CN106625568A - Hazardous chemical solution storage system for extraction of hazardous chemical solution - Google Patents
Hazardous chemical solution storage system for extraction of hazardous chemical solution Download PDFInfo
- Publication number
- CN106625568A CN106625568A CN201710073493.5A CN201710073493A CN106625568A CN 106625568 A CN106625568 A CN 106625568A CN 201710073493 A CN201710073493 A CN 201710073493A CN 106625568 A CN106625568 A CN 106625568A
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- Prior art keywords
- cup
- solution
- storage system
- dangerization
- control
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- 238000003860 storage Methods 0.000 title claims abstract description 63
- 238000000605 extraction Methods 0.000 title abstract description 14
- 239000000383 hazardous chemical Substances 0.000 title abstract 6
- 239000007788 liquid Substances 0.000 claims description 71
- 239000000284 extract Substances 0.000 claims description 13
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 11
- 230000002457 bidirectional effect Effects 0.000 claims description 9
- 230000007797 corrosion Effects 0.000 claims description 8
- 238000005260 corrosion Methods 0.000 claims description 8
- 230000005855 radiation Effects 0.000 claims description 8
- 239000010935 stainless steel Substances 0.000 claims description 6
- 229910001220 stainless steel Inorganic materials 0.000 claims description 6
- 239000000243 solution Substances 0.000 description 81
- 238000004891 communication Methods 0.000 description 37
- 238000000034 method Methods 0.000 description 19
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- 238000012544 monitoring process Methods 0.000 description 11
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
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- 230000015572 biosynthetic process Effects 0.000 description 2
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- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a hazardous chemical solution storage system for extraction of a hazardous chemical solution. The hazardous chemical solution storage system is characterized by comprising a storage body, solution taking measuring cups, weight sensors and a pneumatic device, wherein the solution taking measuring cups are arranged in the storage body; the weight sensors are arranged at the bottoms of the solution taking measuring cups; one end of the pneumatic device is connected with a PLC of a moving trolley, and the other end is connected with the storage body; and the weight sensors are connected with the PLC of the moving trolley. The hazardous chemical solution storage system has good expansibility and can be integrated with the moving trolley, a mechanical arm and the like effectively, thereby expanding the use field.
Description
Technical field
The present invention relates to automatic field, specifically a kind of danger solution storage system extracted for dangerization solution.
Background technology
The manufacturing, health care, nuclear test can produce a large amount of components and answer with many places of industry such as nuclear power, chemical metallurgy
The danger solution that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily causes serious injury to people, animal and environment.This
Class dangerization solution typically using isolation method store within the enclosed space, through collection storage, sampling detection, purified treatment with
And discharge etc. step, with dilution or solidify etc. method process after, be converted into the concentrate of small size and preserved, treat corrosivity
With radioactivity less than after maximum allowable discharge index, arranged and buried in environment or spread.The sampling inspection of dangerization solution
Survey is very important link in processing procedure, and this stage will be detected to the composition and content of dangerization solution, only fully
Effective dangerization solution processing methods can be just found after detection, only could be endangered after strict process and be reduced to most
It is low.
Dangerization solution sampling need on a small quantity extract solution when detecting using advanced ways and means, carry out composition and content point
Analysis.From the point of view of published record and data, most of dangerization solution is extracted to use and built based on the mode of vacsorb
Fixed dangerization solution extraction device, the device mainly by vavuum pump, suction pipe, controlling switch and shooting is first-class constitutes, with
Dangerization solution processing equipment is fixed on together the extraction that dangerization solution is somewhere completed in artificial presence, such device
Consider almost not using the accurate measure for extracting control, so being difficult to the quantitative and random of dangerization solution for stability
Sampling observation.Lack flexible extraction means and cannot accurate quantification become the treatment effeciency lifting of restriction dangerization solution the problems such as extract
Bottleneck, due to using fixed solution extraction device, it is impossible to move freely operation, when device breaks down or dangerization solution
In the case of change of component, fixed solution extraction device cannot be competent at sampling observation work, cause dangerization solution to process when serious temporary
Stop, production line stop, bring huge economic loss.
The Detection and Extraction of dangerization solution automatically extract equipment using fixed, and coordinating with other dangerization solution testing equipments makes
With complex structure, high cost do not have and be easy to carry and mobile danger solution store function substantially, can not be with such as machine
The automation equipment effective integration such as device people, it is flexible very poor.When a small amount of dangerization solution components of sampling observation and content is needed, generally require
The artificial liquid raising device for carrying interim storage dangerization solution enters high-risk environment, and not only operating efficiency is low, also brings huge
Potential safety hazard, lacks safe efficient, flexible danger solution storage device.
The content of the invention
To overcome the problem above of prior art presence, the invention provides a kind of dangerization for the extraction of dangerization solution is molten
Liquid storage system, the system can become efficient, flexible danger solution with the automation equipment effective integration such as robot
Storage system.
The present invention is realized by technical scheme below：
A kind of danger solution storage system extracted for dangerization solution, it is characterised in that：Including storage body, take liquid measure cup,
Weight sensor and pneumatic means；The liquid measure cup that takes is placed in storage body；The weight sensor is placed in and takes liquid measure
Cup bottom；Described pneumatic means one end is connected with moving cart PLC, and the other end is connected with storage body；The weight
Sensor is connected with moving cart PLC.
Further, the storage body includes that cavity volume body, moving cylinder, linkage, top pressure closure, sealing are soft
Pad；It is described to take liquid measure cup to be positioned over cavity volume sheet internal；The top pressure closure is connected by linkage with moving cylinder；It is described close
Envelope cushion is located at top pressure closure bottom, when top pressure closure is closed, for the rim of a cup that sealing takes liquid measure cup.
Further, the moving cylinder is made up of air rammer, cylinder block and pneumatic connector, air rammer and company
Linkage is formed by hinge and rotates secondary；Pneumatic connector is disposed with cylinder block, for connecting pneumatic means；Cylinder block
Bottom is formed by hinge with cavity volume body rear end face and rotates secondary.
Further, the pneumatic means includes digital electric magnet valve, bidirectional speed control valve, pressure-control valve；It is described
Digital electric magnet valve is connected with moving cart PLC；The pneumatic connector respectively with pressure-control valve and bidirectional speed
Control valve connection.
Further, the weight sensor is connected by A/D converter with mechanical arm moving cart PLC.
Further, the storage body is corrosion-resistant radiation-resistant stainless steel, and surface is laid with sheet lead.
Further, the storage body also includes that leakage accumulator tank, leakage reclaim cup, and the leakage accumulator tank is distributed in
Cavity volume body upper surface is taken near liquid measure cup circumference, and with leakage the danger solution that cup coordinates collection to miss is reclaimed
Compared with prior art, beneficial effects of the present invention are as follows：
The present invention can carry out long-term hermetically sealed to dangerization solution, be readily transported and process；Simple structure, low cost, Jing Guokang
Radiation corrosion-resistance treatment, can steady operation under various circumstances；Advanced automatic technology and information technology is introduced, is improved
The intelligent level of device, beneficial to effective management and control of dangerization solution transportation；Energy Remote operation, so as to make one and danger
It is environmentally isolated, hence it is evident that reduce the labour intensity and security risk of people, the working environment for making people is greatly improved；Autgmentability
It is good, field can be used so as to extend it with the effective integration such as moving cart, mechanical arm.
It is connected with linkage hinge by moving cylinder, is supported using small one and large one cuboid projection, pneumatic
Efficiently accomplish closing and the opening action of top pressure closure under the coordination control of device, the simple compact, overall dimensions of structure design compared with
Little, action response is quick.
It is not of the same race to store that design takes liquid measure cup with the supporting employing transparent toughened glass material of storage device body cavity volume
The liquid of class, and be threaded connection to be fixed on using rondelle resistance-strain type weight sensor and take liquid measure cup cavity volume bottom,
The dynamic weight for taking dangerization solution in liquid measure cup can be monitored the moment, the accurate quantification storage of dangerization solution is realized.
Moving cart PLC by pneumatic means control dangerization solution storage device on top pressure closure closing with
Open, and the weight for taking dangerization solution in liquid measure cup is obtained in real time by high-performance weight sensor, form the flexible control of closing
System processed, it is ensured that the Full-automatic flexible control of storing process.
Low inside and high outside leakproof rubber seal is designed on liquid measure cup taking, be placed below buffering and sealing function
Support cushion, while in cavity volume body upper surface design inverted trapezoidal leakage accumulator tank and in cavity volume body both sides leakage accumulator tank just
Cup is reclaimed in lower position design leakage, and such leak free design can prevent dangerization solution from entering inside cavity volume, protect weight sensor,
And reclaim the danger solution missed in time.
Storing body and adopt corrosion resistant stainless steel, and be laid with sheet lead material on surface carries out anti-spoke process, so that
Vitals is isolated with external environment condition, it is ensured that storage device normal time steady operation under more rugged environment.
Description of the drawings
Fig. 1 is the System Working Principle figure of the present invention.
Fig. 2 is the block diagram of system of the present invention.
Fig. 3 is the mobile robot structure chart of the present invention.
Fig. 4 is the mobile-robot system control structure figure of the present invention.
Fig. 5 is the control instruction and transmittance process network diagramming of the present invention.
Fig. 6 is the wireless telecommunication system network topological diagram of the present invention.
Fig. 7 is the supervisory control desk system hardware and software frame diagram of the present invention.
Fig. 8 is the supervisory control desk software and hardware network architecture of the present invention.
Fig. 9 is the supervisory control desk shape assumption diagram of the invention of the present invention.
Figure 10 is the moving cart system module block diagram of the present invention.
Figure 11 is the moving cart body interior structure chart of the present invention.
Figure 12 is the multi-joint mechanical arm system module block diagram of the present invention.
Figure 13 is the grip device system construction drawing of the present invention.
Figure 14 is the vision ultrasound examination composition and schematic diagram of the present invention.
Figure 15 is the danger solution memory system architecture figure of the present invention.
Figure 16 is the leak free design and cavity volume cut-away view of the present invention.
Figure 17 is the connection diagram of the present invention.
Specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
According to the characteristics of dangerization solution and the flow process extracted of automatic ration, it is considered to processing safety and function it is reliable real
It is existing, design dangerization solution automatic ration extraction system under a kind of high-risk environment based on mobile robot, operation principle such as Fig. 1 institutes
Show.Overall to adopt the detached thought of controlling organization and executing agency, mobile-robot system is placed on high-risk as executing agency
Environmental interior, supervisory control desk is placed on outside high-risk environment as controlling organization, and supervisory control desk passes through wireless network communication system reality
When control high-risk environment in mobile-robot system, complete extraction instruction transmission with real-time data communication, detection liquid fluid discharger
Automatically crawl and placement, travel path are planned automatically, multi items dangerization solution is automatically positioned and quantitatively extracts, dangerization solution safety
Storage and transport, unnecessary dangerization solution such as automatically processes at the function.
As shown in Figure 2：The system includes supervisory control desk system, wireless communication data Transmission system, moving cart system, many
Articulated mechanical arm system, multi-functional clamp system, vision ultrasonic wave detecting system, power-supply system etc..Wherein, moving cart, many
Articulated mechanical arm, multi-functional clamp, storage device and vision ultrasonic wave detecting system constitute mobile-robot system.
As shown in Figure 3：Execution unit is the mobile machine being made up of moving cart system and multi-joint mechanical arm system etc.
People.
Fig. 4 is the control structure figure of whole system, and supervisory control desk sends and real time data processing center as instruction, passes through
Communication module in real time with the main system such as moving cart system, multi-joint mechanical arm system, it is vision ultrasonic wave detecting system, multi-functional
The accessory system such as chucking appliance system and dangerization solution storage system is connected, and constitutes mobile robot control system under high-risk environment
System.
Specifically, supervisory control desk is connected with wireless mixing LAN by wired with wireless communication module, wireless telecommunications
Module is connected by Ethernet interface with the controller of moving cart system.Moving cart system is adopted with multi-joint mechanical arm system
With master-slave control mode, the i.e. controller of moving cart system as main website, the controller of multi-joint mechanical arm system as from
Stand, both are connected by Prifibus DP module interfaces, for performing mobile and operation behavior, and multi-joint mechanical arm pedestal
Installed in moving cart top nose.Dangerization solution storage system is arranged on moving cart top rear, its measuring cup weight sensing
Device and pneumostop lid magnetic valve are integrated by O/I modules with moving cart controller, are deposited safely for dangerization solution
Storage and carrying.Multi-functional clamp system is arranged on mechanical arm tail end, its detection sensor, pneumatic system magnetic valve etc. and passes through O/I
Module is integrated with mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.Inside moving cart
Energy of the power-supply system for needed for main system and accessory system provide mobile, operation, detection, by wireless charging device, lithium ion
The part of battery pack and power management module etc. three constitutes, and wherein power management module is by MCU micro control units, PMIC power supply pipes
Reason integrated circuit and various sensor groups into power control.
Fig. 5 is the control instruction and transmittance process network diagramming of the present invention, and system control instruction and transmittance process are described as, work
Supervisory control desk sends dangerization solution extracting parameter signal, action by instruction input with sending module Jing radio transmitting devices when making
Command signal to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its accessory system from
Start working after inspection is errorless.Moving cart according to instruction movement, complete sending action after assignment of mission instruct machinery to multi-joint
Arm, makes mechanical arm carry out corresponding dangerization solution and extracts and grasping manipulation, dangerization solution storage system while mechanical arm action
Control instruction cooperative mechanical arm according to moving cart works.In addition, vision ultrasonic wave detecting system by collection in worksite to regard
Frequency information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and battery status
Feed back to master control platform.
Fig. 6 is wireless telecommunication system network topological diagram, inside and outside high-risk environment, builds and is based on IEEE 802.11b/g/a/h
The WIFI wireless networks of communications protocol, by WIFI wireless networks be data medium, connection supervisory control desk, moving cart system,
Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., constitute control data, video data, the state under high-risk environment
Effective passage of the transmission such as data.
Communication system is mainly made up of wireless aps, wireless data transceiving device, LAN etc., and wherein LAN is to be based on
The Ethernet that IEEE802.3 communications protocol builds, supervisory control desk is directly connected to LAN by wired mode；Wireless aps and nothing
Line data source and sink is addressable device, and wireless aps are directly connected to LAN, wireless communication apparatus one by wired mode
End is connected with moving cart system, vision ultrasonic wave detecting system, power-supply system etc. by Ethernet interface, and the other end passes through
WIFI network is wirelessly connected with AP, so as to realize the high-speed transfer of control data, video data, status data.
Fig. 7 is the supervisory control desk system hardware and software frame diagram of the present invention, and supervisory control desk is by display, main control computer, reality
When the hardware such as communication server, data server, video server, network communication module and monitoring application system, back-end data
The software sharings such as storehouse, service software.It is wired with it is wireless mix LAN by way of with moving cart, multi-joint mechanical arm system
The real-time communication such as system, dangerization solution storage device, vision ultrasonic wave detecting system, obtains its state parameter, while send taking liquid
Information and movement instruction realize the Remote of mobile robot to modules.
Monitoring application system is developed based on windows platform, on main control computer, with basic data maintenance mould
Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module,
The big module of security protection alarm module and real-time data communication module etc. six.
Fig. 8 for supervisory control desk the software and hardware network architecture, main control computer, data server, video server etc. are with total
The form of line connects over ethernet, by network communication module, main control computer and each server real-time communication, is easy to prison
Control software carries out data query and process.Real-time communication server is installed above Communications service software, in time crawl master control meter
The instruction that calculation machine is assigned while capturing the status data and sensing data of subsystems feedback, and is stored to subsystems
On data server and video server.Installation relation type database on data server, provides data and deposits for monitoring software
Storage is supported, and real-time storage operations data, feedback data, basis safeguard that data, safe operation status data, transmission instruction are gone through
History data etc..Video information and ultrasonic height detection letter that video server real-time storage vision ultrasonic system is collected
Breath.
Fig. 9 is a kind of shape assumption diagram of the supervisory control desk of the present invention, outward appearance is designed using ergonomics thought, by two
Individual display, an operating desk and master control platform housing composition, two of which display one is used for visual control, a use
Send and receive in control instruction；Master control platform housing is made up of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, a radiation proof,
Corrosion-resistant effect.
Figure 10 be the present invention moving cart system module block diagram, mobile dress of the moving cart system as whole system
Put, including five major parts such as basic machine, control module, drive module, navigation module, communication module.
Figure 11 is the moving cart body interior structure chart of the present invention, and it is in cuboid that moving cart frame for movement is car load
Shape, vehicle body frame adopts aluminium alloy extrusions, carries out totally-enclosed radiation protection process, and the thick sheet lead conducts of 1 ~ 2mm are laid outside car body
Shielding material；Car top is main bearing part, and there is multi-joint mechanical arm installing hole forward position, installs multi-joint mechanical arm
Pedestal；Rearward position is provided with dangerization solution storage device to car body top, according to mechanical arm and storage device weight balancing cloth
Office；Car body the right and left is distributed with two pairs of symmetrical four McCrum wheels, constitutes the movable part of dolly；Car body directly to the right cloth
Wireless communication module and receiving and transmitting signal antenna are equipped with, make agv controller keep in communication with supervisory control desk unimpeded；Car interior is
Three layers of mounting structure, ground floor is upper strata, there is 1 multi-joint mechanical arm controller, 1 motion-control module, 4 servo-drives
Device, 1 set of wireless communication apparatus, 1 set of vision ultrasonic system processing means, the second layer is intermediate layer, there is 1 moving cart control
Device, 1 motion-control module, 4 servo-drivers, 1 set of pneumatic system, third layer is bottom, there is one group of lithium battery string and 1
Electric power controller.The angular direction of dolly bottom four is disposed with 4 McCrum wheel servomotors and motor reducer, centre position
It is disposed with navigation sensor and landmark sensor, a wireless charging receiver of a set of magnetic induction navigation.
Moving cart steering mechanism carries out moving of car control by the way of the four motorized wheels based on McCrum wheel
System.McCrum wheel is made up of two wheel hubs and a number of pony roll, using two ends supporting construction, little roller axis and wheel
Hub axis angle is ± 45 °, and both materials adopt corrosion-resistant radiation proof material.Two left-handed spiral configurations in four McCrum wheels
With two right-handed spiral configurations, in the way of two left two right four-wheels are arranged symmetrically moving cart car body the right and left is arranged on；Each wheat
Carat nurse wheel is direct-connected with a DC servo motor and motor reducer, by the speeds control different to four wheels, realizes
The motion of dolly different directions.
Control module：The Open Control pattern that moving cart is combined using host computer with slave computer, wherein host computer is
Supervisory control desk, slave computer is the PLC of moving cart.Moving of car control module using strong antijamming capability, have
The PLC of motion control capabilities, PLC storage inside has moving of car path and signal handler, on the one hand constantly receives magnetic conductance
Boat sensor, the navigation information of landmark sensor, by WIFI communication mode and supervisory control desk real-time communication, feed back in time little
The control instruction that car running state data and reception supervisory control desk send；On the other hand various signals are processed in time, it is defeated
Go out control signal to direct current servo driver.
Drive module：Moving cart is driven using DC servo motor driver and DC servo motor, DC servo electricity
Machine driver one end is connected with the motion-control module in moving cart PLC, and one end is connected with DC servo motor.
The motion-control module of PLC sends digital quantity high-speed pulse signal to servo-driver, and servo-driver adopts position
Control model produces the pwm signal of impulse form, Jing power amplification rear-guards according to the signal that control signal and servomotor feed back
Dynamic servomotor, the pulse and direction signal that servomotor sends according to servo-driver is started, stopped, being inverted and is become
The actions such as speed.
Navigation module：Magnetic induction is not high to the susceptibility of high-risk environment, therefore it is little to design movement by the way of magnetic stripe navigation
The navigation module of car, the forward position in dolly bottom is provided with magnetic navigation sensor and landmark sensor, pre- on ground for detecting
The guiding magnetic stripe and terrestrial reference magnetic stripe of fixed laying.Moving cart run when, magnetic navigation sensor perpendicular to magnetic stripe top certain distance,
The magnetic field intensity of collection magnetic stripe, judges magnetic stripe relative to magnetic navigation sensor deviation position, accordingly moving cart adjust automatically, really
Protect and moved ahead along magnetic stripe.Landmark sensor constantly reads terrestrial reference magnetic stripe, and judges run location accordingly and change running status.Terrestrial reference
Magnetic stripe is attached on the ground beside navigation magnetic stripe perpendicular to navigation magnetic stripe direction.
Communication module：Wireless communication module is installed in moving cart inside, and wireless communication module one end adopts WLAN
Standard agreement IEEE 802.11b/g/a/h, are connected with supervisory control desk real-time radio, and the liquid that takes that in time acquisition master control platform sends refers to
Order and movement instruction, while the state of moving cart and interconnected system is notified at once giving master control platform.Wireless communication module is another
One end is connected with moving cart PLC by Ethernet interface, takes liquid instruction and movement instruction by what master control platform sent in time
PLC is passed to, while the feedback signal that PLC is received is passed into supervisory control desk.
Figure 12 is the multi-joint mechanical arm system module block diagram of the present invention, and the multi-joint mechanical arm system is according to high-risk
Environment dangerization solution quantitatively extracts of feature design and integrates machinery, control, electric open chain link-type and right angle seat
Mark formula mixed type articulated robot, working range farthest reaches 2 meters, installed in moving cart top, has cooperated with moving cart
Lift into dangerization solution, dangerization solution transhipment, dangerization solution placement etc. work.Mainly include mechanical arm body, servo-drive with
And control section.Sheet lead is laid on the wherein surface such as each axle of mechanical arm body and servomotor, is placed on outside moving cart；Machine
The control section of tool arm and servo-drive are partially disposed in inside moving cart.
Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft, has four frees degree, wherein
It is secondary to rotate between pedestal and base, base and large arm, large arm and forearm, it is moving sets between forearm and end telescopic shaft, and
Angle remains 90 ° between forearm and end telescopic shaft.Pedestal adopts the hollow aluminum foundry goods of square-section, inside to install bottom
The parts such as DC servo drive motor, decelerator, bearing and the bearing block of seat.Base adopts the hollow aluminum of circular cross-section
Foundry goods, inside is provided with the parts such as DC servo drive motor, decelerator, bearing and the bearing block of large arm.Large arm is adopted
The hollow and thin-walled aluminum foundry goods of circular cross-section, inside is provided with DC servo drive motor, decelerator, bearing and the axle of forearm
The parts such as bearing.End telescopic shaft is made up of servomotor, Timing Belt, ball-screw and end effector, in ball-screw
Kinematic pair the inside makes feed screw nut produce rotation fortune in the case where the synchronized band of DC servo motor drives by the way of nut drives
It is dynamic, so as to drive leading screw to carry out the linear motion of vertical direction.
Multi-joint mechanical arm servo-driven module designs servo-driven module by the way of actuated control system, including straight
Stream servo driver of motor and DC servo motor, direct current motor servo driver and mechanical arm PLC and DC servo
Motor is connected, and the Drive Module of PLC sends digital quantity high-speed pulse signal to servo-driver, and servo-driver is adopted
The pwm signal of impulse form is produced according to the signal that control signal and servomotor feed back with position control mode, Jing power is put
Servomotor is driven after big.Servomotor is arranged on inside pedestal, base, large arm, forearm and end telescopic shaft, according to servo
The pulse and direction signal servomotor that driver sends is started, is stopped, being inverted and the action such as speed change.
Multi-joint mechanical arm control module is moving cart control using main website and the control model of slave station, wherein main website
Device, slave station is multi-joint mechanical arm controller, is attached by Profigbus DP agreements and the corresponding interface between the two.Move
Dynamic dolly PLC receives in time the control instruction that supervisory control desk sends, instead by WIFI communication mode and supervisory control desk real-time communication
Feedback running state data, while the controller real-time communication with multi-joint mechanical arm, assigns simple instruction, obtains mechanical arm work
Make state parameter.The control of multi-joint mechanical arm four axes motion is using strong antijamming capability, with multiaxis coordination control ability
PLC, PLC storage inside have mechanical arm crawl dangerization solution, store dangerization solution and transport dangerization solution control program
And signal handler.Mechanical arm system one side and moving cart real-time communication, receive in time the crawl control of dangerization solution and refer to
Order, back-to-back running status data；On the other hand various signals are processed in time, output control signal is to DC servo drive
Device.
Figure 13 be the present invention multi-functional clamp structure chart, the multi-functional clamp device, be one collection quantitative liquid getting and
Electricity, gas control device of the function in one is carried in gripping, and by bolt multi-joint mechanical arm end is rigidly attached at, outward appearance and interior
Portion's structure is as shown below.
Multi-functional clamp device include a chuck body, a tumbler, a pneumatic scroll chuck device and
One quantitative liquid taking device.
Multi-functional clamp device is controlled by mechanical arm PLC, and course of action is described as multi-joint mechanical arm PLC controls
Device receives taking liquid instruction or capturing instruction for moving cart PLC transmission, if taking liquid instruction, then multi-joint mechanical arm
Quantitative liquid taking device is gone to controller control tumbler position straight down, then the pneumatic electricity for controlling quantitative liquid taking device
Magnet valve is opened, then dangerization solution progresses into quantitative liquid taking device.At the same time, the gas flow letter in quantitative liquid taking device
Breath, pressure information, dangerization solution height information, to multi-joint mechanical arm controller, are reached and are set by respective sensor rapid feedback
Stopping action after quantitative.If crawl instruction, then multi-joint mechanical arm controller control tumbler turns in scroll chuck device
To position straight down, then scroll chuck air-operated solenoid valve opening is controlled, realize opening and tightening up for scroll chuck, reached and grab
The purpose for taking, at the same time, the clip pressure force information in scroll chuck device is by respective sensor rapid feedback to many passes
The mechanical arm controller of section, coordinates with air-operated solenoid valve, realizes the precise control of grasp force.
The chuck body front is in octagon, is divided into symmetrical two halves, and the plane of symmetry is with the horizontal 45 ° of angles.Fixture
Body upper part is connected to the shaft end of multi-joint mechanical arm the 4th by flange, and a self-centering three is installed in the horizontal direction in bottom
Dog chuck device, installs in vertical direction a quantitative liquid taking device.
The tumbler is made up of rotary cylinder, cylinder piston, cylinder fixture, silencer, position sensor etc., rotation
Rotaring cylinder is arranged in the chuck body first half by cylinder fixture, and cylinder piston is fixedly linked with chuck body lower half,
Power is provided by rotary cylinder during work, realizes being relatively rotated between chuck body two halves by 180 ° of rotations of cylinder, so as to reality
Existing scroll chuck device is changed with the instrument of quantitative liquid taking device.Position sensor is used for detecting whether cylinder piston have rotated
180 ° of positions, and information transmission will give multi-joint mechanical arm PLC in place.
The pneumatic scroll chuck device, is the cylindrical jaw arrangement of pneumatic self-centering three, by body, 3 claws, 3 pressures
Force snesor, a set of pneumatic means composition.
In cylinder, there are gas circuit, pneumatic connector and claw gathering sill in inside to scroll chuck device body；3 claws are equal
Cloth, using stainless steel material, above studs with anti-skidding acid and alkali-resistance flexible material on cylindrical body claw gathering sill, is easy to liquid taking cup
Gripping operation.Pressure sensor is arranged on claw inner side, is protected by anti-skidding acid and alkali-resistance flexible material, holds for monitoring crawl
The grasp force during measuring cup of dangerization solution, and pressure information is passed into the PLC of multi-joint mechanical arm.
Scroll chuck pneumatic means includes one 35 logical digital electric magnet valves, two bidirectional speed control valves, a pressures
Force control valve and pipeline.Gas circuit annexation is that one first gas circuit is connected by pipeline with pressure-control valve, then with electromagnetism
Valve is connected, and is divided into two gas circuits, and then two gas circuit pipelines are connected with two bidirectional speeds control valves, last two pipelines and
Pneumatic connector on body is connected.Wherein digital electric magnet valve is connected with the PLC of multi-joint mechanical arm, by multi-joint
The PLC control digital electric magnet valve of mechanical arm, and then the break-make of whole piece gas circuit is controlled, claw is realized while tightening up and opening
The function of opening.Pneumatic means is arranged on moving cart inner second layer.
Scroll chuck is threaded on octagon chuck body one side by I-shaped flange, three-jaw during off working state
Chuck axis is parallel to the ground, and scroll chuck axis is perpendicular to the ground during working condition.
The quantitative liquid taking device, including one take liquid container body, a set of detection sensing device, a set of pneumatic means.
It is a cylindric Corrosion Resistant Frp container to take liquid container body, and body left upper portion has a pneumatic system to connect
Sensing device is detected in interface, body right side for liquid level position, and body interior is moved piston and is divided into upper and lower vessel.Upper container
Room is gas compartment, and two spring fixed end and a compression spring are installed in the inside, it is ensured that gas compartment stably effectively works.Under
Vessel is liquid chamber, for holding the danger solution of extraction.It is mobile piston in the middle of body, sealing ring is placed at piston two,
Sealing ring can effectively ensure that the cut-off of gas compartment and liquid chamber.
Detection sensing device is a set of liquid level position detection sensor, in strip, is pasted onto and takes liquid container body right side,
The elevation information of liquid level during for detecting Liquid extracting, Jing after data processing and conversion multi-joint mechanical arm is passed to
PLC.The liquid level that liquid level position detection sensor is made up of bonding agent, solid capacitor component, data converting circuit etc.
Detection means, solid capacitor component is necessarily combined by N group solid-state alminium electrolytic condenser Jing, can be sent out according to the height change of liquid level
Raw capacitance size changes, then capacitance size change is converted into digital quantity by Jing data converting circuits, so as to realize the real-time of liquid level
Monitoring.Solid capacitor component is pasted onto by bonding agent and takes liquid container body right side, and one layer of corrosion-resistant radiation proof is laid in outside
Sheet lead material.
Pneumatic means includes one 33 logical digital electric magnet valve, vacuum generator component, a bidirectional speed controls
Valve processed, flow sensor, a baroceptor and a pipeline, wherein 33 logical digital electric magnet valves have two outlets
Mouthful, vacuum generator component has an air inlet, a gas outlet.For magnetic valve, one of them goes out the connected mode of pneumatic means
Gas port is connected with the air inlet of vacuum generator component, and another gas outlet is connected with the gas outlet of vacuum generator component, together
When vacuum generator component gas outlet be connected with speed control valve, centre connection one monitoring gas circuit in gas flow rate flow
Sensor, speed control valve takes liquid container body and is connected, the baroceptor of one monitoring airline pressure of centre connection.Pneumatic dress
It is equipped with a gas source air inlet and a gas outlet, gas source air inlet connection external air source, in gas outlet and quantitative liquid taking device
The liquid container body that takes be connected, the control end of the digital electric magnet valve in pneumatic means and the PLC of multi-joint mechanical arm
It is connected, the PLC for realizing multi-joint mechanical arm controls the break-make of pneumatic means gas circuit.The working method of pneumatic means is that source of the gas Jing is electric
Magnet valve produces malleation or negative pressure when flowing through vacuum generator component, is more than or less than the pressure taken in liquid container bulk gas room
Pressure in liquid room, piston is moved downward or upward under pressure differential effect, realizes the accurate extraction and discharge of liquid.It is pneumatic
Device is arranged on moving cart inner second layer.
Quantitative liquid taking device by I-shaped flange be threaded in octagon chuck body on one side on, during working condition its
Central axis is vertical with ground holding.
Figure 14 is the vision ultrasound examination fundamental diagram of the present invention, and vision ultrasonic wave detecting system is a set of wireless
Long distance control system is mobile-robot system " eyes " using obstacle on monitoring mobile route, calculate mobile robot
Locus.The system is mainly by supervisory control desk, wireless communication module and digital sampling and processing, wherein data acquisition
Processing module is made up of processing unit, vision module and ultrasonic wave module.
Vision ultrasonic wave detecting system merges vision and ultrasonic technology, makes vision module coordinate work with ultrasonic wave module
Make, calculate locus coordinate.Its principle is that the two-dimensional image information under high-risk environment, Jing images are obtained with industrial CCD camera
Process is converted into plane XY coordinate information, then obtains the information in short transverse, i.e. Z coordinate information by ultrasonic sensor, and two
Locus coordinate can be obtained after person's logical process, moving cart system is accurately positioned according to spatial coordinated information.
Supervisory control desk has vision ultrasonic wave monitoring module, by wireless WIFI and wireless communication module and data acquisition module
It is connected, the processing unit in data acquisition module adopts embedded ARM processor, obtains what industrial CCD collected by camera was arrived in real time
The elevation information that video information and ultrasonic displacement sensor are collected, and by Ethernet interface and wireless communication module, will
Data are placed on video server by data feedback to supervisory control desk, supervisory control desk, and the vision ultrasonic wave for being easy to supervisory control desk is monitored
Module carries out environment visual control and image space coordinate is calculated.
Data acquisition processing device include two pieces of right angle installing plates, image pick-up card, 2 industrial CCD sensors, one
Individual ultrasonic displacement sensor, ultrasonic wave analog-digital commutator, an embedded ARM processor and a wireless telecommunications
Device, wherein ccd sensor are connected by image pick-up card with embedded ARM processor, and ultrasonic sensor is turned by modulus
Changing device is connected with embedded ARM processor, is then inserted into formula arm processor and is connected with wireless communication apparatus.Right angle installing plate
It is one of between mechanical arm tail end and grip device, an industrial CCD sensor and a ultrasound are installed in its front
Ripple displacement transducer, both coordinate the data acquisition of the height and position for carrying out plan-position and dangerization liquid level of solution.Another piece straight
Angle installing plate is arranged on grip device right side, and an industrial CCD sensor is installed thereon, quantitative for monitoring dangerization solution in real time
Liquid level in extraction process and device.
Image pick-up card, ultrasonic wave analog-digital commutator, embedded ARM processor, wireless communication apparatus are arranged on movement
Car interior, wherein wireless communication apparatus are by wireless WIFI using 802.11b/g/a/h standard agreements and supervisory control desk video
Ultrasound examination module real-time radio connects, and image information and ultrasonic digital information are passed in time.
Figure 15 is the danger solution memory system architecture figure of the present invention.The dangerization solution storage device, is mainly used to pacify
The danger solution that full storage and reliable transhipment mobile robot are quantitatively extracted, specifically include a square storage body, 3 take
Liquid measure cup, 3 weight sensors, a set of pneumatic means.
The design of body is stored in dangerization solution storage system is, storage body is corrosion-resistant radiation-resistant stainless steel
Matter, is mainly made up of cavity volume body, moving cylinder, linkage, top pressure closure, sealed bolster.Cavity volume body is in cuboid, in
Between have three cavitys, can accommodate 3 safety glass materials takes liquid measure cup.Cavity volume body upper surface symmetrical centre is rearward between position
Arrange that two small one and large one cuboids are raised at a certain distance, little cuboid is raised for connecting, and big cuboid projection is used for
Limit top pressure closure spatial dimension so as to cavity volume body upper surface keeping parallelism.Cavity volume body top is square pneumatic close
Capping cover, pneumostop cap base is placed three ratios and takes the bigger sealed bolster in liquid measure rim of a cup footpath, can be prevented after normal sealing
Splash down out in dangerization solution transportation.Pneumostop top cover afterbody fixes linkage, and connecting rod centre position is rectangular with little
Body projects through the formation of hinge 1 and rotates secondary, and the piston of connecting rod afterbody and a moving cylinder is secondary even by the formation rotation of hinge 2
Connect.The side bottom of cavity volume body two has the storage device mounting seat in four mounting seats, with moving cart to be rigidly connected with bolt.Hold
Have three weight sensor data-interfaces before the body of chamber, can be connected with A/D converter, then with moving cart PLC phase
Even.
Moving cylinder design in storage device is that moving cylinder is made up of air rammer and cylinder block, air rammer
It is cylindrical, formed by hinge 2 with linkage end and rotate secondary；Cylinder block is cylindrical, and there are two pneumatic companies on right side
Interface, for connecting pneumatic means；Cylinder block bottom is formed by hinge 3 with cavity volume body rear end face and rotates secondary, makes activity
Cylinder can freely be rotated with around hinge 3.
Figure 16 is the leak free design and cavity volume cut-away view of the present invention.Danger solution weight detection in storage device sets
Meter is to take liquid measure cup using transparent safety glass material, supporting with the cavity volume stored on body, different types of for storing
Liquid.Weight sensor adopts rondelle resistance-strain type weight sensor, is threaded connection to be fixed on and takes liquid measure cup cavity volume
Bottom, takes that liquid measure is cup-shaped to be contacted into face with into cavity volume.Its measured value Jing data-interface is connected to A/D converter, then leads to
Cross data wire and be connected to moving cart PLC, to monitor the dynamic weight for taking dangerization solution in liquid measure cup constantly.
Leak free design in storage device is to take one low inside and high outside leakproof rubber of setting on liquid measure cup certain altitude
Sealing ring, prevents dangerization solution from entering inside cavity volume.Sealing ring bottom is the support cushion for being placed on cavity volume body upper surface, with
Sealing ring has used cooperatively certain buffering and sealing function.The cavity volume circumference of cavity volume body upper surface three nearby and extends to appearance
Chamber body right boundary position distribution has inverted trapezoidal leakage accumulator tank, and for reclaiming the danger solution missed, leakage accumulator tank is in
High both sides are low in the middle of existing, are easy to the danger solution missed to be left to automatically on border.Immediately below cavity volume body both sides leakage accumulator tank
Cup is reclaimed in one leakage of Position Design, is coordinated with leakage accumulator tank and is collected the danger solution missed.
Figure 17 is the connection diagram of the present invention.Pneumatic means in dangerization solution storage system is designed, pneumatic means
Including one 35 logical digital electric magnet valves, two bidirectional speed control valves, a pressure-control valve and pipelines.Gas circuit connects
Relation is that one first gas circuit is connected by pipeline with pressure-control valve, then is connected with magnetic valve, is divided into two gas circuits, then
Two gas circuit pipelines are connected with two bidirectional speed control valves, and last two pipelines are connected with the pneumatic connector of cylinder.Wherein
Digital electric magnet valve is controlled by moving cart PLC, carries out taking the relevant actions such as liquid, tapping in multi-joint mechanical arm system
When, moving cart PLC sends corresponding control signal and gives pneumatic means solenoid valve control end, drives top pressure closure to coordinate machine
Tool arm is performed and opens and closes operation.The pneumatic means is arranged on moving cart inner second layer.
Control design case in storage device is, the connection diagram below figure institute of storage device and moving cart controller
Show, moving cart controller is connected with the magnetic valve in storage device, control gas path on-off, that realizes top pressure closure beats on an off
Close；Weight sensor is connected by a/d converter with moving cart PLC, takes dangerization solution during liquid in real time
Weight information, by feedback the control of dangerization solution precise quantification is realized.
For the description of the understanding of specific embodiment is only to understand the present invention for help, rather than for limiting this
Bright.Those skilled in the art can utilize the thought of the present invention to carry out some and change and change, as long as its technological means does not have
There is the thought and main points for departing from the present invention, still within protection scope of the present invention.
Claims (7)
1. it is a kind of for dangerization solution extract danger solution storage system, it is characterised in that：Including storage body, take liquid measure
Cup, weight sensor and pneumatic means；The liquid measure cup that takes is placed in storage body；The weight sensor is placed in and takes liquid
Measuring cup bottom；Described pneumatic means one end is connected with moving cart PLC, and the other end is connected with storage body；It is described heavy
Quantity sensor is connected with moving cart PLC.
2. it is according to claim 1 it is a kind of for dangerization solution extract danger solution storage system, it is characterised in that：Institute
Stating storage body includes cavity volume body, moving cylinder, linkage, top pressure closure, sealed bolster；The liquid measure cup that takes is positioned over
Cavity volume sheet is internal；The top pressure closure is connected by linkage with moving cylinder；The sealed bolster is located at top pressure closure bottom
Portion, when top pressure closure is closed, for the rim of a cup that sealing takes liquid measure cup.
3. it is according to claim 2 it is a kind of for dangerization solution extract danger solution storage system, it is characterised in that：Institute
State moving cylinder to be made up of air rammer, cylinder block and pneumatic connector, air rammer is formed with linkage by hinge
Rotate secondary；Pneumatic connector is disposed with cylinder block, for connecting pneumatic means；Cylinder block bottom and cavity volume body rear end
Face is formed by hinge and rotates secondary.
4. it is according to claim 3 it is a kind of for dangerization solution extract danger solution storage system, it is characterised in that：Institute
Pneumatic means is stated including digital electric magnet valve, bidirectional speed control valve, pressure-control valve；The digital electric magnet valve is little with movement
Car PLC is connected；The pneumatic connector is connected respectively with pressure-control valve and bidirectional speed control valve.
5. it is according to claim 1 it is a kind of for dangerization solution extract danger solution storage system, it is characterised in that：Institute
State weight sensor to be connected with mechanical arm moving cart PLC by A/D converter.
6. it is according to claim 1 it is a kind of for dangerization solution extract danger solution storage system, it is characterised in that：Institute
It is corrosion-resistant radiation-resistant stainless steel to state storage body, and surface is laid with sheet lead.
7. it is according to claim 1 it is a kind of for dangerization solution extract danger solution storage system, it is characterised in that：Institute
Stating storage body also includes that leakage accumulator tank, leakage reclaim cup, and the leakage accumulator tank is distributed in cavity volume body upper surface and takes liquid
Near measuring cup circumference, with leakage the danger solution that cup coordinates collection to miss is reclaimed.
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| CN201710073493.5A CN106625568A (en) | 2017-02-10 | 2017-02-10 | Hazardous chemical solution storage system for extraction of hazardous chemical solution |
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| CN201710073493.5A CN106625568A (en) | 2017-02-10 | 2017-02-10 | Hazardous chemical solution storage system for extraction of hazardous chemical solution |
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Application publication date: 20170510 |