Tubular ceramic membrane overturning and boxing device and method based on flexible lock page turning and grabbing mechanism

Abstract

The invention discloses a tubular ceramic membrane overturning and boxing device and method based on a flexible lock page turning and grabbing mechanism. The device comprises the flexible lock page turning and grabbing mechanism, a guide overturning mechanism and an input / output conveying table. The boxing process comprises the following steps: 1) pre-preparation: horizontally conveying tubular ceramic membranes to a clamping area at equal intervals through an input conveying table; 2) flexible clamping: a flexible clamping jaw clamps the tubular ceramic membrane through inward retraction of a sliding rod, a motor is powered off for stopping, the tubular ceramic membrane is adapted to batches with different diameters, and a page plate roller and a membrane surface are in rolling friction, so that clamping damage is reduced; (3) stopping conveying is conducted, specifically, the two wedge blocks are stopped through a stopping mechanism, continuous clamping is guaranteed, and loosening and falling of the wedge blocks are avoided; the guide turnover mechanism drives a roller to move along an e-shaped groove through a shifting fork, and a guide rod is driven to move to achieve turnover encasement. The technical bottleneck that an existing device is poor in adaptability and high in damage rate is solved, the adaptability and the stability of the encasement process are improved, and the tubular ceramic membrane encasement device is suitable for encasement of different batches of tubular ceramic membranes with different diameters.

Description

Technical Field

[0001] This invention relates to the field of tubular ceramic film packing technology, and in particular to a tubular ceramic film flipping packing device and method based on a flexible locking flipping gripping mechanism. Background Technology

[0002] Tubular ceramic membranes, as precision filtration elements, possess excellent properties such as acid and alkali resistance, high temperature resistance, and fouling resistance, making them highly valuable in industrial fields such as water treatment, food processing, and pharmaceutical purification. However, the surface material of these elements is brittle and easily damaged during post-production processing. Damage not only directly affects product quality but also leads to filtration performance failure. Addressing the vulnerability of tubular ceramic membranes to damage during the pre-transport packaging stage is a key issue addressed in this invention. Existing packaging devices for tubular ceramic membranes are mainly based on rigid clamping conveyors or traditional manually assisted packaging systems.

[0003] These packing devices use mechanical clamping or conveying mechanisms to transfer and pack tubular ceramic membranes. To ensure orderly arrangement of components within the packing box, precise positioning and stable transfer of the tubular ceramic membrane are necessary. Existing devices mostly rely on rigid clamps for workpiece fixation and transfer, which can easily cause secondary damage such as scratches and cracks to the brittle surface of the tubular ceramic membrane. Furthermore, due to structural design flaws, several key issues remain.

[0004] (1) Rigid fixtures are difficult to accurately match the brittle characteristics of tubular ceramic membranes, which can easily cause surface scratches, edge cracks or internal microcracks, reducing the product qualification rate.

[0005] (2) The flexible gripper improvement scheme is limited by the structure, requiring frequent replacement of components or adjustment of the structure, resulting in poor operation continuity and inability to meet the rapid switching needs of multi-specification products.

[0006] (3) Existing automated packing devices mostly rely on multi-motor drives or complex electrical control systems, which have high integration and debugging costs, high energy consumption and maintenance difficulty, making them difficult to promote in small and medium-sized enterprises.

[0007] The existence of the above problems restricts the adaptability of tubular ceramic membrane packaging and the stability of the packaging process, and cannot meet the requirements of practical applications.

[0008] To address the aforementioned issues, relevant fields have begun exploring solutions. In 2024, Peng Chunyan et al. from Keyi Shuchen (Chongqing) Technology Service Co., Ltd. proposed a tubular ceramic membrane storage and transportation box (authorization announcement number: CN220448473U). This transport box adapts to tubular ceramic membranes of different diameters by adjusting the air volume of the inflation fixing clips. After being positioned by the bracket, each membrane is inserted into the slot and flexibly wrapped and fixed by the inflation clips. Combined with the sealed box body and bracket support to buffer vibration, it effectively reduces the risk of membrane damage during storage and transportation. However, this device requires manual placement of each membrane, which is cumbersome, and the air volume adjustment and bracket pushing and pulling are time-consuming, resulting in a low processing capacity per unit time, making it difficult to meet the needs of high-efficiency boxing for mass production.

[0009] Since there is a relative lack of patents related to tubular ceramic membranes, we also searched for patents on similar workpiece clamping and packing.

[0010] Existing gripping devices fall into two categories. The first is rigid gripping. In 2022, Zhang Jinding et al. from Eagle Star Precision Industry (Shenzhen) Co., Ltd. proposed a multi-contact, multi-level robotic gripper, its application method, and the robotic arm (authorization announcement number: CN114211514B). This invention uses visual recognition and an array of rigid telescopic rods to adapt to the workpiece contour, increasing the contact area to distribute the gripping pressure. However, this solution still cannot completely avoid the risk of surface scratches and edge chipping when dealing with precision and brittle workpieces such as tubular ceramic membranes. At the same time, this structure has significant shortcomings in the stability of axial gripping of tubular objects, and cannot meet the high-precision positioning requirements during the transfer of tubular ceramic membranes.

[0011] The second type is flexible clamping. In 2018, Shintaro Ishikawa et al. of SMC Corporation proposed a pneumatic clamp with a locking mechanism (authorization announcement number: CN110621454B). This invention uses a pneumatic component to drive a wedge, and the mechanical stop is achieved by the rigid cooperation between the inclined surface of the wedge and the clamping arm, thus completing the stable locking of the workpiece. Compared with traditional non-locking pneumatic clamps, it is not easy to loosen under external force interference, and it is suitable for workpiece positioning and processing in automated production lines, which can meet the clamping stability requirements of general working conditions. However, when the wedge stops at the dead point position, it forms a force balance with the clamping arm and the drive component, and it cannot be reset by pneumatic power alone. An additional reset cylinder is required, which increases the structural complexity and cost, and prolongs the action cycle, making it difficult to meet the requirements of high efficiency and low cost automation.

[0012] In 2021, Zhang Wei et al. from Shanghai Jingzhi Industrial Co., Ltd. proposed a flexible clamping device (authorization announcement number: CN113474471B). This invention uses a pneumatically controlled membrane to drive the flexible expansion or contraction of the clamping part to adapt to objects of different shapes and sizes. However, for tubular ceramic membranes, this "covering" method is difficult to provide a stable and uniform support force in the axial direction. Tubular objects are prone to rolling, slipping, or tilting during clamping, resulting in insufficient gripping reliability and accuracy.

[0013] In 2025, Ji Yongjie et al. from Baixin Information Technology Co., Ltd. proposed a gripping device for server packaging (authorization announcement number: CN120646310B). This patent uses a gripping force monitoring mechanism to achieve precise control of the gripping force, significantly improving the safety and stability of server packaging. The disadvantages are that this gripping device is designed for specific servers and packaging boxes; changing boxes requires readjusting parameters or even modifying the mechanical structure, increasing cost and flexibility; the electrical structure relies on multiple components, making integration and debugging difficult and consuming a lot of energy.

[0014] In summary, the existing technology has significant shortcomings: First, it lacks adaptability, making it difficult to flexibly adapt to multiple specifications of tubular ceramic membranes and failing to meet the rapid switching requirements of large-scale production; second, it is prone to damaging the tubular ceramic membranes, making it difficult to ensure the stability of the packaging process; and third, it lacks integration, lacking an integrated solution that takes into account multiple specifications, protection, and packaging. Summary of the Invention

[0015] To address the shortcomings of existing technologies, this invention provides a tubular ceramic film flipping and packing device and method based on a flexible locking flipping and gripping mechanism. This effectively solves the problems of poor adaptability and high damage rate of existing devices, while significantly improving the adaptability of the device and the stability of the packing process. It is suitable for discrete production methods with multiple batches and varieties and flexible adjustments.

[0016] The objective of this invention is achieved in one aspect as follows: a tubular ceramic film flipping and packing device based on a flexible locking page-turning gripping mechanism includes a worktable, a flexible locking page-turning gripping mechanism, a guiding flipping mechanism, an input conveyor, and an output conveyor. The guiding flipping mechanism, the input conveyor, and the output conveyor are all mounted on the worktable. The flexible locking page-turning gripping mechanism is mounted on the motor base of the guiding flipping mechanism. The flexible locking page-turning gripping mechanism is connected to a first motor via a coupling through the transmission shaft of the guiding flipping mechanism. The guiding flipping mechanism and the flexible locking gripper mechanism are in transmission cooperation. The first motor drives the flexible locking page-turning gripping mechanism to complete the stretching, flipping, and resetting actions, thereby realizing the packing operation of the tubular ceramic film from the input conveyor to the output conveyor.

[0017] Furthermore, the flexible locking page-turning gripping mechanism includes a flexible gripper, a stop mechanism, and a dovetail double-tooth box; the stop mechanism is integrated inside the flexible locking page-turning gripping mechanism, and the flexible gripper is connected to the front end of the sliding rod of the stop mechanism by a double-headed bolt; the dovetail double-tooth box has a driving wheel and a driven wheel inside, and the driving wheel is connected to the transmission shaft of the stop mechanism by a key; one end of the dovetail double-tooth box has a dovetail groove, and the other end has a corresponding dovetail protrusion, and two adjacent dovetail double-tooth boxes are spliced ​​together by the dovetail groove and the dovetail protrusion.

[0018] Furthermore, the flexible gripper includes a page clamping plate, a roller, a bearing, a displacement sensor, a baffle, a fixed shaft, a compression spring, and a return spring. The bearing is fixed to the fixed shaft and rotates with the roller. Both ends of the fixed shaft abut against the compression spring, and the displacement sensor is located below the compression spring. The page clamping plate is hinged to the baffle via a hinge. Both ends of the return spring are connected to the two page clamping plates respectively, used to limit the maximum and minimum opening angles of the page clamping plates, realizing the pre-tightening and reset functions. Through the rolling engagement of the roller and the elastic adjustment of the return spring, the flexible gripper can adapt to tubular ceramic membranes of different diameters.

[0019] Furthermore, the stopping mechanism includes a slide groove, a turntable, a first wedge, a second wedge, a slider, a tension spring, a torsion spring, a sliding rod, a positioning block, a transmission shaft, and an end cover; the transmission shaft is connected to the turntable via a key, and the turntable is provided with a transmission structure that cooperates with the positioning block; the positioning block is fixedly installed at the rear end of the sliding rod, and the sliding rod is slidably engaged with the slide groove; when the first motor drives the transmission shaft to rotate, the turntable rotates synchronously, and through the transmission cooperation between the positioning block and the turntable, the sliding rod is driven to make a relative linear movement along the slide groove, converting the rotational motion of the transmission shaft into the inward clamping action of the flexible gripper.

[0020] Furthermore, the first wedge is elastically connected to the front end of the sliding rod via a torsion spring, and the second wedge is elastically connected to the slider via a torsion spring; the end cap is provided with an end cap groove, the slider slides in cooperation with the end cap groove, and the two ends of the tension spring are fixedly connected to the two sliders respectively, ensuring that the wedge surfaces of the first wedge and the second wedge always remain in close contact.

[0021] Furthermore, the guiding and flipping mechanism includes a shift fork, an upper roller, a lower roller, an E-shaped guide groove, a base plate, a limiting block, a motor base, a guide rod, a top cover, a guide rod slide rail, a rotation limiting block, and a second motor; the E-shaped groove is installed on the surface of the base plate, and a guide rod slide rail is provided below the top cover; the shift fork and the second motor are connected by a coupling; the rear end of the guide rod is fixedly connected to the rotation limiting block, and the front end is fixedly connected to the motor base; the guide rod is slidably disposed in the guide rod slide rail and can rotate along the guide rod slide rail; the upper roller and the lower roller are fixed to the end of the guide rod by screws and rotate synchronously; the upper roller is slidably embedded in the fork groove of the shift fork, and the lower roller is slidably embedded in the E-shaped groove; the limiting block is fixedly installed on the base plate, corresponding to the end of the movement trajectory of the rotation limiting block.

[0022] Furthermore, the output conveyor is equipped with anti-tipping blocks to prevent the ceramic film from tipping over during packaging.

[0023] Another aspect of the objective of this invention is achieved as follows: a method for flipping and packing tubular ceramic film based on a flexible locking page-turning gripping mechanism, comprising the following steps:

[0024] 1) Pre-processing: The tubular ceramic membrane is conveyed horizontally and equidistantly through the input conveyor until it reaches the preset gripping area of ​​the flexible locking page-turning gripping mechanism. The input conveyor stops running, and the feeding preparation is completed. At this time, the flexible locking page-turning gripping mechanism is in the initial open state, waiting for the gripping command.

[0025] 2) Flexible clamping: After the feeding and positioning are completed, the power is transmitted to the transmission shaft through the coupling, and the turntable rotates accordingly. The sliding groove on its surface drives the positioning block to slide, which in turn pulls the sliding rod of the stop mechanism to retract, driving the flexible gripper's page clamping plate to close, thereby clamping the tubular ceramic film. The page clamping plate opens and closes adaptively according to the diameter of the ceramic film, and the inner roller rolls along the outer surface of the ceramic film, forming rolling friction. When the clamping force reaches the preset threshold, the tubular ceramic film generates a reaction force on the roller. This reaction force is transmitted to the fixed shaft through the bearing, driving the fixed shaft to compress the compression spring and move downward until it triggers the displacement sensor below. The displacement sensor sends a signal to the control system. At this time, the first motor is immediately de-energized when the clamping is in place, completing the inward retraction and stopping of the gripper.

[0026] 3) Stop conveying: After clamping in place, the drive motor is de-energized, and the tension spring of the stop mechanism generates tension. Its component force acts on the slider, causing the second wedge to press against the first wedge. The wedge surfaces of the two wedges cooperate to form a stop structure, keeping the two wedges in a stopped state, thereby ensuring that the gripper continues to clamp.

[0027] 4) Flipping and Packing: After the stop and lock are completed, the second motor starts, driving the shift fork to rotate. The shift fork drives the upper roller to move, which in turn drives the lower roller to roll along the inner wall of the E-shaped groove. The lower roller drives the guide rod to move synchronously along the guide rod slide rail along the groove rail. The motor seat at the front end of the guide rod drives the flexible locking flipping and gripping mechanism and the clamped tubular ceramic film to complete the continuous action of "stretching-flipping-reset stretching", transferring the tubular ceramic film to the top of the packaging box above the output conveyor. When the rotation limit block at the rear end of the guide rod moves to fit with the limit block, the second motor stops running. Then the first motor starts, the sliding rod extends, the flexible gripper releases, and the ceramic film falls into the packaging box. The anti-tipping block on the output conveyor makes the packaging box tilted in a preset state. After the tubular ceramic film enters the box, each row of ceramic film moves closer to the front row under the action of gravity, forming an anti-tipping positioning.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: First, the flexible gripper of the soft-lock page-turning grasping mechanism adapts to the clamping range of tubular ceramic membranes of different diameters through the coordinated adjustment of the roller and the reset spring to avoid rigid damage; the stop mechanism of the mechanism adopts double wedge block wedge surface contact to form friction stop, and in the power-off state, it relies on the component force of the spring tension to offset the reaction force of the ceramic membrane to form a stop structure, so as to realize the reliable stop and anti-loosening of the workpiece.

[0029] Secondly, the guide flipping mechanism relies on rollers to move together with the soft-lock flipping gripping mechanism in the E-groove. Only a single power source is needed to drive the mechanism to complete the flipping and packing action, ensuring that the ceramic film is accurately placed into the box in a vertical state, simplifying the structure and reducing costs. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0031] Figure 1 Assembly drawing of the flipping and packing device of the present invention.

[0032] Figure 2 A schematic diagram of the flexible locking page-turning and gripping mechanism of this invention.

[0033] Figure 3 A schematic diagram of the packaging of the flexible locking page-turning gripping mechanism of this invention.

[0034] Figure 4 Front view of the flexible gripper mechanism of the present invention.

[0035] Figure 5 A cross-sectional view of the flexible gripper mechanism of the present invention along line C.

[0036] Figure 6 A perspective view of the flexible gripper mechanism of this invention.

[0037] Figure 7 Front view of the internal mechanism of the present invention.

[0038] Figure 8 Top view of the internal mechanism of the present invention.

[0039] Figure 9 A perspective view of the stopping mechanism of this invention.

[0040] Figure 10 A schematic diagram of the motion state of the guide flipping mechanism of the present invention.

[0041] Figure 11 Diagram of the guiding and flipping mechanism of this invention.

[0042] Figure 12 The present invention provides an analytical diagram of the tubular ceramic membrane flexible locking page-turning, gripping, flipping, and packing process.

[0043] Among them, 1 is a flexible page-turning gripping mechanism, 2 is a guiding flipping mechanism, 3 is a second motor, 4 is a first motor, 5 is a tubular ceramic membrane, 6 is an input conveyor, 7 is a cylinder, 8 is a packaging box, 9 is an output conveyor, 91 is an anti-tipping block, 10 is a worktable, 11 is a flexible gripper, 111 is a page clamping plate, 112 is a roller, 113 is a bearing, 114 is a displacement sensor, 115 is a baffle, 116 is a fixed shaft, 117 is a compression spring, 118 is a return spring, 12 is a stop mechanism, 121 is a slide, 12 is a... 2. Turntable, 123. First wedge, 124. Second wedge, 125. Slider, 126. Tension spring, 127. Torsion spring, 128. Sliding rod, 129. Positioning block, 1210. Transmission shaft, 1211. End cover, 1212. End cover groove, 13. Dovetail double tooth box, 21. Shift fork, 211. Upper roller, 212. Lower roller, 22. E-groove, 23. Base plate, 24. Limiting block, 25. Motor base, 26. Guide rod, 27. Top cover, 271. Guide rod slide rail, 28. Rotation limiting block. Detailed Implementation

[0044] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0045] like Figure 1 The illustrated tubular ceramic film flipping and packing device based on a flexible locking page-flipping gripping mechanism includes a worktable 10, a flexible locking page-flipping gripping mechanism 1, a guide flipping mechanism 2, an input conveyor 6, and an output conveyor 9. The guide flipping mechanism 2, the input conveyor 6, and the output conveyor 9 are all mounted on the worktable 10. The flexible locking page-flipping gripping mechanism 1 is mounted on the motor base 25 of the guide flipping mechanism 2. The flexible locking page-flipping gripping mechanism 1 is connected to the first motor 4 via a coupling through the transmission shaft 1210 of the guide flipping mechanism 2. The guide flipping mechanism 2 and the flexible locking gripper mechanism 1 are in transmission cooperation. The first motor 4 drives the flexible locking page-flipping gripping mechanism 1 to complete the stretching, flipping, and resetting actions, realizing the packing operation of the tubular ceramic film 5 from the input conveyor 6 to the output conveyor 9. The flexible locking page-flipping gripping mechanism 1 is aligned with the gripping area on the input conveyor 6, and the movement trajectory of the guide flipping mechanism 2 is above the output conveyor 9.

[0046] like Figure 2-3As shown, the flexible locking page-turning gripping mechanism 1 includes a flexible gripper 11, a stop mechanism 12, and a dovetail double-tooth box 13. The stop mechanism 12 is integrated inside the flexible locking page-turning gripping mechanism 1, and the flexible gripper 11 is connected to the front end of the sliding rod of the stop mechanism 12 by a double-headed bolt. The dovetail double-tooth box 13 has a driving wheel and a driven wheel inside, and the driving wheel is connected to the transmission shaft 1210 of the stop mechanism 12 by a key. One end of the dovetail double-tooth box 13 has a dovetail groove, and the other end has a corresponding dovetail protrusion. Adjacent dovetail double-tooth boxes 13 are spliced ​​together by the dovetail groove and the dovetail protrusion. This modular splicing design can adapt to packaging boxes 8 of different sizes without replacing the overall components. Combined with the adaptive gripping capability of the flexible gripper 11, it can directly complete the flexible upgrade of the traditional box packing production line, greatly improving the equipment adaptability. In addition, the output conveyor 9 is equipped with an anti-tipping block 91 to achieve anti-tipping positioning when packing ceramic film boxes.

[0047] like Figure 4-6 As shown, the flexible gripper 11 includes a page clamping plate 111, a roller 112, a bearing 113, a displacement sensor 114, a baffle 115, a fixed shaft 116, a compression spring 117, and a return spring 118. The bearing 113 is fixed on the fixed shaft 116 and rotates with the roller 112. Both ends of the fixed shaft 116 abut against the compression spring 117, and the displacement sensor 114 is installed below the compression spring 117. The page clamping plate 111 is hinged to the baffle 115. The two ends of the return spring 118 are connected to the two page clamping plates 111 respectively, and are used to limit the maximum and minimum opening and closing angles of the page clamping plates 111 to realize the pre-tightening and reset functions. Through the rolling engagement of the roller 112 and the elastic adjustment of the return spring 118, the flexible gripper 11 can adapt to tubular ceramic films of different diameters.

[0048] like Figure 7-9As shown, the stopping mechanism 12 includes a slide groove 121, a turntable 122, a first wedge block 123, a second wedge block 124, a slider 125, a tension spring 126, a torsion spring 127, a sliding rod 128, a positioning block 129, a transmission shaft 1210, and an end cap 1211. The transmission shaft 1210 is connected to the turntable 122 by a key, and the turntable 122 is provided with a transmission structure that cooperates with the positioning block 129. The positioning block 129 is fixedly installed at the rear end of the sliding rod 128, and the sliding rod 128 slides in cooperation with the slide groove 121. When the first motor 4 drives the transmission shaft 1210 to rotate, the turntable 122 rotates synchronously. Through the transmission cooperation between the positioning block 129 and the turntable 122, the sliding rod 128 is driven to make a relative linear movement along the slide groove 121, converting the rotational motion of the transmission shaft 1210 into the inward clamping action of the flexible gripper 11. The first wedge 123 is elastically connected to the front end of the sliding rod 128 via a torsion spring 127, and the second wedge 124 is elastically connected to the slider 125 via a torsion spring 127. An end cover groove 1212 is provided on the end cover 1211, and the slider 125 slides in cooperation with the end cover groove 1212. The two ends of the tension spring 126 are fixedly connected to the two sliders 125 respectively, ensuring that the wedge surfaces of the first wedge 123 and the second wedge 124 always remain in close contact.

[0049] like Figure 10-11 As shown, the guide tilting mechanism 2 includes a fork 21, an upper roller 211, a lower roller 212, an E-shaped guide groove 22, a base plate 23, a limiting block 24, a motor base 25, a guide rod 26, a top cover 27, a guide rod slide rail 271, a rotation limiting block 28, and a second motor 3. The E-shaped groove 22 is installed on the surface of the base plate 23, and the guide rod slide rail 271 is provided below the top cover 27. The fork 21 and the second motor 3 are connected by a coupling. The rear end of the guide rod 26 is fixedly connected to the rotation limiting block 28, and the front end is fixedly connected to the motor base 25. The guide rod 26 is slidably disposed in the guide rod slide rail 271 and can rotate along the guide rod slide rail 271. The upper roller 211 and the lower roller 212 are fixed to the guide rod 26 by screws. The upper roller 211 is slidably embedded in the groove of the shift fork 21, and the lower roller 212 is slidably embedded in the e-groove 22. The upper roller 211 is slidably engaged with the groove of the shift fork 21, and the lower roller 212 is slidably engaged with the inner wall of the e-groove 22. The limiting block 24 is fixedly installed on the base plate 23, corresponding to the end of the movement trajectory of the rotating limiting block 28. When the rotating limiting block 28 moves to abut against the limiting block 24, the guide rod 26 stops moving. The second motor 3 drives the shift fork 21 to rotate, and through the cooperation of the upper roller 211 and the shift fork groove, it drives the guide rod 26 to move, so that the lower roller 212 slides along the trajectory of the e-groove 22, thereby driving the soft locking gripper mechanism 1 to complete the continuous action of "stretching-flipping-resetting". The guide flipping mechanism 2, through the mechanical coordination of the cam groove, roller and lever, can realize the flipping and packing operation of tubular ceramic membrane with only a single power source.

[0050] like Figure 12 The method for flipping and packing tubular ceramic film based on a flexible locking flipping gripping mechanism, as shown, includes the following steps:

[0051] 1) Pre-processing: The tubular ceramic membrane 5 is conveyed horizontally and equidistantly by the input conveyor 6 until it reaches the preset clamping area of ​​the flexible locking page-turning gripping mechanism 1. The input conveyor 6 stops running, and the feeding preparation is completed. At this time, the flexible locking page-turning gripping mechanism 1 is in the initial open state, waiting for the clamping command to ensure that the tubular ceramic membrane 5 is accurately positioned, laying the foundation for the subsequent clamping process.

[0052] 2) Flexible clamping: After the feeding and positioning are completed, the power is transmitted to the transmission shaft 1210 via the coupling, and the turntable 122 rotates accordingly. The sliding groove 121 on its surface drives the positioning block 129 to slide, which in turn pulls the sliding rod 128 of the stop mechanism 12 to retract, driving the page clamping plate 111 of the flexible gripper 11 to close, thereby clamping the tubular ceramic film 5. The page clamping plate 111 can adaptively open and close according to the diameter of the ceramic film. The roller 112 on its inner side rolls along the outer surface of the ceramic film, forming rolling friction. Compared with the sliding friction of traditional rigid clamping, this significantly reduces the damage to the surface of the tubular ceramic film 5 during the clamping process. When the clamping force reaches the preset threshold, the tubular ceramic membrane 5 generates a reaction force on the roller 112. This reaction force is transmitted to the fixed shaft 116 through the bearing 113, driving the fixed shaft 116 to compress the compression spring 117 and move downward until it triggers the displacement sensor 114 below. The displacement sensor 114 sends a signal to the control system. At this time, the first motor 4 is immediately de-energized when the clamping is in place, completing the inward retraction and stopping of the gripper. This method can adapt to tubular ceramic membranes of different diameter batches.

[0053] 3) Stopping Conveying: After clamping in place, the drive motor is de-energized, and the tension spring 126 of the stop mechanism 12 generates tension. Its component force acts on the slider 125, causing the second wedge 124 to press the first wedge 123. The wedge surfaces of the two wedges cooperate to form a stop structure, keeping the two wedges in a stopped state, thereby ensuring that the gripper continues to clamp, effectively preventing the tubular ceramic membrane 5 from loosening and falling during subsequent conveying and flipping, and improving the safety and stability of the operation.

[0054] 4) Flipping and Packing: After the stop locking is completed, the second motor 3 starts, driving the shift fork 21 to rotate. The shift fork 21 drives the upper roller 211 to move, which in turn drives the lower roller 212 to roll along the inner wall trajectory of the E-groove 22. The lower roller 212 drives the guide rod 26 to move synchronously along the guide rod slide rail 271. The motor seat 25 at the front end of the guide rod 26 drives the flexible locking flipping gripping mechanism 1 and the clamped tubular ceramic film 5 to complete the continuous action of "stretching-flipping-reset stretching", accurately transferring it to the packaging box 8 above the output conveyor table 9. When the rotation limit block 28 at the rear end of the guide rod 26 moves to fit with the limit block 24, the second motor 3 stops running. Then the first motor starts, the sliding rod 128 extends, the flexible gripper 11 releases, and the ceramic film falls into the packaging box 8. The anti-tipping block 91 on the output conveyor table 9 makes the packaging box 8 in a preset tilted state. After the tubular ceramic film 5 enters the box, each row of ceramic film moves closer to the front row under the action of gravity, forming an anti-tipping positioning.

[0055] After the single packing steps are completed, the mechanism resets and prepares for the cycle operation: After the ceramic film falls into the packaging box 8, the second motor drives in reverse, driving the guide flipping mechanism 2 and the soft lock page flipping gripping mechanism 1 to reset to the initial position. The input conveyor 6 starts again to transport the next batch of tubular ceramic film 5, and enters the next packing cycle, realizing continuous automated packing operation.

[0056] This invention provides a tubular ceramic film flipping and packing device and method based on a flexible-lock flipping gripping mechanism. The flexible gripping adaptive design can accommodate ceramic films of different diameters, and rolling friction achieves non-destructive clamping, reducing the damage rate. The self-locking function of the stop mechanism ensures stable clamping and prevents loosening during transport. The single-power-source guided flipping mechanism simplifies the structure and reduces costs, while the E-groove and limit design ensure accurate packing. Furthermore, modular splicing allows for rapid adaptation to packaging boxes of different sizes, facilitating production line upgrades and demonstrating high potential for application in the packing of tubular, fragile workpieces.

[0057] The above description of the embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. It should be noted that those skilled in the art can make several improvements and modifications to the present invention without departing from the principles of the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

Claims

1. A tubular ceramic film flipping and packing device based on a flexible locking page-turning gripping mechanism, comprising a worktable (10), characterized in that, It also includes a soft-lock page-turning gripper (1), a guide flipping mechanism (2), an input conveyor (6), and an output conveyor (9); the guide flipping mechanism (2), the input conveyor (6), and the output conveyor (9) are all installed on the workbench (10). The soft-lock page-turning gripper (1) is installed on the motor base (25) of the guide flipping mechanism (2). The soft-lock page-turning gripper (1) is connected to the first motor (4) via a coupling through the transmission shaft (1210) of the guide flipping mechanism (2). The guide flipping mechanism (2) is driven by the soft-lock gripper mechanism (1) to complete the stretching, flipping, and resetting actions through the first motor (4), so as to realize the packing operation of the tubular ceramic membrane (5) from the input conveyor (6) to the output conveyor (9).

2. The tubular ceramic film flipping and packing device based on a flexible locking page-turning gripping mechanism according to claim 1, characterized in that, The flexible locking page-turning gripping mechanism (1) includes a flexible gripper (11), a stop mechanism (12), and a dovetail double-tooth box (13). The stop mechanism (12) is integrated inside the flexible locking page-turning gripping mechanism (1). The flexible gripper (11) is connected to the front end of the sliding rod of the stop mechanism (12) by a double-headed bolt. The dovetail double-tooth box (13) has a drive wheel and a driven wheel inside. The drive wheel is connected to the transmission shaft (1210) of the stop mechanism (12) by a key. One end of the dovetail double-tooth box (13) is provided with a dovetail groove, and the other end is provided with a corresponding dovetail protrusion. Two adjacent dovetail double-tooth boxes (13) are spliced ​​together by the dovetail groove and the dovetail protrusion.

3. The tubular ceramic film flipping and packing device based on a flexible locking page-turning gripping mechanism according to claim 2, characterized in that, The flexible gripper (11) includes a page clamp (111), a roller (112), a bearing (113), a displacement sensor (114), a baffle (115), a fixed shaft (116), a compression spring (117), and a return spring (118). The bearing (113) is fixed on the fixed shaft (116) and rotates with the roller (112). Both ends of the fixed shaft (116) abut against the compression spring (117). The displacement sensor (114) is located below the compression spring (117). The page clamp (111) is hinged to the baffle (115) via a hinge. Both ends of the return spring (118) are connected to the two page clamps (111) respectively, which is used to limit the maximum and minimum opening angles of the page clamps (111) to achieve pre-tightening and reset functions. Through the rolling engagement of the roller (112) and the elastic adjustment of the return spring (118), the flexible gripper (11) can adapt to tubular ceramic membranes of different diameters.

4. The tubular ceramic film flipping and packing device based on a flexible locking page-turning gripping mechanism according to claim 2, characterized in that, The stopping mechanism (12) includes a slide (121), a turntable (122), a first wedge (123), a second wedge (124), a slider (125), a tension spring (126), a torsion spring (127), a sliding rod (128), a positioning block (129), a transmission shaft (1210), and an end cap (1211); the transmission shaft (1210) is connected to the turntable (122) by a key, and the turntable (122) is provided with a transmission structure that cooperates with the positioning block (129); The positioning block (129) is fixedly installed at the rear end of the sliding rod (128), and the sliding rod (128) slides in cooperation with the slide groove (121). When the first motor (4) drives the transmission shaft (1210) to rotate, the turntable (122) rotates synchronously. Through the transmission cooperation between the positioning block (129) and the turntable (122), the sliding rod (128) is driven to make a relative linear motion along the slide groove (121), and the rotational motion of the transmission shaft (1210) is converted into the inward clamping action of the flexible gripper (11).

5. The tubular ceramic film flipping and packing device based on a flexible locking page-turning gripping mechanism according to claim 4, characterized in that, The first wedge (123) is elastically connected to the front end of the sliding rod (128) via a torsion spring (127), and the second wedge (124) is elastically connected to the slider (125) via a torsion spring (127). The end cap (1211) is provided with an end cap groove (1212), and the slider (125) is slidably engaged with the end cap groove (1212). The two ends of the tension spring (126) are fixedly connected to the two sliders (125) respectively, ensuring that the wedge surfaces of the first wedge (123) and the second wedge (124) always remain in close contact.

6. The tubular ceramic film flipping and packing device based on a soft-lock page-turning gripping mechanism according to claim 1, characterized in that, The guide tilting mechanism (2) includes a shift fork (21), an upper roller (211), a lower roller (212), an e-shaped guide groove (22), a base plate (23), a limiting block (24), a motor base (25), a guide rod (26), a top cover (27), a guide rod slide rail (271), a rotation limiting block (28), and a second motor (3); the e-shaped groove (22) is installed on the surface of the base plate (23), and a guide rod slide rail (271) is provided below the top cover (27); the shift fork (21) and the second motor (3) are connected by a coupling; the rear end of the guide rod (26) is connected to the rotation limiting block (28). The position block (28) is fixedly connected, and the front end is fixedly connected to the motor base (25). The guide rod (26) is slidably set in the guide rod slide rail (271) and can rotate along the guide rod slide rail (271). The upper roller (211) and the lower roller (212) are fixed to the end of the guide rod (26) by screws and rotate synchronously. The upper roller (211) is slidably embedded in the fork groove of the shift fork (21), and the lower roller (212) is slidably embedded in the e-shaped groove (22). The limiting block (24) is fixedly installed on the base plate (23) and corresponds to the end of the movement trajectory of the rotating limiting block (28).

7. The tubular ceramic film flipping and packing device based on a flexible locking page-turning gripping mechanism according to claim 1, characterized in that, The output conveyor (9) is equipped with an anti-tipping block (91) to prevent the ceramic film from tipping over during packaging.

8. A method for flipping and packing tubular ceramic film based on a flexible locking page-turning gripping mechanism, characterized in that, Includes the following steps: 1) Pre-processing: The tubular ceramic membrane is conveyed horizontally and equidistantly through the input conveyor until it reaches the preset gripping area of ​​the flexible locking page-turning gripping mechanism. The input conveyor stops running, and the feeding preparation is completed. At this time, the flexible locking page-turning gripping mechanism is in the initial open state, waiting for the gripping command. 2) Flexible clamping: After the feeding and positioning are completed, the power is transmitted to the transmission shaft through the coupling, and the turntable rotates accordingly. The sliding groove on its surface drives the positioning block to slide, which in turn pulls the sliding rod of the stop mechanism to retract, driving the flexible gripper's page clamping plate to close, thereby clamping the tubular ceramic film. The page clamping plate opens and closes adaptively according to the diameter of the ceramic film, and the inner roller rolls along the outer surface of the ceramic film, forming rolling friction. When the clamping force reaches the preset threshold, the tubular ceramic film generates a reaction force on the roller. This reaction force is transmitted to the fixed shaft through the bearing, driving the fixed shaft to compress the compression spring and move downward until it triggers the displacement sensor below. The displacement sensor sends a signal to the control system. At this time, the first motor is immediately de-energized when the clamping is in place, completing the inward retraction and stopping of the gripper. 3) Stop conveying: After clamping in place, the drive motor is de-energized, and the tension spring of the stop mechanism generates tension. Its component force acts on the slider, causing the second wedge to press against the first wedge. The wedge surfaces of the two wedges cooperate to form a stop structure, keeping the two wedges in a stopped state, thereby ensuring that the gripper continues to clamp. 4) Flipping and Packing: After the stop and lock are completed, the second motor starts, driving the shift fork to rotate. The shift fork drives the upper roller to move, which in turn drives the lower roller to roll along the inner wall of the E-shaped groove. The lower roller drives the guide rod to move synchronously along the guide rod slide rail along the groove rail. The motor seat at the front end of the guide rod drives the flexible locking flipping and gripping mechanism and the clamped tubular ceramic film to complete the continuous action of "stretching - flipping - resetting stretching", transferring the tubular ceramic film to the top of the packaging box above the output conveyor. When the rotation limit block at the rear end of the guide rod moves to fit with the limit block, the second motor stops running. Then the first motor starts, the sliding rod extends, the flexible gripper releases, and the ceramic film falls into the packaging box. The anti-tipping block on the output conveyor makes the packaging box tilted in a preset state. After the tubular ceramic film enters the box, each row of ceramic film moves closer to the front row under the action of gravity, forming an anti-tipping positioning.

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