Automatic carrying device for MBR (Membrane Bioreactor) curtain type membrane module

Abstract

The utility model discloses an automatic carrying device for an MBR (Membrane Bioreactor) curtain type membrane module, which comprises a carrying mechanical arm which circularly moves between a feeding area and a discharging area through a track; according to the carrying mechanical arm, the upper end of a trolley is slidably connected to a rail, and a grabbing mechanism is arranged at the lower end of the trolley; the material rack comprises a hook head and a frame, and the frame is used for placing the MBR curtain type membrane group; the first laser module is arranged on the frame and can be vertical to the ground to form a first aperture surrounding the MBR curtain type membrane group; the first laser module is arranged on the frame, a second aperture surrounding the periphery of the first aperture at intervals can be formed perpendicular to the ground, and the second laser module emits visible light; according to the automatic carrying device for the MBR curtain type membrane module, the MBR membrane module is moved by the carrying mechanical arm instead of manual work. A safe membrane assembly shaking space is formed in the first aperture and adapts to moving shaking, and when shaking is too large, the first alarm module gives an alarm to remind workers to pay attention.

Description

Technical Field

[0001] This utility model belongs to the field of automated handling technology for MBR curtain membrane modules, and more specifically, relates to an automated handling device for MBR curtain membrane modules. Background Technology

[0002] Currently, in the production process of MBR curtain membrane modules, the handling of membrane modules is all done manually. Due to the size of the membrane modules, they must be manually transferred to a transfer cart before the cart is moved. This process is slow and labor-intensive. Furthermore, to prevent the membrane modules from shaking and scraping during transfer, the speed cannot be too fast, further increasing the difficulty of manual handling, resulting in low efficiency and quality problems. Therefore, a stable and efficient automated handling system for MBR curtain membrane modules is needed to replace manual handling. Utility Model Content

[0003] The purpose of this invention is to address the shortcomings of existing technologies by providing an automated handling device for MBR curtain membrane modules, which solves the problem that existing methods require manual transfer of membrane modules to a transfer cart before the cart is moved, resulting in slow transfer speeds and heavy manual labor.

[0004] To achieve the above objectives, this utility model provides an automated handling device for MBR curtain membrane modules, comprising:

[0005] A handling robotic arm that circulates between a loading area and a unloading area via a track;

[0006] The handling robotic arm includes:

[0007] The trolley has its upper end slidably connected to the track, and its lower end is equipped with a gripping mechanism.

[0008] The material rack includes a hook and a frame. The frame is detachably connected to the gripping mechanism via the hook. The frame is used to hold MBR curtain membrane modules.

[0009] The first laser module is mounted on the frame and is capable of forming a first aperture around the MBR curtain membrane assembly perpendicular to the ground.

[0010] The second laser module is mounted on the frame and can form a second aperture perpendicular to the ground, spaced around the outer periphery of the first aperture. The second laser module emits visible light.

[0011] The first alarm module is connected to the first laser module and alarms when the MBR curtain membrane module shakes beyond the first aperture.

[0012] The second alarm module is connected to the second laser module and triggers an alarm when a foreign object enters the second aperture.

[0013] Optionally, the gripping mechanism is a robotic arm.

[0014] Optionally, both the loading area and the unloading area are equipped with storage racks and transfer robots. The storage racks are used to store empty racks and racks with MBR module components. The transfer robot is equipped with a vision probe that can automatically locate, grab, and move the racks on the storage racks to the grabbing mechanism.

[0015] Optionally, the system also includes a controller, wherein multiple transport robotic arms are spaced apart on the track, and the controller is used to control the independent movement of each transport robotic arm.

[0016] Optionally, the first alarm module includes at least a light module.

[0017] Optionally, the first alarm module further includes a tension sensing module.

[0018] Optionally, the second alarm module includes at least a sound module.

[0019] Optionally, the second aperture is set according to the first aperture.

[0020] Optionally, the MBR curtain membrane module is sheet-shaped and centered on the material rack, located in the middle of the first aperture. The first aperture is a rectangular aperture, the width of which is 1.5 times the width of the MBR curtain membrane module, and the length of which is 0.25 times the length of the MBR curtain membrane module.

[0021] Optionally, the material rack is in the shape of a rectangular ring, with its length direction aligned with the axis of the track.

[0022] This utility model provides an automated handling device for MBR curtain membrane modules, which has the following advantages:

[0023] This automated handling device for MBR curtain membrane modules uses a robotic arm to move the MBR membrane modules instead of manually, while a rack is used to hold the MBR membrane modules. A first laser module forms a first aperture around the MBR membrane module, providing a safe space for the module to move and sway. If the swaying is too large, a first alarm module will sound to alert the worker. A second laser module forms a second aperture around the first aperture to alert personnel. Simultaneously, if a worker or foreign object enters the second aperture, a second alarm module will sound to alert personnel and prevent scratching of the MBR membrane module.

[0024] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0025] The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings, in which like reference numerals generally represent like parts.

[0026] Figure 1 A schematic diagram of an automated handling device for an MBR curtain membrane module according to an embodiment of the present invention is shown.

[0027] Figure 2 A schematic diagram showing the position of the first laser module in an automated handling device for an MBR curtain membrane module according to an embodiment of the present invention is shown.

[0028] Figure 3 An automated handling device for MBR curtain membrane modules according to an embodiment of the present invention is shown. Figure 2 Side view.

[0029] Figure 4 A schematic diagram of the first aperture of an automated handling device for an MBR curtain membrane module according to an embodiment of the present invention is shown.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Track; 2. Trolley; 3. Material rack; 4. First laser module; 5. Second laser module; 6. MBR membrane module; 7. First aperture; 8. Second aperture. Detailed Implementation

[0032] Preferred embodiments of the present invention will now be described in more detail. While preferred embodiments of the present invention are described below, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to make the present invention more thorough and complete, and to fully convey the scope of the present invention to those skilled in the art.

[0033] like Figure 1-4 As shown, an automated handling device for MBR curtain membrane modules includes:

[0034] The handling robot arm moves cyclically between the loading and unloading areas via track 1.

[0035] The handling robotic arm includes:

[0036] Cart 2, the upper end of cart 2 is slidably connected to track 1, and the lower end of cart 2 is equipped with a gripping mechanism;

[0037] Material rack 3 includes a hook and a frame. The frame is detachably connected to the gripping mechanism via the hook. The frame is used to hold MBR curtain membrane modules.

[0038] The first laser module 4 is mounted on the frame and is able to form a first aperture 7 around the MBR curtain membrane module perpendicular to the ground.

[0039] The second laser module 5, which is mounted on the frame, is perpendicular to the ground and forms a second aperture 8 that surrounds the outer periphery of the first aperture 7. The second laser module 5 emits visible light.

[0040] The first alarm module is connected to the first laser module 4. It alarms when the MBR curtain membrane module shakes beyond the first aperture 7.

[0041] The second alarm module is connected to the second laser module 5 and alarms when a foreign object enters the second aperture 8.

[0042] Specifically, a robotic arm replaces manual movement of the MBR membrane module 6, while the rack 3 is used to hold the MBR membrane module 6. The first laser module 4 forms a first aperture 7 that surrounds the MBR membrane module 6, providing a safe space for the membrane module 6 to move and sway. When the sway is too large, the first alarm module sounds an alarm to alert the worker. The second laser module 5 forms a second aperture 8 that surrounds the first aperture 7 to alert personnel. At the same time, when a worker or foreign object enters the second aperture 8, the second alarm module sounds an alarm to alert personnel to avoid scratching the MBR membrane module 6.

[0043] Furthermore, a visual probe can be directly installed on the material rack 3 to monitor the status of the MBR membrane module 6 and its surrounding environment.

[0044] In this embodiment, the gripping mechanism is a robotic arm.

[0045] Specifically, the grasping and releasing actions are performed by a robotic arm.

[0046] In this embodiment, both the loading area and the unloading area are equipped with storage racks and transfer robots. The storage racks are used to store empty racks 3 and racks 3 with MBR module components. The transfer robot is equipped with a vision probe, which can automatically find and grab the racks 3 on the moving storage racks to the grabbing mechanism.

[0047] Specifically, by setting up storage racks and transfer robots in the loading and unloading areas to replace manual labor, automated assembly line operations are adapted.

[0048] In this embodiment, a controller is also included. Multiple handling robotic arms are spaced apart on the track 1, and the controller is used to control the independent movement of each handling robotic arm.

[0049] Specifically, each of the small vehicles 2 is equipped with a safe distance and proximity alarm, which can trigger an emergency stop if they get too close. The small vehicle 2 is also set to stop immediately after either the first or second alarm module sounds.

[0050] In this embodiment, the first alarm module includes at least a light module.

[0051] Specifically, a handling robotic arm that uses a lighting module for easy and quick location of alarms.

[0052] In this embodiment, the first alarm module further includes a tension sensing module.

[0053] Specifically, the tension sensing module monitors the force on the material rack 3 to confirm whether the MBR membrane module 6 has fallen off or has foreign objects stuck to it.

[0054] Furthermore, a tension sensing module is installed between the hook and the frame to monitor whether there is an MBR membrane module 6 on the frame and its sway amplitude.

[0055] In this embodiment, the second alarm module includes at least a sound module.

[0056] Specifically, the second alarm module is mainly for personnel. The sound alarm is direct and effective, and is easier for people to receive than the light alarm, avoiding visual obstruction that causes the alarm to be ignored.

[0057] In this embodiment, the second aperture 8 is set in accordance with the first aperture 7.

[0058] Specifically, the first aperture 7 limits the appropriate swaying area of ​​the MBR membrane module 6, and the second aperture 8 is set according to the shape to avoid excessive or overly large area protection, reducing wasteful landing and unnecessary avoidance alarms.

[0059] In this embodiment, the MBR curtain membrane module 6 is sheet-shaped and is suspended centered on the material rack 3, located in the middle of the first aperture 7. The first aperture 7 is a rectangular aperture, the width of which is 1.5 times the width of the MBR curtain membrane module 6, and the length of which is 0.25 times the length of the MBR curtain membrane module 6.

[0060] Specifically, the appropriate range of the first aperture 7 is set according to the path of track 1, the material rack 3, and the attitude of the MBR membrane module 6.

[0061] For example, the MBR membrane module 6 is 2m long and 0.6m wide. When folded and suspended, it is 1m long. This means that the first aperture 7 is 0.9m wide and 0.5m long.

[0062] In this embodiment, the material rack 3 is a rectangular ring, and its length direction is consistent with the axis direction of the track 1.

[0063] Specifically, the MBR membrane module 6 moves along the width direction to reduce the amplitude of swaying.

[0064] In this embodiment, an automated handling device for MBR curtain membrane modules is used, taking a sheet-like MBR curtain membrane module 6 as an example. The handling robotic arm picks up the rack 3 with the MBR membrane module 6 suspended on it in the loading area, replacing manual handling. During the movement of the handling robotic arm along the track 1, if the MBR curtain membrane module 6 shakes excessively or is disturbed by airflow beyond the first aperture 7, the first alarm will sound to prevent excessive deformation; if the MBR curtain membrane module 6 is interfered with during the journey, or if personnel or foreign objects enter the range of the second aperture 8, the second alarm will sound to ensure the stability and safety of the MBR curtain membrane module 6 during the transfer process and to prevent scratch damage.

[0065] The various embodiments of the present invention have been described above. These descriptions are exemplary and not exhaustive, nor are they limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments.

Claims

1. An automatic handling device for MBR curtain membrane modules, characterized in that: include: A handling robot arm, which circulates between a loading area and a unloading area via a track; The handling robot arm comprises: A trolley, the upper end of which is slidably connected to the track, and the lower end of which is provided with a grabbing mechanism; A material rack, the material rack comprising a hook head and a frame, the frame being detachably connected to the grabbing mechanism via the hook head, and the frame being used to place the MBR curtain membrane group; A first laser module, which is disposed on the frame and is capable of forming a first aperture around the MBR curtain membrane group vertically on the ground; a second laser module, wherein the first laser module is disposed on the frame and is capable of forming a second aperture spaced vertically from the ground and surrounding the outer periphery of the first aperture, and the second laser module emits visible light; A first alarm module, wherein the first alarm module is connected to the first laser module and alarms when the MBR curtain film group shakes beyond the first aperture; A second alarm module is connected to the second laser module and alarms when a foreign object invades the second aperture.

2. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: The grasping mechanism is a manipulator.

3. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: The loading area and the unloading area are both provided with storage racks and transfer robots. The storage racks are used to store empty racks and racks mounted with MBR module assemblies. The transfer robot is provided with a visual probe that can automatically find, grasp and move the racks on the storage racks to the grasping mechanism.

4. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: It also includes a controller. A plurality of the transport robotic arms are arranged at intervals on the track. The controller is used to control the independent movement of each of the transport robotic arms.

5. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: The first alarm module at least includes a lighting module.

6. The MBR curtain membrane module automatic handling device according to claim 5, characterized in that: The first alarm module also includes a tension sensing module.

7. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: The second alarm module at least includes a sound module.

8. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: The second aperture is arranged in a manner similar to the first aperture.

9. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: The MBR curtain membrane assembly is in sheet form and is centrally suspended on the material rack and located in the middle of the first aperture. The first aperture is a rectangular aperture whose width is 1.5 times the width of the MBR curtain membrane assembly and whose length is 0.25 times the length of the MBR curtain membrane assembly.

10. The MBR curtain membrane module automatic handling device according to claim 1, characterized in that: The material rack is in the shape of a rectangular ring, and its length direction is consistent with the axial direction of the track.

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