative position between the filter element 4000 replacement device and the flange can be observed more clearly through the illumination unit 520.

[0064] Specifically, continuing to refer to Figure 8 As shown, limit columns 740 are respectively provided at the four corners of the first adjusting plate 730; the lifting member 710 is installed in the limit columns 740 and extends out of the limit columns 740; first notches are respectively provided at the four corners of the second adjusting plate 640, and second notches are respectively provided at the four corners of the third adjusting plate 630; the limit columns 740 pass through the first notches and the second notches to limit the horizontal movement of the second adjusting plate 640 and the third adjusting plate 630. The horizontal position of the adjusting plate can be restricted by the limit columns 740 to prevent detachment caused by excessive adjustment.

[0065] Specifically, the lifting frame is a hydraulic cylinder, or an electric cylinder, or a lead screw.

[0066] Specifically, it further includes a control system 530. The control system 530 is respectively connected to the X-direction adjusting member 610, the Y-direction adjusting member 620, each lifting member 710, the vision sensor 510, etc., and is used to control the actions of each component respectively.

[0067] When opening the sealing cover 5000, it is necessary to ensure the synchronism during the lifting process of the sealing cover 5000 to avoid problems such as jamming and tilting of the sealing cover 5000.

[0068] Specifically, referring to Figure 13 and Figure 14 As shown, the opening and closing cover device 2000 includes a left module 800 and a right module 900 arranged oppositely. The left module 800 and the right module 900 are lifted synchronously to perform the opening and restoring operations on the sealing cover 5000.

[0069] Specifically, referring to Figure 15 As shown, the left module 800 includes a left mounting plate 810, a left lifting mechanism 820, a left lifting bracket 830, and a transition guide rail 840; the left lifting mechanism 820 is mounted on the left mounting plate 810; the left lifting bracket 830 is mounted on the left lifting mechanism 820, and the left lifting mechanism 820 drives the left lifting bracket 830 to move; the left lifting bracket 830 is hinged to the sealing cover 5000; the transition guide rail 840 is connected to the left mounting plate 810 and extends towards the right module 900. Specifically, the left lifting mechanism can be hinged to a connecting plate, and the connecting plate is connected to the sealing cover 5000, so as to realize the hinge between the left lifting mechanism and the sealing plate.

[0070] Referring to Figure 16 As shown, the right module 900 includes a right mounting plate 910, a right lifting mechanism 920, and a right lifting bracket 930; the right lifting mechanism 920 is mounted on the right mounting plate 910; the right lifting bracket 930 is mounted on the right lifting mechanism 920, and the right lifting mechanism 920 drives the right lifting bracket 930 to move; a guide groove 931 is provided on the right lifting bracket 930. Referring to Figure 17 As shown, an auxiliary bracket 950 is connected to the sealing cover 5000, a docking column 960 is provided on the auxiliary bracket 950, and the docking column 960 can be movably inserted into the guide groove 931 or the transition guide rail 840.

[0071] During the process of opening the sealing cover 5000, the docking post 960 is inserted into the guide groove 931 and synchronously lifted by the lifting mechanisms on both sides, so that the sealing cover 5000 is disengaged from the installation position until the guide groove 931 is aligned with the transition guide rail 840. At this time, the right lifting mechanism 920 stops moving, and the left lifting mechanism 820 continues to rise, enabling the sealing cover 5000 to flip under the guiding action of the transition guide rail 840, switching the sealing cover 5000 to a vertical state, avoiding blocking the space above the filter element 4000, and facilitating subsequent operations.

[0072] Specifically, a left height sensor 850 for monitoring the left lifting bracket 830 is provided on the left lifting bracket; a right height sensor 940 for monitoring the right lifting bracket 930 is provided on the right bracket. By monitoring the heights of the lifting brackets on both the left and right sides, it is determined whether they are in a synchronous lifting state, avoiding tilting or jamming.

[0073] In this embodiment, the left height sensor 850 and the right height sensor 940 can adopt laser sensors to determine whether they are in a synchronous lifting state by measuring the distance. Trigger sensors can also be used to determine whether they are in a synchronous lifting state based on the trigger states on both the left and right sides.

[0074] Specifically, in this embodiment, the left lifting mechanism 820 and the right lifting mechanism 920 can respectively adopt lead screw structures.

[0075] Embodiment 2 This embodiment provides a method for using the filter element 4000 replacement system described in Embodiment 1 to disassemble the filter element 4000. Referring to Figure 18 as shown, it includes the following steps: S1. Use the opening and closing cover device 2000 to remove the sealing cover 5000 above the filter element 4000; S2. Place the auxiliary docking device at the installation position of the filter element 4000 and preliminarily dock the auxiliary docking device with the flange at the installation position of the filter element 4000; S3. Adjust the top of the auxiliary docking device to be in a horizontal state, hoist the filter element replacement device 1000 above the auxiliary docking device, adjust the horizontal position of the filter element replacement device 1000, and then lower the filter element replacement device 1000 to dock the box body 400 with the flange; S4. The first driving member 103 releases the flexible lifting member 101, enabling the rigid lifting unit 200 to move downward under the action of gravity; S5. As the rigid lifting unit 200 moves downward, the housing 201 enters the through hole 304 of the platform 300 until the first plane 205 on the outer surface of the housing 201 abuts against the stopping surface on the platform 300; S6. The clamping mechanism clamps the housing 201; S7. The second driving member 203 drives the rigid lifting member 202 to move downward until the gripper 2022 grabs the filter element 4000. S8. The second driving member 203 drives the rigid lifting member 202 to move upward and reset, removing the filter element 4000. S9. The first driving member 103 winds up the flexible lifting member 101, so that the filter element 4000 is lifted completely away from the mounting surface and reaches a preset height.

[0076] In step S1, the docking post 960 is inserted into the guide groove 931. First, the lifting mechanisms on both sides are raised synchronously, so that the sealing cover 5000 is disengaged from the mounting position until the guide groove 931 is aligned with the transition guide rail 840. At this time, the right lifting mechanism 920 stops moving, and the left lifting mechanism 820 continues to rise, enabling the sealing cover 5000 to flip under the guiding action of the transition guide rail 840, switching the sealing cover 5000 to the vertical state, avoiding blocking the space above the filter element 4000 and facilitating subsequent operations. The process of restoring the sealing cover 5000 is opposite to the above process.

[0077] During the synchronous lifting and lowering process of the left lifting mechanism 820 and the right lifting mechanism 920, the left height sensor 850 and the right stiffness sensor are used to detect whether each lifting bracket is in a synchronous lifting state respectively. If it is not in a synchronous lifting state, speed adjustment is required to achieve the synchronous lifting state.

[0078] In step S3, first, by driving each lifting member 710 to lift and lower, the first adjusting plate 730 is adjusted to the horizontal state. Under the constraint of the first adjusting plate 730 and the bottom plate assembly 500, different lifting members 710 will deflect by corresponding angles around the flexible connection node 720, making each lifting member 710 in the vertical state. Then, the filter element 4000 replacement device is hoisted, so that the support column 410 is engaged with the engaging member 631, the connecting block 420 abuts against the cushion block 632, and part of the filter element 4000 replacement device enters the through groove in the middle of each adjusting plate. Finally, with the assistance of the vision sensor 510, the horizontal adjustment assembly 600 adjusts the X - direction and Y - direction positions of the third adjusting plate 630, thereby adjusting the horizontal position of the docking auxiliary device 3000, realizing the precise docking of the filter element 4000 replacement device and the flange, and thus ensuring the precise alignment of the gripper 2022 and the filter element 4000.

[0079] By docking the box body 400 with the flange to form an enclosed space, it can effectively prevent the leakage of toxic and harmful substances during the disassembly and assembly process of the filter element 4000.

[0080] Specifically, in step S4, when releasing the flexible lifting member 101, it is first released at a uniform speed. The distance between the first plane 205 and the stopping surface is detected by the positioning sensor 306. When the distance reaches the preset range, it indicates that the rigid lifting unit 200 has approached the platform 300. At this time, the flexible lifting member 101 is slowly released, which can ensure the docking of the housing 201 and the through hole 304 as much as possible.

[0081] Specifically, in step S5, during the process of the housing 201 entering the through hole 304, the centering and guiding structure can guide the housing 201 to be centered with the through hole 304, thereby compensating for the horizontal offset generated during the release process of the flexible lifting member 101, ensuring the alignment accuracy between the gripper 2022 and the filter element 4000, and improving the success rate of grasping. Moreover, when the first plane 205 abuts against the stopping surface, the force sensor 105 will detect that the tension has significantly decreased, so that it can be determined that the housing 201 and the platform 300 have been cooperatively positioned.

[0082] Specifically, in step S6, the clamping or releasing state of the clamping mechanism can be detected by the clamping state sensor 305. After the clamping mechanism clamps the housing 201, it provides support and precise positioning for the rigid lifting unit 200, further improving the accuracy of the alignment between the gripper 2022 and the filter element 4000, and increasing the success rate of grasping.

[0083] Specifically, in step S9, when the first driving member 103 winds up the flexible lifting member 101 to lift the rigid lifting unit 200 and the filter element 4000, it is judged whether the filter element 4000 is grasped according to the magnitude of the tension, and it is judged whether the filter element 4000 falls off or encounters an obstacle during the lifting process according to the change of the tension.

[0084] Specifically, when step S9 is completed, that is, the disassembly operation of the filter element 4000 is completed. The assembly process of the filter element 4000 is opposite to the above process and will not be elaborated in this embodiment.

[0085] It should be added that after the operation of disassembling the filter element 4000 in step S9 is completed, the transfer operation of the filter element can also be carried out. During the transfer process, the clamping mechanism can be used to clamp the filter element 4000, thereby improving the stability during the transfer process of the filter element 4000. The gripper 2022 can continue to hold the filter element 4000 or release the filter element 4000.

[0086] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0087] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation on the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the appended claims.

Claims

1. A filter element replacement system, characterized in that, Comprising: An opening and closing cover device for opening the sealing cover above the filter element; A filter element replacement device, including a box body, a flexible lifting unit, a rigid lifting unit and a platform; The flexible lifting unit includes a first driving member and a flexible lifting member; the first driving member is connected to the flexible lifting member for releasing or winding up the flexible lifting member; the rigid lifting unit is connected to the flexible lifting member and extends into the box body; the rigid lifting unit includes a housing, a second driving member, a rigid lifting member and a gripper; a first plane is provided on the outer surface of the housing; a channel extending along its axis direction is provided inside the housing; the rigid lifting member is movably placed in the channel along the axis direction of the channel; the second driving member is connected to the rigid lifting member for driving the rigid lifting member to move; the gripper is connected to the rigid lifting member; the platform is installed inside the box body and is located below the flexible lifting unit; a through hole for the housing to extend into is provided on the platform; a stopping surface for supporting the first plane is formed above the platform; A docking auxiliary device for carrying the filter element replacement device and adjusting the position of the filter element replacement device.

2. The filter element replacement system according to claim 1, characterized in that, A centering and guiding structure is provided between the housing and the platform; the centering and guiding structure includes a first guiding surface on the platform and a second guiding surface on the outer surface of the housing; the first guiding surface is V-shaped or conical, and the shape of the second guiding surface is adapted to the shape of the first guiding surface.

3. A filter element replacement system according to claim 1, characterized in that, The flexible lifting unit further includes an outer shell, a winding drum and a first pulley; the first driving member is installed on the outer shell and is in transmission connection with the winding drum; the first pulley is installed on the outer shell; the flexible lifting member is wound around the winding drum and extends into the box body after passing through the first pulley.

4. A filter element replacement system according to claim 1, characterized in that, The docking auxiliary device includes: A bottom plate assembly, with a docking groove in the middle for docking with the flange at the filter element installation position; A vertical adjustment assembly, including a first adjustment plate, a lifting member and a base; the first adjustment plate is connected to the bottom plate assembly, and lifting members are respectively connected to the four corners of the first adjustment plate; the lifting members are connected to the base through flexible connection nodes, and the flexible connection nodes allow the lifting members to deflect relative to the base; A horizontal adjustment assembly, including a second adjustment plate and a third adjustment plate; the second adjustment plate is connected to the first adjustment plate through an X-direction adjustment member, so that the second adjustment plate is movably installed on the first adjustment plate along the X direction; the third adjustment plate is connected to the second adjustment plate through a Y-direction adjustment member, so that the third adjustment plate is movably installed on the second adjustment plate along the Y direction; a clamping member for clamping with the filter element replacement device is provided at the top of the third adjustment plate; Through grooves for accommodating the box body are provided in the middle of the first adjustment plate, the second adjustment plate and the third adjustment plate.

5. A filter element replacement system according to claim 4, wherein A U-shaped groove is provided on the clamping member; a support column is provided on the side wall of the filter element replacement device, and the support column is clamped in the U-shaped groove; a cushion block is provided at the top of the third adjustment plate; a connecting block for abutting against the cushion block is connected to the side wall of the filter element replacement device.

6. A filter element replacement system according to claim 4, characterized in that, A groove is provided on the upper surface of the bottom plate assembly, and the groove is located outside the docking groove; a vision sensor is installed in the groove.

7. A filter element replacement system according to claim 1, characterized in that, The opening and closing cover device includes a left module and a right module arranged oppositely; The left module includes a left mounting plate, a left lifting mechanism, a left lifting bracket, and a transition guide rail; the left lifting mechanism is mounted on the left mounting plate; the left lifting bracket is mounted on the left lifting mechanism and is driven by the left lifting mechanism to move; the left lifting mechanism is hinged to the sealing cover; the transition guide rail is connected to the left mounting plate and extends towards the right module; The right module includes a right mounting plate, a right lifting mechanism, and a right lifting bracket; the right lifting mechanism is mounted on the right mounting plate; the right lifting bracket is mounted on the right lifting mechanism and is driven by the right lifting mechanism to move; a guide groove is provided on the right lifting bracket; An auxiliary bracket is connected to the sealing cover, and a docking post is provided on the auxiliary bracket. The docking post can be movably inserted into the guide groove or the transition guide rail.

8. A filter element replacement system according to claim 7, wherein, A left height sensor for monitoring the left lifting bracket is provided on the left lifting bracket; a right height sensor for monitoring the right lifting bracket is provided on the right bracket.

9. A filter element replacement system according to any one of claims 1 to 8, characterized in that, The platform includes a platform body and a clamping mechanism; the clamping mechanism is mounted on the platform body and is used for clamping the housing or the filter element; the clamping mechanism includes two oppositely arranged clamping members and a third driving member; the third driving member is respectively connected to the two clamping members and is used for driving the two clamping members to open and close.

10. A method of using the filter element replacement system described in claim 9 to remove the filter element, characterized in that, It includes the following steps: Use the opening and closing cover device to remove the sealing cover above the filter element; Place the auxiliary docking device at the installation position of the filter element to preliminarily dock the auxiliary docking device with the flange at the installation position of the filter element; Adjust the top of the auxiliary docking device to be in a horizontal state, hoist the filter element replacement device above the auxiliary docking device, adjust the horizontal position of the filter element replacement device, and then lower the filter element replacement device to dock the box body with the flange; The first driving member releases the flexible lifting member, so that the rigid lifting unit moves downward under the action of gravity; As the rigid lifting unit moves downward, the housing enters the through hole of the platform until the first plane on the outer surface of the housing abuts against the stopping surface on the platform; The clamping mechanism clamps the housing; The second driving member drives the rigid lifting member to move downward until the gripper grabs the filter element; The second driving member drives the rigid lifting member to move upward and reset to remove the filter element; The first driving member winds up the flexible lifting member to lift the filter element completely away from the installation surface and reach a preset height.

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