Automatic discharging mechanism for filter press

Abstract

The utility model belongs to the field of filter press unloading, specifically speaking is a kind of automatic unloading mechanism for filter press, it includes: AGV operation platform, the top fixedly connected with running track of AGV operation platform, the middle part fixedly connected with the frame of the top of AGV operation platform is quilted;Unloading assembly, the unloading assembly is set in the top of AGV operation platform.The utility model through automatic guided vehicle and 3D vision sensor can be accurate and efficient to the filter cake of filter press assembly any position unloading, and at this time can further be identified to the surface of filter press assembly through 3D vision sensor, avoid the filter cake of the surface of filter press assembly to have residual not to clean completely, to improve the cleaning effect to filter cake, and through the cooperation of collaborative robot and water spray pipe, can realize automatic unloading, to completely replace the existing manual unloading work, and then greatly improved work efficiency.

Description

Technical Field

[0001] This utility model relates to the field of filter press unloading, specifically an automatic unloading mechanism for filter presses. Background Technology

[0002] As a core piece of equipment for solid-liquid separation, filter presses are widely used in mining, chemical, and environmental protection industries. In solid-liquid separation processes in these fields, after filtration, the pressure plate is opened, and most of the filter cake falls off automatically. However, a small amount of residual filter cake needs to be manually scraped off by the operator to facilitate subsequent filtration operations.

[0003] Currently, when operators scrape off the residual filter cake, they are easily exposed to highly corrosive media with temperatures exceeding 60 degrees Celsius and concentrations exceeding 20 mg / m³. 3 The dusty environment of the filter press leads to significant occupational health hazards. While using automated equipment for cleaning increases costs, existing fixed robotic arms have a positioning accuracy of less than ±3mm and poor flexibility, making it difficult to cope with the challenges of filter plate thermal deformation and complex material characteristics. Furthermore, existing AGV solutions do not fully integrate the material identification requirements of the filter press unloading process and cannot determine whether there are any residues after unloading, resulting in low material unloading efficiency. Therefore, an automatic unloading mechanism for filter presses is proposed to address the above problems. Utility Model Content

[0004] In order to overcome the shortcomings of the existing technology and avoid the problem of low filter cake unloading efficiency of the filter press, this utility model proposes an automatic unloading mechanism for the filter press.

[0005] The technical solution adopted by this utility model to solve its technical problem is: an automatic unloading mechanism for a filter press, comprising:

[0006] An AGV operating platform, wherein a running track is fixedly connected to the top of the AGV operating platform, and a truss is fixedly connected to the middle of the top of the AGV operating platform;

[0007] The unloading assembly is located at the top of the AGV running platform. The surface of the unloading assembly is equipped with a 3D vision sensor. Filter press assemblies are installed at both the left and right ends of the AGV running platform.

[0008] The unloading assembly includes an automated guided vehicle (AGV) slidably connected to the top of the AGV operating platform. A collaborative robot is mounted on the top of the AGV. A connecting flange is fixedly connected to the end of the collaborative robot away from the AGV. A clamping member is fixedly connected to the end of the connecting flange away from the collaborative robot. A hollow connector is provided at the end of the clamping member away from the connecting flange. A water spray pipe is fixedly connected to the end of the hollow connector away from the clamping member. A nozzle is fixedly connected to the end of the water spray pipe away from the hollow connector. A water inlet pipe is fixedly connected to the surface of the hollow connector.

[0009] Preferably, the running track is set on the left and right sides and the rear side of the top of the AGV running platform. The automatic guided vehicle is rolled inside the running track, and the automatic guided vehicle can be controlled to move on the top of the running track at the top of the AGV running platform, thereby washing and unloading the filter cake inside the filter press assembly.

[0010] Preferably, the collaborative robot is a CGXi-G20 six-axis robot, and the 3D vision sensor is fixedly connected to the surface of the sixth axis of the collaborative robot, which can control the collaborative robot to adjust the angle of the 3D vision sensor.

[0011] Preferably, the base of the collaborative robot is fixedly connected to the top of the automated guided vehicle, and the clamping member is fixedly connected to the sixth axis of the collaborative robot.

[0012] Preferably, both the spray pipe and the inlet pipe are connected to the hollow connector. The inlet pipe is equipped with an electronic valve, which is electrically connected to a control switch via a wireless control module. The electronic valve can be remotely controlled to control the flow inside the inlet pipe.

[0013] Preferably, the end of the water inlet fitting away from the hollow connector is fitted with a water pipe, which is located on the surface of the quilt. During the movement of the automated guided vehicle, the water pipe is positioned on the surface of the quilt to avoid scattering.

[0014] Preferably, the 3D vision sensor uses the SCAPE Bin-Picking system, which has a working distance of 355–842 mm, a near field of view of 369*311 mm@355 mm, and a far field of view of 856*785 mm@842 mm.

[0015] Preferably, the field of view of the 3D vision sensor is adapted to face the two filter press components, and the 3D vision sensor can identify the filter cake inside the pressure plate of the filter press component.

[0016] The advantages of this utility model are:

[0017] This invention enables precise and efficient unloading of filter cake from any position on the filter press assembly using an automated guided vehicle and a 3D vision sensor. Furthermore, the 3D vision sensor can further identify the surface of the filter press assembly, preventing any residual filter cake from remaining and improving the cleaning effect. The collaborative use of a robot and water spray pipes achieves automated unloading, completely replacing manual unloading and significantly improving work efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model 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 some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the surface structure of the AGV operating platform of this utility model;

[0021] Figure 3 This is a schematic diagram of the surface structure of the AGV of this utility model;

[0022] Figure 4 This is a schematic diagram of the field of view of the 3D vision sensor of this utility model.

[0023] In the diagram: 1. AGV running platform; 21. Running track; 22. Quilting frame; 3. Unloading assembly; 31. Automated Guided Vehicle; 32. Collaborative robot; 33. Connecting flange; 34. Clamping component; 35. Hollow connector; 36. Water spray pipe; 37. Nozzle; 38. Water inlet pipe fitting; 4. 3D vision sensor; 5. Filter press assembly. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0026] This application discloses an automatic unloading mechanism for a filter press. (Refer to...) Figure 1 and Figure 4 An automatic unloading mechanism for a filter press, comprising:

[0027] AGV running platform 1, with a running track 21 fixedly connected to the top of AGV running platform 1, and a truss 22 fixedly connected to the middle of the top of AGV running platform 1;

[0028] The unloading assembly 3 is located at the top of the AGV running platform 1. The surface of the unloading assembly 3 is equipped with a 3D vision sensor 4. The 3D vision sensor 4 uses the SCAPE Bin-Picking system, with a working distance of 355~842mm, a near field of view of 369*311mm@355mm, and a far field of view of 856*785mm@842mm. Filter press assemblies 5 are set at both ends of the AGV running platform 1. The field of view of the 3D vision sensor 4 is adapted to face the two filter press assemblies 5. The 3D vision sensor 4 can identify the filter cake inside the pressure plate of the filter press assembly 5.

[0029] Reference Figures 2-3 The unloading assembly 3 includes an automatic guide vehicle 31 slidably connected to the top of the AGV running platform 1. The running track 21 is set on the left, right and rear sides of the top of the AGV running platform 1. The automatic guide vehicle 31 is slidably connected to the inside of the running track 21. The automatic guide vehicle 31 can be controlled to move on the top of the running track 21 at the top of the AGV running platform 1, thereby washing and unloading the filter cake inside the filter press assembly 5. A collaborative robot 32 is set on the top of the automatic guide vehicle 31. The collaborative robot 32 is a CGXi-G20 six-axis robot. A 3D vision sensor 4 is fixedly connected to the sixth axis surface of the collaborative robot 32. The collaborative robot 32 can be controlled to adjust the angle of the 3D vision sensor 4. A connecting flange 33 is fixedly connected to the end of the collaborative robot 32 away from the automatic guide vehicle 31. A clamping member 34 is fixedly connected to the end of the connecting flange 33 away from the collaborative robot 32. The base of the collaborative robot 32 is fixedly connected to the top of the automatic guide vehicle 31. The clamping member 34 is fixedly connected to the sixth axis of the collaborative robot 32.

[0030] Reference Figures 2-4A hollow connector 35 is provided at the end of the clamping member 34 away from the connecting flange 33. A water spray pipe 36 is fixedly connected to the end of the hollow connector 35 away from the clamping member 34. A nozzle 37 is fixedly connected to the end of the water spray pipe 36 away from the hollow connector 35. A water inlet pipe 38 is fixedly connected to the surface of the hollow connector 35. Both the water spray pipe 36 and the water inlet pipe 38 are connected to the hollow connector 35. An electronic valve is provided inside the water inlet pipe 38. The electronic valve is electrically connected to a control switch through a wireless control module, which can remotely control the electronic valve to control the flow inside the water inlet pipe 38. A water pipe is adapted to the end of the water inlet pipe 38 away from the hollow connector 35. The water pipe is adapted to be located on the surface of the truss 22. During the movement of the automatic guided vehicle 31, the water pipe is placed on the surface of the truss 22 to avoid scattering.

[0031] Working principle: After the operator performs solid-liquid separation using filter press component 5, the filter cake produced by the separation is located inside filter press component 5;

[0032] At this point, the operator controls the automated guided vehicle 31 to move on top of the running track 21 on the AGV running platform 1. When the automated guided vehicle 31 moves to the position corresponding to the filter press assembly 5, the orientation of the water spray pipe 36 and the nozzle 37 can be manually adjusted to complete the adjustment of the nozzle 37. Then, the collaborative robot 32 is adjusted to control the orientation of the 3D vision sensor 4 until the recognition field of the 3D vision sensor 4 is facing the filter press assembly 5. At this time, the operator opens the 3D vision sensor 4 to identify the interior of the filter press assembly 5 to determine whether there are any defects inside the filter press assembly 5. The filter cake and residual filter cake are left behind. Then, the operator can inject water through the water pipe. At this time, the water flows through the water pipe, the water inlet fitting 38 and the hollow connector 35 in sequence and enters the interior of the water spray pipe 36. Then it is sprayed out through the nozzle 37. At this time, the water flow is sprayed onto the filter cake inside the filter press assembly 5 until the filter cake in that part of the filter press assembly 5 is washed clean. Then, the 3D vision sensor 4 is driven to identify the position of the filter press assembly 5. If there is still filter cake remaining in that part of the filter press assembly 5, the above steps are repeated to wash that part of the filter press assembly 5 until the current position of the filter press assembly 5 is washed clean.

[0033] Then, the filter cake remaining in various locations inside the filter press assembly 5 is rinsed using the above steps, and this process is repeated to achieve the effect of unloading.

[0034] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. An automatic unloading mechanism for a filter press, characterized in that: include: An AGV running platform (1) is provided, with a running track (21) fixedly connected to the top of the AGV running platform (1) and a truss (22) fixedly connected to the middle of the top of the AGV running platform (1). The unloading assembly (3) is set at the top of the AGV running platform (1). The surface of the unloading assembly (3) is provided with a 3D vision sensor (4). Filter press assemblies (5) are provided at both the left and right ends of the AGV running platform (1). The unloading assembly (3) includes an automated guided vehicle (31) slidably connected to the top of the AGV operating platform (1). A collaborative robot (32) is provided on the top of the automated guided vehicle (31). A connecting flange (33) is fixedly connected to the end of the collaborative robot (32) away from the automated guided vehicle (31). A clamping member (34) is fixedly connected to the end of the connecting flange (33) away from the collaborative robot (32). A hollow connector (35) is provided at the end of the clamping member (34) away from the connecting flange (33). A water spray pipe (36) is fixedly connected to the end of the hollow connector (35) away from the clamping member (34). A nozzle (37) is fixedly connected to the end of the water spray pipe (36) away from the hollow connector (35). A water inlet pipe (38) is fixedly connected to the surface of the hollow connector (35).

2. The automatic unloading mechanism for a filter press according to claim 1, characterized in that: The running track (21) is set on the left and right sides and the rear side of the top of the AGV running platform (1), and the automatic guided vehicle (31) is rolled inside the running track (21).

3. The automatic unloading mechanism for a filter press according to claim 1, characterized in that: The collaborative robot (32) is a CGXi-G20 six-axis robot, and the 3D vision sensor (4) is fixedly connected to the sixth axis surface of the collaborative robot (32).

4. The automatic unloading mechanism for a filter press according to claim 1, characterized in that: The base of the collaborative robot (32) is fixedly connected to the top of the automated guided vehicle (31), and the clamping member (34) is fixedly connected to the end shaft of the collaborative robot (32).

5. The automatic unloading mechanism for a filter press according to claim 1, characterized in that: The water spray pipe (36) and the water inlet pipe (38) are both connected to the hollow connector (35). The water inlet pipe (38) is equipped with an electronic valve inside, and the electronic valve is electrically connected to a control switch via a wireless control module.

6. The automatic unloading mechanism for a filter press according to claim 1, characterized in that: The end of the water inlet fitting (38) away from the hollow connector (35) is fitted with a water pipe, which is located on the surface of the quilt (22).

7. The automatic unloading mechanism for a filter press according to claim 1, characterized in that: The 3D vision sensor (4) uses the SCAPE Bin-Picking system, with a working distance of 355 to 842 mm, a near field of view of 369*311 mm@355 mm, and a far field of view of 856*785 mm@842 mm.

8. The automatic unloading mechanism for a filter press according to claim 1, characterized in that: The field of view of the 3D vision sensor (4) is adapted to face the two filter press components (5).

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