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CN-121971898-A - Robot system and method for filter cake stripping of filter press

CN121971898ACN 121971898 ACN121971898 ACN 121971898ACN-121971898-A

Abstract

The invention discloses a robot system for stripping filter cakes of a filter press, which utilizes the flexibility of a robot, combines with automatic technologies such as a PLC control system, a positioning sensor and the like, replaces the traditional manual handheld shovel blade operation mode, solves the problem of difficult stripping of filter cakes of the filter press, greatly reduces the manual workload, remarkably improves the equipment utilization rate of the filter press and the stability of a discharging procedure, and reduces the production cost.

Inventors

  • LI ZHONGWEN
  • LI XIANG
  • LUO YI
  • WU YAOPENG
  • CHEN QIANG
  • MI XIN
  • XIAO XISHENG

Assignees

  • 山西金宇科林科技有限公司

Dates

Publication Date
20260505
Application Date
20260317

Claims (9)

  1. 1. A robotic system for filter cake stripping in a filter press, comprising: A robot unit (1), the robot unit (1) comprising a robot body, a robot controller driving the robot body, and a cable connecting the robot body and the robot controller; the filter cake scraping mechanism (2) is arranged on the robot body through a connecting flange and comprises a scraping support, a floating scraping head arranged at the tail end of the scraping support and a moment detection sensor for detecting the stress state of the scraping, wherein the floating scraping head is made of soft materials; the robot walking ground rail (3) is provided with the robot unit, and comprises a servo motor, a precision speed reducer driven by the servo motor, a gear rack transmission mechanism, a lubrication system and a drag chain for accommodating cables, wherein the drag chain is used for driving the robot unit to horizontally move along the length direction of the ground rail; The positioning control system (4) comprises a programmable logic controller, an electric control cabinet, a touch screen and a positioning sensor, wherein the touch screen and the positioning sensor are electrically connected with the programmable logic controller, and the programmable logic controller is in communication connection with the robot controller and the filter press control system, is used for receiving a filter press state signal, processing a ranging signal of the positioning sensor and cooperatively controlling action logic of the robot unit and a robot walking ground rail.
  2. 2. The robot system for filter cake stripping according to claim 1, characterized in that the robot body is of the type R-2000iC/125L, the robot body having a load capacity of at least 125KG and an arm span of at least 3100 mm.
  3. 3. The robot system for filter cake stripping of a filter press according to claim 1, characterized in that a spatula bracket of the filter cake spatula mechanism (2) is welded by adopting a high-strength steel structure, and the floating spatula head is made of nylon.
  4. 4. The robotic system for filter cake stripping of a filter press of claim 1, wherein: The positioning sensor is used for measuring the distance between the two sides of the spatula and the filter plate of the filter press and sending a distance signal to the programmable logic controller.
  5. 5. The robot system for cake stripping in a filter press of claim 1, wherein the effective travel of the ground rail is at least 14000mm.
  6. 6. The robot system for filter cake stripping according to claim 1, characterized in that the robot system further comprises communication software matched with the robot controller for realizing data interaction between the positioning control system and the robot controller.
  7. 7. A method for filter cake stripping by a robotic system as claimed in claim 1, comprising the steps of, S1, after a filter plate of a filter press is pulled open, the positioning control system (4) receives a filter plate pulling-open in-place signal sent by the filter press control system, controls the robot walking ground rail to drive the robot unit (1) to move, and detects the edge of the filter plate by using the positioning sensor so that the robot unit (1) is positioned to a target filter plate position; s2, controlling the robot body to move, and positioning a floating shovel head of the filter cake scraping mechanism (2) to the edge of a filter cake by using the positioning sensor; S3, controlling the robot body to drive the floating shovel head to be abutted against the upper edge of the filter plate and continuously moving to the direction of the filter plate for a preset stroke, The floating mechanism of the floating shovel head is positioned at a middle floating position; S4, controlling the robot body to drive the floating shovel head to move according to a preset track, wherein the preset track comprises obliquely and reciprocally moving from outside to inside and from inside to outside and simultaneously downwards moving so as to strip a filter cake from a filter cloth; S5, controlling the robot body to drive the floating shovel head to move upwards to an initial position, and sending a filter cake stripping completion signal to the filter press control system by the positioning control system (4); s6, repeating the steps S1 to S5 until the filter cake stripping operation of all filter plates of the whole filter press is completed.
  8. 8. The method according to claim 7, wherein the preset travel is 20-30mm in step S3.
  9. 9. The method according to claim 7, wherein in step S4, the movement of the floating shovel head and the movement of the lower blade mechanism are adaptively adjusted by the positioning control system (4) according to the feedback signal of the torque detection sensor.

Description

Robot system and method for filter cake stripping of filter press Technical Field The invention relates to the technical field of kaolin equipment, in particular to a robot system and a method for stripping filter cakes of a filter press. Background In the kaolin processing industry, the slurry dewatering equipment commonly used for the filter press is difficult to automatically drop from the filter cloth or the filter plate because the kaolin mineral particles are thin and have strong plasticity, and the filter cake after the filter pressing and dewatering has the characteristics of high water content, large viscosity and strong adhesive force, The traditional filter cake stripping mode mainly depends on manual operation, namely, a worker holds Long Guachan by hand to scoop out filter cakes on a filter plate one by one, the operation mode is time-consuming and labor-consuming, has extremely high labor intensity, has higher requirements on physical strength and operation experience of the worker, often requires a plurality of workers to cooperatively operate during single unloading when facing a large-sized filter press, is limited by the inconsistency of manual operation, is difficult to ensure stripping efficiency, is easy to damage filter cloth due to uneven scraping, The invention uses the robot to install the scraping mechanism to scrape and peel the filter cake on the filter plate, thereby improving the efficiency of the filter press, reducing the workload of operators, saving the production cost and effectively solving the problems. Disclosure of Invention The invention aims to provide a robot for stripping filter cakes of a filter press, which aims to solve the problems of large manual work load and low efficiency of the existing filter press for removing the filter cakes. In order to achieve the aim, the invention provides a technical scheme that a robot system for stripping filter cakes of a filter press, The robot comprises a robot body, a robot controller driving the robot body and a cable connecting the robot body and the robot controller; the filter cake scraping mechanism is arranged on the robot body through a connecting flange and comprises a scraping support, a floating scraping head arranged at the tail end of the scraping support, and a moment detection sensor for detecting the stress state of the scraping, wherein the floating scraping head is made of soft materials; the robot walking ground rail is provided with the robot unit, and comprises a servo motor, a precision speed reducer driven by the servo motor, a gear rack transmission mechanism, a lubrication system and a drag chain for accommodating cables, wherein the drag chain is used for driving the robot unit to horizontally move along the length direction of the ground rail; the positioning control system comprises a programmable logic controller, an electric control cabinet, a touch screen and a positioning sensor, wherein the touch screen and the positioning sensor are electrically connected with the programmable logic controller, and the programmable logic controller is in communication connection with the robot controller and the filter press control system, and is used for receiving a filter press state signal, processing a ranging signal of the positioning sensor, and coordinating and controlling action logic of the robot unit and a robot walking ground rail. Preferably, the model of the robot body is R-2000iC/125L, and the robot body has a load capacity of at least 125KG and an arm span of at least 3100 mm. Preferably, the spatula support of the filter cake spatula mechanism is welded by adopting a high-strength steel structure, and the floating spatula head is made of nylon. Preferably, the positioning sensor is used for measuring the distance between the two sides of the spatula and the filter plate of the filter press and sending a distance signal to the programmable logic controller. Preferably, the effective travel of the ground rail is at least 14000mm. Preferably, the robot system further comprises communication software matched with the robot controller, and the communication software is used for realizing data interaction between the positioning control system and the robot controller. Compared with the prior art, the invention has the beneficial effects that: The flexibility of the robot is utilized, and the automatic technologies such as a PLC control system and a positioning sensor are combined, so that the traditional manual handheld shovel blade operation mode is replaced, the problem of difficulty in stripping filter cakes of the filter press is solved, the manual workload is greatly reduced, the equipment utilization rate of the filter press and the stability of a discharging procedure are remarkably improved, and the production cost is reduced. A method for stripping filter cakes of a filter press based on a robot system comprises the following steps, S1, after a filter plate of a filter press is pulled ope