A large air filter automatic core changing robot and method

Abstract

This invention relates to the field of robotics, providing a large-scale automatic air filter replacement robot and method. The robot includes: a mobile chassis for driving the robot to move within a work area; a cover plate placement seat located on top of the mobile chassis; a filter element placement seat; a robotic arm mounted on the filter element placement seat; an actuating component, including at least a screw removal and installation tool and a clamping tool for holding the cover plate and the filter element; a lifting mechanism located on top of the mobile chassis for driving the filter element placement seat and the robotic arm to rise and fall; a filter element gripper with a barb at its end adapted to the edge of the filter element; and a traversing mechanism located on the filter element placement seat for driving the filter element gripper to traverse laterally, pulling the filter element out of the air filter and transferring it to the filter element placement seat. This invention achieves full automation, high efficiency, and unmanned operation of large-scale air filter replacement work in high-risk environments such as nuclear power plants, significantly improving operational safety and reliability.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a large-scale automatic air filter replacement robot and method. Background Technology

[0002] Numerous large air filtration devices exist in industrial sites such as nuclear power plants, and their filter elements require regular replacement. Due to the presence of radioactive dust in the working environment, manual replacement is not only labor-intensive and inefficient, but also poses a serious threat to the health of operators. While existing technologies utilize mechanical equipment to assist manual operation to some extent, they focus on single functional modules or specific operational steps, such as disassembly, transport, or handling. They lack a complete, integrated solution for the entire process of replacing large air filter elements, making it difficult to achieve a series of continuous operations from movement and positioning, cover removal, old filter element removal, new filter element installation, to cover repositioning. Summary of the Invention

[0003] The purpose of this invention is to provide a large-scale automatic air filter replacement robot and method to overcome the above-mentioned defects in the prior art.

[0004] This invention is achieved through the following technical solution:

[0005] A large-scale automatic air filter replacement robot includes: A mobile chassis is used to drive the robot to move within the work area; A cover plate holder is located on top of the mobile chassis and is used to hold the removed cover plates; Filter cartridge holder, used to hold disassembled filter cartridges; A robotic arm, which is mounted on the filter element placement seat; A set of actuators that can be interchangeably mounted at the end of a robotic arm, including at least screw removal and installation tools and clamping tools for clamping the cover plate and the filter element; The lifting mechanism, located on top of the mobile chassis, is used to drive the filter element placement seat and the robotic arm to lift. The filter cartridge gripper has a barb at its end that fits the edge of the filter cartridge; And a lateral movement mechanism, which is located on the filter element placement seat and connected to the filter element gripper, to drive the filter element gripper to move laterally, pull the filter element out of the air filter and transfer it to the filter element placement seat.

[0006] Furthermore, the transverse movement mechanism includes a transverse lead screw, a transverse slide, and a transverse drive element. The transverse lead screw is rotatably mounted on the filter element placement seat, the transverse slide is slidably mounted on the filter element placement seat and is threadedly engaged with the transverse lead screw, the filter element gripper is mounted on the transverse slide, and the transverse drive element is connected to the transverse lead screw to drive the transverse lead screw to rotate.

[0007] Furthermore, the filter element gripper is slidably disposed on the transverse slide, and the transverse slide is provided with a transmission structure that drives the filter element gripper to move.

[0008] Furthermore, the filter element placement seat is provided with a primary guide rail, and the bottom of the transverse slide is provided with a primary slider that cooperates with the primary guide rail; the transverse slide is provided with a secondary guide rail, and the bottom of the filter element gripper is provided with a secondary slider that cooperates with the secondary guide rail.

[0009] Furthermore, the lifting mechanism includes a support frame, a lifting screw, and a lifting drive element. The lifting screw is rotatably mounted on the support frame, the filter element placement seat is slidably mounted on the support frame and is threadedly engaged with the lifting screw, and the lifting drive element is connected to the lifting screw to drive the lifting screw to rotate.

[0010] Furthermore, both the cover plate placement seat and the filter element placement seat are provided with retaining edges on both sides in the moving direction of the mobile chassis.

[0011] Furthermore, a vision sensor is provided on the top of the filter cartridge gripper.

[0012] Furthermore, the clamping tool is a pneumatic gripper.

[0013] Furthermore, one side of the cover plate placement seat is provided with an execution component placement seat for placing the execution component.

[0014] The present invention also provides an automatic filter replacement method for large air filters, employing the robot described in any one of the above-mentioned methods, characterized by comprising the following steps in sequence: S1: Robot positioning and preparation: The robot moves to the front of the target air filter installation location via a mobile chassis; S2: Cover plate removal: The top vision sensor of the filter element gripper visually identifies and locates the cover plate and its mounting screws, guiding the end of the robotic arm to remove the screws fixing the cover plate one by one using a screw removal tool; then the screw removal tool installed on the robotic arm is replaced with a clamping tool to clamp and remove the cover plate, and transfer it to the cover plate placement seat. S3: Filter Cartridge Removal: The top vision sensor of the filter cartridge gripper visually identifies and positions the filter cartridge, guiding the lifting mechanism to adjust the height of the filter cartridge placement seat so that the filter cartridge gripper is aligned with the edge of the filter cartridge to be replaced; the lateral movement mechanism drives the filter cartridge gripper to extend laterally, causing its hook to move to the inside of the filter cartridge edge; the lifting mechanism lowers to adjust the height of the filter cartridge placement seat so that the filter cartridge gripper hooks onto the edge of the filter cartridge to be replaced; the lateral movement mechanism drives the filter cartridge gripper to retract laterally, pulling the old filter cartridge out of the filter housing and transferring it to the filter cartridge placement seat; the robot moves to the front of the old filter cartridge storage rack via the mobile chassis; the lifting mechanism adjusts the height of the filter cartridge placement seat to match the height of the old filter cartridge storage rack; the lateral movement mechanism drives the filter cartridge gripper to extend laterally, pushing the old filter cartridge out of the filter cartridge placement seat and transferring it to the filter cartridge storage rack; the lifting mechanism rises to adjust the height of the filter cartridge placement seat so that the filter cartridge gripper detaches from the edge of the old filter cartridge; the lateral movement mechanism drives the filter cartridge gripper to retract laterally. S4: New Filter Loading: The robot moves to the front of the new filter storage rack via the mobile chassis; the lifting mechanism adjusts the height of the filter placement seat to match the height of the new filter storage rack; the lateral movement mechanism drives the filter gripper to extend laterally, causing its hook to move to the inside of the new filter edge; the lifting mechanism lowers to adjust the height of the filter placement seat, causing the filter gripper to hook onto the edge of the new filter; the lateral movement mechanism drives the filter gripper to retract laterally, pulling the new filter from the new filter storage rack and transferring it to the filter placement seat; the robot moves to the front of the air filter installation position via the mobile chassis; the lifting mechanism adjusts the height of the filter placement seat to match the height of the installation position; the lateral movement mechanism drives the filter gripper to extend laterally, pushing the new filter from the filter placement seat and transferring it to the filter installation position; the lifting mechanism rises to adjust the height of the filter placement seat, causing the filter gripper to detach from the edge of the new filter; the lateral movement mechanism drives the filter gripper to retract laterally. S5: Cover Plate Reinstallation: The top vision sensor of the filter element gripper visually identifies and locates the cover plate installation position, guiding the end of the robotic arm to use a clamping tool to pick up the cover plate from the cover plate placement seat and reinstall the cover plate in the installation position; the top vision sensor of the filter element gripper visually identifies and locates the position of the cover plate installation thread hole, guiding the robotic arm to switch to a screw removal and installation tool to tighten the screws fixing the cover plate; subsequently, the robotic arm retracts, the filter element placement seat is reset under the action of the lifting mechanism, and the moving chassis transfers the robot to the designated position.

[0015] The technical solution of this invention has at least the following advantages and beneficial effects: By integrating a mobile chassis, a lifting mechanism, a lateral movement mechanism, a robotic arm with replaceable actuators, and a dedicated placement seat (i.e., a filter element placement seat and a cover plate placement seat), this invention constructs an integrated operation system capable of autonomously completing the entire process from positioning, cover plate disassembly and assembly, filter element grabbing and removal, to new filter element installation and cover plate reinstallation. This system uses the robotic arm as the core to coordinate various actuators, and utilizes the lateral movement mechanism in conjunction with a filter element grabbing component with barbs to achieve stable grabbing and translational extraction of the filter element to the filter element placement seat. The lifting mechanism adapts to different installation heights, thereby completely solving the problems of single equipment function, fragmented links, and inability to perform continuous automated operation in previous technologies. It realizes full automation, high efficiency, and unmanned operation of large air filter element replacement operations in high-risk environments such as nuclear power plants, significantly improving operational safety and reliability. Attached Figure Description

[0016] Figure 1 A schematic diagram of the structure of a large-scale automatic air filter replacement robot provided by the present invention; Figure 2 This is a schematic diagram of the transverse movement mechanism; Figure 3 This is a schematic diagram of the lifting structure; Figure 4 This invention provides a usage status diagram of a large-scale automatic air filter replacement robot; Reference numerals: 1-Mobile chassis, 2-Filter element placement seat, 3-Cover plate placement seat, 4-Robotic arm, 5-Clamping tool, 6-Lifting mechanism, 601-Supporting frame, 602-Lifting screw, 603-Lifting drive element, 604-Lifting guide rail, 7-Filter element gripper, 8-Transverse movement mechanism, 801-Transverse movement screw, 802-Transverse movement slide, 803-Transverse movement drive element, 804-Primary guide rail, 805-Secondary guide rail, 9-Actuator placement seat, 10-Filter element, 11-Cover plate, 12-Bearing base plate, 13-Mounting seat, 14-Vision sensor. Detailed Implementation

[0017] refer to Figure 1 A large-scale automatic air filter replacement robot includes a mobile chassis 1, a cover plate placement seat 3, a filter element placement seat 2, a lifting mechanism 6, a filter element gripper 7, a robotic arm 4, and a set of actuators that can be interchangeably mounted on the end of the robotic arm 4.

[0018] The mobile chassis 1 is used to drive the robot to move within the work area. Specifically, in this embodiment, the mobile chassis 1 is a tracked chassis, which has advantages such as excellent obstacle-crossing ability, minimal damage to the ground, high operational stability, and strong load-bearing capacity. In other embodiments, the mobile chassis 1 can of course adopt other structures, such as wheeled chassis (e.g., omnidirectional wheel chassis, differential wheel chassis), AGV heavy-duty chassis, etc.

[0019] The robotic arm 4 is connected to the filter element placement seat 2 via the mounting base 13, forming a whole. Specifically, the robotic arm 4 is mounted on the mounting base 13, which is then connected to the filter element placement seat 2 via screws or other means. In practical applications, a support plate 12 is installed on top of the mobile chassis 1, and a lifting mechanism 6 is located on top of the support plate 12. The filter element placement seat 2 and the robotic arm 4 are driven by the lifting mechanism 6 to achieve lifting and adjusting the height.

[0020] The cover plate placement seat 3 is used to place the disassembled cover plate 11. Specifically, it can be fixed to the top of the supporting base plate 12 by means of screw connection, welding, etc. The filter element placement seat 2 is used to place the filter element 10. The filter element placement seat 2 is recessed in the middle, and the two sides of the filter element placement seat 2 serve as support parts to support the filter element 10. The recessed part of the filter element placement seat 2 is used to install the transverse movement mechanism 8. The filter element gripper 7 is connected to the transverse movement mechanism 8. The end of the filter element gripper 7 is provided with a barb adapted to the edge of the filter element. The edge of the filter element has a flange. When removing the filter element, the filter element gripper 7 hooks onto the flange of the edge of the filter element. Under the action of the transverse movement mechanism 8, the filter element gripper 7 is driven to move laterally, pulling out the filter element and transferring it to the top of the filter element placement seat 2. In this embodiment, a vision sensor 14 is provided on the top of the filter element gripper 7, installed near the barb position of the filter element gripper 7. With its field of view aligned with the working area, it can identify information such as the relative position, angle, and distance between the filter element 10 and the filter element gripper 7, guiding the filter element gripper 7 to accurately hook onto the edge of the filter element. Alternatively, in this embodiment, both the cover plate placement seat 3 and the filter element placement seat 2 have baffles on both sides in the moving direction of the mobile chassis 1 to prevent the filter element and cover plate removed during the overall movement of the robot from falling off. In other embodiments, the cover plate placement seat 3 and the filter element placement seat 2 can also be designed as flat plate structures.

[0021] The actuator includes at least a screw removal tool and a clamping tool 5. In this embodiment, the vision sensor 14 is aligned with the working area and can identify the relative position, angle, and distance between the cover plate 11 and its mounting screws and the robotic arm 4. This guides the robotic arm 4 to carry the screw removal tool (not shown, such as a screwdriver) for removing and installing the screws on the filter cover plate 11. The clamping tool 5 is used to grip and hold the cover plate 11. Alternatively, in this embodiment, the clamping tool 5 is a pneumatic gripper; in other embodiments, the clamping tool 5 can be an electric gripper, a vacuum suction cup, etc. In this embodiment, one side of the cover plate placement seat 3 is provided with an actuator placement seat 9 for placing the actuator. The specific structure of the actuator placement seat 9 is not limited, as long as it can hold the actuator. In practical applications, the actuator is docked and installed with the robotic arm 4 through a quick-change disc. Those skilled in the art should understand that a quick-change disc (also called a tool quick-change disc, gun changer, quick tool changer, quick changer, quick change clamp, etc.) is a flexible connection tool used in the end effector industry of industrial robots. Robotic arm 4 is selected with six degrees of freedom to facilitate better implementation of various operations.

[0022] refer to Figure 2 In this embodiment, the specific structure of the transverse movement mechanism 8 is as follows: it includes a transverse lead screw 801, a transverse slide, and a transverse drive element 803. The transverse lead screw 801 is rotatably mounted on the filter element placement seat 2, the transverse slide is slidably mounted on the filter element placement seat and is threadedly engaged with the transverse lead screw 801, the filter element gripper 7 is mounted on the transverse slide, and the transverse drive element 803 is connected to the transverse lead screw 801. In practical applications, the transverse drive element 803 is preferably a servo motor. The servo motor drives the transverse lead screw 801 to rotate, which in turn moves the transverse slide, thereby causing the filter element gripper 7 to move laterally. It should be understood that in other embodiments, the transverse movement mechanism 8 can of course adopt other structures, such as linear motor drive, synchronous belt drive, gear and rack drive, etc.

[0023] Based on the above, the filter element gripper 7 is slidably mounted on the transverse slide, and the transverse slide is equipped with a transmission structure that drives the filter element gripper 7 to move. It is worth noting that this design increases the stroke of the filter element gripper 7. In practical applications, the above transmission structure can be driven by an independent drive structure, such as a lead screw and nut pair in conjunction with a servo motor; the above transmission structure can also adopt chain-type stroke-doubling mechanisms, gear-type stroke-doubling mechanisms, etc., commonly used in mechanical transmissions.

[0024] The sliding arrangement of the transverse slide and the filter element gripper 7 is as follows: the filter element placement seat 2 is provided with a primary guide rail 804, and the bottom of the transverse slide is provided with a primary slider that cooperates with the primary guide rail 804; the transverse slide is provided with a secondary guide rail 805, and the bottom of the filter element gripper 7 is provided with a secondary slider that cooperates with the secondary guide rail 805. That is, the smooth sliding of the transverse slide and the filter element gripper 7 is ensured by the cooperation of the slider and the guide rail. In other embodiments, other methods can of course be used to achieve smooth sliding, such as a guide rod + linear bearing.

[0025] refer to Figure 3 In this embodiment, the specific structure of the lifting mechanism 6 is as follows: it includes a support frame 601, a lifting screw 602, and a lifting drive element 603. The lifting screw 602 is rotatably mounted on the support frame 601, and the filter element placement seat 2 is slidably mounted on the support frame 601 and threadedly engaged with the lifting screw 602. The lifting drive element 603 is connected to the lifting screw 602 to drive the lifting screw 602 to rotate. In practical applications, the lifting drive element 603 is preferably a servo motor. The servo motor drives the lifting screw 602 to rotate, which in turn drives the lifting filter element placement seat 2 to rise and fall, thereby adjusting the height of the filter element gripping assembly and the height of the robotic arm 4. In practical applications, a lifting guide rail 604 is provided on the support frame 601, and a lifting slider is provided on the filter element placement seat 2 to cooperate with the lifting guide rail 604 to achieve smooth lifting and falling. It should be understood that, similar to the transverse mechanism 8, in other embodiments, the lifting mechanism 6 can of course adopt other structures, such as linear motor drive, synchronous belt drive, gear and rack drive, etc.

[0026] This invention also provides an automatic filter replacement method for large air filters. Using any of the robots described above, it should be understood that this method is applicable to large air filters where the filter cartridge mounting cavity cover is on the side, and the filter cartridge edge has a flange that can be hooked and pulled by the filter cartridge gripper 7. The automatic filter replacement method includes the following steps in sequence: S1: Robot positioning and preparation: The robot moves to the front of the target air filter installation position via the mobile chassis 1; S2: Cover plate removal: The top vision sensor 14 of the filter element gripper 7 visually identifies and locates the cover plate 11 and its mounting screws, guiding the end of the robotic arm 4 to remove the screws fixing the cover plate one by one using a screw removal tool; then the screw removal tool installed on the robotic arm is replaced with a clamping tool 5, which clamps and removes the cover plate 11 and transfers it to the cover plate placement seat 3 (reference). Figure 4 ); S3: Filter Cartridge Removal: The top vision sensor 14 of the filter cartridge gripper 7 visually identifies and positions the filter cartridge 10, guiding the lifting mechanism 6 to adjust the height of the filter cartridge placement seat 2 so that the filter cartridge gripper 7 is aligned with the edge of the filter cartridge 10 to be replaced; the lateral movement mechanism 8 drives the filter cartridge gripper 7 to extend laterally, causing its hook to move to the inside of the edge of the filter cartridge 10; the lifting mechanism 6 lowers to adjust the height of the filter cartridge placement seat 2 so that the filter cartridge gripper 7 hooks onto the edge of the filter cartridge 10 to be replaced; the lateral movement mechanism 8 drives the filter cartridge gripper 7 to retract laterally, pulling the old filter cartridge 10 out of the filter housing and transferring it to the filter cartridge placement seat 2 (reference). Figure 4 The robot moves to the front of the old filter storage rack via the mobile chassis 1; the lifting mechanism 6 adjusts the height of the filter placement seat 2 to match the height of the old filter storage rack; the lateral movement mechanism 8 drives the filter gripper 7 to extend laterally, pushing the old filter 10 out of the filter placement seat 2 and transferring it to the filter storage rack; the lifting mechanism 6 raises and adjusts the height of the filter placement seat 2, causing the filter gripper 7 to detach from the edge of the old filter 10; the lateral movement mechanism 8 drives the filter gripper 7 to retract laterally. S4: New Filter Cartridge Loading: The robot moves to the front of the new filter cartridge storage rack via the mobile chassis 1; the lifting mechanism 6 adjusts the height of the filter cartridge placement seat 2 to match the height of the new filter cartridge storage rack; the lateral movement mechanism 8 drives the filter cartridge gripper 7 to extend laterally, causing its hook to move to the inside edge of the new filter cartridge 10; the lifting mechanism 6 lowers to adjust the height of the filter cartridge placement seat 2, causing the filter cartridge gripper 7 to hook onto the edge of the new filter cartridge 10; the lateral movement mechanism 8 drives the filter cartridge gripper 7 to retract laterally, pulling the new filter cartridge 10 from the new filter cartridge storage rack. The new filter element 10 is transferred to the filter element placement seat 2 via the mobile chassis 1; the lifting mechanism 6 adjusts the height of the filter element placement seat 2 to match the height of the installation position; the lateral movement mechanism 8 drives the filter element gripper 7 to extend laterally, pushing the new filter element 10 out of the filter element placement seat 2 and transferring it to the filter element installation position; the lifting mechanism 6 raises to adjust the height of the filter element placement seat 2, causing the filter element gripper 7 to detach from the edge of the new filter element 10; the lateral movement mechanism 8 drives the filter element gripper 7 to retract laterally. S5: Cover Plate Reinstallation: The top vision sensor 14 of the filter element gripper 7 visually identifies and locates the installation position of the cover plate 11, guiding the end of the robotic arm 4 to grip the cover plate 11 from the cover plate placement seat 3 using the clamping tool 5, and reinstalling the cover plate 11 back into its installation position; the top vision sensor 14 of the filter element gripper 7 visually identifies and locates the position of the mounting threaded hole of the cover plate 11, guiding the robotic arm 4 to replace it with a screw removal and installation tool to tighten the screws fixing the cover plate 11. Subsequently, the robotic arm 4 retracts, the filter element placement seat 2 is reset under the action of the lifting mechanism 6, and the moving chassis 1 transfers the robot to the designated position.

[0027] As can be seen from the above, this invention integrates a mobile chassis 1, a lifting mechanism 6, a lateral movement mechanism 8, a robotic arm 4 with replaceable actuators, and dedicated placement seats (i.e., filter element placement seat 2 and cover plate placement seat 3), constructing an integrated operation system capable of autonomously completing the entire process from positioning, cover plate disassembly and assembly, filter element grabbing and removal, to new filter element installation and cover plate reinstallation. The system uses the robotic arm 4 as the core to coordinate the various actuators, and utilizes the lateral movement mechanism 8 in conjunction with the filter element grabbing component 7 with barbs to achieve stable grabbing and translational extraction of the filter element to the filter element placement seat 2. The lifting mechanism 6 adapts to different installation heights, thereby completely solving the problems of single equipment function, fragmented links, and inability to perform continuous automated operation in previous technologies. It realizes full automation, high efficiency, and unmanned operation of large air filter element replacement operations in high-risk environments such as nuclear power plants, significantly improving operational safety and reliability.

[0028] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A large-scale automatic air filter replacement robot, characterized in that, include: A mobile chassis is used to drive the robot to move within the work area; A cover plate holder is located on top of the mobile chassis and is used to hold the removed cover plates; Filter cartridge holder, used to hold disassembled filter cartridges; A robotic arm, which is mounted on the filter element placement seat; A set of actuators that can be interchangeably mounted at the end of a robotic arm, including at least screw removal and installation tools and clamping tools for clamping the cover plate and the filter element; The lifting mechanism, located on top of the mobile chassis, is used to drive the filter element placement seat and the robotic arm to lift. The filter cartridge gripper has a barb at its end that fits the edge of the filter cartridge; And a lateral movement mechanism, which is located on the filter element placement seat and connected to the filter element gripper, to drive the filter element gripper to move laterally, pull the filter element out of the air filter and transfer it to the filter element placement seat.

2. The large-scale automatic air filter replacement robot according to claim 1, characterized in that, The transverse movement mechanism includes a transverse lead screw, a transverse slide, and a transverse drive element. The transverse lead screw is rotatably mounted on the filter element placement seat. The transverse slide is slidably mounted on the filter element placement seat and is threadedly engaged with the transverse lead screw. The filter element gripper is mounted on the transverse slide. The transverse drive element is connected to the transverse lead screw to drive the transverse lead screw to rotate.

3. The large-scale automatic air filter replacement robot according to claim 2, characterized in that, The filter element gripper is slidably mounted on the transverse slide, and the transverse slide is provided with a transmission structure that drives the filter element gripper to move.

4. The large-scale automatic air filter replacement robot according to claim 3, characterized in that, The filter element placement seat is provided with a primary guide rail, and the bottom of the transverse slide is provided with a primary slider that cooperates with the primary guide rail; the transverse slide is provided with a secondary guide rail, and the bottom of the filter element gripper is provided with a secondary slider that cooperates with the secondary guide rail.

5. The large-scale automatic air filter replacement robot according to claim 1, characterized in that, The lifting mechanism includes a support frame, a lifting screw, and a lifting drive element. The lifting screw is rotatably mounted on the support frame, and the filter element placement seat is slidably mounted on the support frame and threadedly engaged with the lifting screw. The lifting drive element is connected to the lifting screw to drive the lifting screw to rotate.

6. The large-scale automatic air filter replacement robot according to claim 1, characterized in that, Both the cover plate placement seat and the filter element placement seat have retaining edges on both sides in the moving direction of the mobile chassis.

7. The large-scale automatic air filter replacement robot according to claim 1, characterized in that, The filter cartridge gripper is equipped with a vision sensor on its top.

8. The large-scale automatic air filter replacement robot according to claim 1, characterized in that, The clamping tool is a pneumatic gripper.

9. The large-scale automatic air filter replacement robot according to claim 1, characterized in that, One side of the cover plate placement seat is provided with an execution component placement seat for placing the execution component.

10. A method for automatically replacing the filter element of a large air filter, employing the robot described in any one of claims 1-9, characterized in that, The steps are as follows: S1: Robot positioning and preparation: The robot moves to the front of the target air filter installation location via a mobile chassis; S2: Cover plate removal: The top vision sensor of the filter element gripper visually identifies and locates the cover plate and its mounting screws, guiding the end of the robotic arm to remove the screws fixing the cover plate one by one using a screw removal tool; then the screw removal tool installed on the robotic arm is replaced with a clamping tool to clamp and remove the cover plate, and transfer it to the cover plate placement seat. S3: Filter Cartridge Removal: The top vision sensor of the filter cartridge gripper visually identifies and positions the filter cartridge, guiding the lifting mechanism to adjust the height of the filter cartridge placement seat so that the filter cartridge gripper is aligned with the edge of the filter cartridge to be replaced; the lateral movement mechanism drives the filter cartridge gripper to extend laterally, causing its hook to move to the inside of the filter cartridge edge; the lifting mechanism lowers to adjust the height of the filter cartridge placement seat so that the filter cartridge gripper hooks onto the edge of the filter cartridge to be replaced; the lateral movement mechanism drives the filter cartridge gripper to retract laterally, pulling the old filter cartridge out of the filter housing and transferring it to the filter cartridge placement seat; the robot moves to the front of the old filter cartridge storage rack via the mobile chassis; the lifting mechanism adjusts the height of the filter cartridge placement seat to match the height of the old filter cartridge storage rack; the lateral movement mechanism drives the filter cartridge gripper to extend laterally, pushing the old filter cartridge out of the filter cartridge placement seat and transferring it to the filter cartridge storage rack; the lifting mechanism rises to adjust the height of the filter cartridge placement seat so that the filter cartridge gripper detaches from the edge of the old filter cartridge; the lateral movement mechanism drives the filter cartridge gripper to retract laterally. S4: New Filter Loading: The robot moves to the front of the new filter storage rack via the mobile chassis; the lifting mechanism adjusts the height of the filter placement seat to match the height of the new filter storage rack; the lateral movement mechanism drives the filter gripper to extend laterally, causing its hook to move to the inside of the new filter edge; the lifting mechanism lowers to adjust the height of the filter placement seat, causing the filter gripper to hook onto the edge of the new filter; the lateral movement mechanism drives the filter gripper to retract laterally, pulling the new filter from the new filter storage rack and transferring it to the filter placement seat; the robot moves to the front of the air filter installation position via the mobile chassis; the lifting mechanism adjusts the height of the filter placement seat to match the height of the installation position; the lateral movement mechanism drives the filter gripper to extend laterally, pushing the new filter from the filter placement seat and transferring it to the filter installation position; the lifting mechanism rises to adjust the height of the filter placement seat, causing the filter gripper to detach from the edge of the new filter; the lateral movement mechanism drives the filter gripper to retract laterally. S5: Cover Plate Reinstallation: The top vision sensor of the filter element gripper visually identifies and locates the cover plate installation position, guiding the end of the robotic arm to use a clamping tool to pick up the cover plate from the cover plate placement seat and reinstall the cover plate in the installation position; the top vision sensor of the filter element gripper visually identifies and locates the position of the cover plate installation thread hole, guiding the robotic arm to switch to a screw removal and installation tool to tighten the screws fixing the cover plate; subsequently, the robotic arm retracts, the filter element placement seat is reset under the action of the lifting mechanism, and the moving chassis transfers the robot to the designated position.

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