CN106644588A - Quantitative liquid taking device for dangerous chemical solution extraction - Google Patents
Quantitative liquid taking device for dangerous chemical solution extraction Download PDFInfo
- Publication number
- CN106644588A CN106644588A CN201710073425.9A CN201710073425A CN106644588A CN 106644588 A CN106644588 A CN 106644588A CN 201710073425 A CN201710073425 A CN 201710073425A CN 106644588 A CN106644588 A CN 106644588A
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- Prior art keywords
- liquid taking
- quantitative liquid
- dangerization solution
- container body
- liquid
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/26—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of capacity or inductance of capacitors or inductors arising from the presence of liquid or fluent solid material in the electric or electromagnetic fields
- G01F23/263—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring variations of capacity or inductance of capacitors or inductors arising from the presence of liquid or fluent solid material in the electric or electromagnetic fields by measuring variations in capacitance of capacitors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1031—Sampling from special places
Abstract
The invention relates to a quantitative liquid taking device for dangerous chemical solution extraction. The quantitative liquid taking device comprises a liquid taking container body, a detection sensor device and a quantitative liquid taking pneumatic device, wherein a pneumatic connecting opening is formed outside the liquid taking container body; the quantitative liquid taking pneumatic device is connected with the liquid taking container body through the pneumatic connecting opening; the detection sensing device is arranged outside the liquid taking container body; the inside of the liquid taking container body is sequentially divided into a gas chamber and a liquid chamber from top to bottom by a moving piston. The liquid taking device provided by the invention has the advantages that the dangerous chemical solution extraction quantity can be precisely controlled; the repeated labor work is reduced; the detection requirements of the dangerous chemical solution can be met; the extraction quality and the extraction efficiency of the dangerous chemic al solution can be obviously improved.
Description
Technical field
The present invention relates to automatic field, specifically a kind of quantitative liquid taking device 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.The fixed equipment that automatically extracts needs to be used cooperatively with other dangerization solution testing equipments, not only complex structure, cost
Height, and can not with the automation equipment effective integration such as robot, it is flexible very poor, especially in device fails or dangerization
In the case that solution component changes, dangerization solution extraction equipment just cannot be used, and lacked flexible and changeable danger solution and extracted work
Tool.Meanwhile, current danger solution extraction device typically there are certain requirements to clean environment, it is adaptable to general industrial environment,
May not apply to more severe high-risk environment.Lack flexible extraction means and cannot accurate quantification become restriction the problems such as extract
The bottleneck that dangerization solution treatment effeciency is lifted.
In addition, many occasions do not have fixed dangerization solution extraction equipment, when the danger solution type for extracting is relatively more, away from
From distant, working environment it is more severe when, need people enter different environment even high-risk environment in manual operations, occur
（1）People is in operation in adverse circumstances the long period, is vulnerable to injury；（2）Dangerization solution taken amount is forbidden, and operating efficiency is relatively low；
（3）The problems such as unnecessary dangerization solution is not disposable.These problems had a strong impact on dangerization solution detection treatment effeciency and
The security of people.
The content of the invention
To overcome the problem above of prior art presence, the invention provides a kind of quantitative extracted for dangerization solution
Liquid device, by the device energy precise control dangerization solution extracted amount, reduces the artificial duplication of labour, and meeting the detection of dangerization solution will
Ask, significantly improve dangerization solution and extract quality and extraction efficiency.
The present invention is realized by technical scheme below：
A kind of quantitative liquid taking device extracted for dangerization solution, including taking liquid container body, detection sensing device and quantitative
Hydraulic pneumatic device；The liquid container body exterior that takes is provided with pneumatic connector；The quantitative liquid getting pneumatic means is by pneumatic
Connector is connected with liquid container body is taken；The detection sensing device is arranged on and takes liquid container body exterior；It is described to take liquid container
Body interior is moved piston and is divided into gas compartment and liquid chamber from top to bottom.
Further, the liquid container body that takes is cylindrical Corrosion Resistant Frp container.
Further, described mobile piston two is placed with sealing ring, for effectively cut-off gas compartment and liquid chamber.
Further, the gas compartment upper and lower ends are provided with spring fixed end and the pressure being fixed between spring fixed end
Contracting spring.
Further, also the liquid container bodies top that takes is provided with adpting flange, the connection including chuck body
Flange is used for jockey body.
Further, also including multi-joint mechanical arm PLC, the detection sensing device and the pneumatic dress of quantitative liquid getting
Put and be connected with multi-joint mechanical arm PLC.
Further, the quantitative liquid getting pneumatic means includes digital electric magnet valve, vacuum generator component, speeds control
Valve, flow sensor and baroceptor.
Further, the detection sensing device includes bonding agent, solid capacitor component and data converting circuit；It is described
Solid capacitor component external is laid with corrosion-resistant radiation proof sheet lead material.
Compared with prior art, beneficial effects of the present invention are as follows：
The liquid taking device energy precise control dangerization solution extracted amount of the present invention, reduces the artificial duplication of labour, meets the inspection of dangerization solution
Survey and require, significantly improve dangerization solution and extract quality and extraction efficiency；Liquid taking device simple structure, the low cost of the present invention, Jing
Anticorrosive corrosion-resistance treatment is crossed, can steady operation under various circumstances；The liquid taking device of the present invention introduces advanced automation
Technology and information technology, improves the intelligent level of device, and beneficial to dangerization solution automation and the standard of operating process are extracted
Change；The liquid taking device energy Remote operation of the present invention, so as to make one to isolate with hazardous environment, hence it is evident that the work for reducing people is strong
Degree and security risk, the working environment for making people is greatly improved；The liquid taking device favorable expandability of the present invention, can be with various machineries
Arm effective integration, so as to extend it field is used.
With vacuum generator component and bidirectional speed control valve with core design pneumatic means, flow through vacuum using source of the gas and send out
Raw device assembly produces malleation or negative pressure to provide positive pressure and reverse suction for dangerization solution container, and structure economics are simple, can
Quickly and easily realize the conversion of positive reaction.
Using upper and lower vessel structure design dangerization solution container body, can make vessel compact conformation, size compared with
Little, lighter weight, is easy to integrated with the automation equipment such as robot；Centre plus piston and seal washer, it is ensured that tandem container room
Be effectively isolated, on piston plus secondary spring can make the change of power in piston quick response pneumatic means.
The new liquid level detection sensor with solid capacitor component as core is adopted, is pasted onto by bonding agent and is taken liquid container
On body and integrated with extraneous PLC, then detection sensor can occur itself according to the height change of dangerization solution position
Capacitance size changes, and by the analyzing and processing of PLC, the height in dangerization solution face is precisely calculated.
By taking liquid container body using radiation proof anti-corrosions such as Corrosion Resistant Frp material, remaining place laying sheet lead materials
Erosion design, comprehensive isolation quantitative liquid taking device and external radiation environment, it is ensured that when it is normal under more severe high-risk environment
Between steady operation.
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 structure control 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 chucking appliance system structure chart of the present invention.
Figure 14 is the chucking appliance system module frame chart of the present invention.
Figure 15 is the pneumatic scroll chuck structure chart of the present invention.
Figure 16 be the present invention take liquid container bulk junction composition.
Figure 17 is quantitative liquid getting pneumatic means figure 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 at random quantitatively extraction will to be not only adapted to general solution
Ask, be further adapted for that radioactivity is high, chemical composition is uncertain, the danger solution that variety type is more, safety requirements is high is quantitatively extracted at random
The scene of requirement, with good flexibility.
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, dangerization solution storage system and power-supply system
Deng.Wherein, moving cart system, multi-joint mechanical arm system, multi-functional clamp system, dangerization solution storage system and vision
Ultrasonic wave detecting system constitutes mobile-robot system.
As shown in Figure 3：The mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, regards
Feel ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, chucking appliance system, vision ultrasound examination
System, dangerization solution storage system are arranged in moving cart system；The supervisory control desk system is based on communication network and shifting
Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving cart system, while sending
Take liquid information and movement instruction and give moving cart system；The moving cart system is received and forwards what supervisory control desk system sent
Liquid information and movement instruction are taken, realizes that mobile robot gathers and place the movement on circuit in dangerization solution；The movement is little
Car system is connected respectively with multi-joint mechanical arm system and dangerization solution storage system, the multi-joint mechanical arm system and fixture
System is connected, and the video ultrasound ripple detecting system is realized and the communication connection of supervisory control desk system by communication network.
Fig. 4 for mobile robot system architecture control figure, supervisory control desk system as instruction send and real time data at
Reason center, by communication module in real time with the main system such as moving cart system, multi-joint mechanical arm system, vision ultrasound examination
The accessory systems such as system, multi-functional clamp system and dangerization solution storage system are connected, and are constituted and are moved under high-risk environment
Robot control system.
Specifically, supervisory control desk system is connected with wireless mixing LAN by wired with wireless communication module, wirelessly
Communication module is connected by Ethernet interface with the PLC of moving cart system.Moving cart system and multi-joint machinery
Arm system adopts master-slave control mode, the i.e. PLC of moving cart system as main website, multi-joint mechanical arm system
Used as slave station, both are connected PLC by Prifibus DP module interfaces, for performing mobile and operation behavior and many
Articulated mechanical arm pedestal is arranged on moving cart top nose.Dangerization solution storage system is arranged on moving cart top rear,
Its measuring cup weight sensor and pneumostop lid magnetic valve are integrated by O/I modules with moving cart PLC, are used
In storage and the carrying safely of dangerization solution.Multi-functional clamp system is arranged on mechanical arm tail end, its detection sensor, pneumatic system
Magnetic valve etc. is integrated by O/I modules with mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.It is arranged on
Energy of the power-supply system inside moving cart for needed for main system and accessory system provide mobile, operation, detection, by wireless charging
The part of electric installation, Li-ion batteries piles and power management module etc. three constitutes, and wherein power management module is by MCU micro-control lists
Unit, PMIC power management integrated circuits 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 system, multi-joint machinery
The real-time communications such as arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, while sending
Liquid information and movement instruction are taken to modules, the Remote of mobile robot is realized.
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 system the software and hardware network architecture, main control computer, data server, video server etc.
In the form of bus connection over ethernet, by network communication module, main control computer and each server real-time communication, just
Data query and process are carried out in monitoring software.Real-time communication server is installed above Communications service software, in time crawl master
The instruction that control computer is assigned is to subsystems, while the status data and sensing data of subsystems feedback is captured, and
It is stored on data server and video server.Installation relation type database, for monitoring software number is provided on data server
Support according to storage, real-time storage operations data, feedback data, basis safeguard that data, safe operation status data, transmission refer to
Make historical data etc..Video information and ultrasonic height detection that video server real-time storage vision ultrasonic system is collected
Information.
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.The movement is little
Car system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to provide
The physical arrangement of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control
Module is connected by drive module with basic machine；The navigation module is connected with control module.
Figure 11 be the present invention moving cart system ontology cut-away view, moving cart basic machine, by trolley body,
Steering mechanism and sensing element are constituted, and wherein trolley body is in rectangular shape, and vehicle body frame adopts aluminium alloy extrusions, carries out
Totally-enclosed radiation protection is processed, and the thick sheet leads of 1 ~ 2mm are laid outside car body as shielding material；Car top is main supporting part
Point, there is the multi-joint mechanical arm installing hole of four screwed holes that are uniformly distributed along the circumference forward position, and being bolted makes moving cart
Connect together with the base fixing plate of multi-joint mechanical arm；Rearward there is dangerization solution storage device mounting seat position to car body top,
It is rigidly connected with the mounting seat in dangerization solution storage device by bolt；Car body the right and left bottom be distributed with two pairs it is symmetrical
Four McCrum wheels, constitute the movable part of dolly；Car body directly to the right is disposed with signal transmitting and receiving antenna, signal transmitting and receiving antenna with
The wireless communication apparatus connection of car interior, constitutes the wireless communication module of dolly.
Car interior, according to the principle of reasonable utilization space, is three layers of mounting structure, and logic connecting relation is referring to " moving machine
Device people's System control structures figure ", ground floor is upper strata, predominantly the control unit of multi-joint mechanical arm, wireless communication apparatus and
Vision ultrasonic treatment unit, the control unit of concrete multi-joint mechanical arm includes 1 multi-joint mechanical arm controller, 1 fortune
The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus are 1 set of wireless telecommunications based on wireless WIFI
Device, vision ultrasonic treatment unit is 1 set based on CCD camera and the position detecting device of ultrasonic wave；The second layer is intermediate layer,
The predominantly control unit of moving cart, pneumatic system, the control unit of concrete moving cart includes 1 moving cart control
Device, 1 motion-control module, the servo-driver of 4 moving cart wheels, pneumatic system includes that 1 set dangerization solution is stored and fills
Put pneumatic means, 1 set of multi-functional clamp device Tridactyle pneumatic fixture pneumatic means, 1 set of multi-functional clamp device quantitative liquid getting dress
The pneumatic means put；Third layer is bottom, for the supply unit that each device provides power, specifically have 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
Location arrangements have the navigation sensor and landmark sensor of a set of magnetic induction navigation, a wireless charging receiver.
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：Including PLC and motion-control module, moving cart adds motion control using PLC
The modes such as module carry out motion control, and wherein PLC is mainly responsible for and supervisory control desk communication, is received in time by WIFI communication mode
Control instruction and feedback trolley travelling status data that supervisory control desk sends；Motion-control module is responsible for performing the letter that PLC is received
Number instruction, to moving cart feedback navigation signal, position signalling carry out real-time processing and calculating, output control signal is to direct current
Servo-driver.In addition, the Open Control pattern that moving cart is integrally combined using host computer with slave computer, wherein host computer
For supervisory control desk system, slave computer is the PLC of moving cart system.
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：The module is made up of Magnetic Sensor with the magnetic stripe for being laid on ground, and wherein Magnetic Sensor is divided into magnetic conductance
Sensor and magnetic landmark sensor, magnetic stripe is divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is not high to the susceptibility of high-risk environment,
Therefore the navigation module of moving cart is designed by the way of magnetic stripe navigation, the forward position in dolly bottom is provided with magnetic navigation sensor
And landmark sensor, for guiding magnetic stripe and terrestrial reference magnetic stripe that detection makes a reservation for lay on ground.When moving cart is run, magnetic navigation
Sensor vertical gathers the magnetic field intensity of magnetic stripe in magnetic stripe top certain distance, judges that magnetic stripe is inclined relative to magnetic navigation sensor
Off normal and put, accordingly moving cart adjust automatically, it is ensured that move ahead along magnetic stripe.Landmark sensor constantly reads terrestrial reference magnetic stripe, and accordingly
Judge run location and change running status.Terrestrial reference magnetic stripe is perpendicular to navigation magnetic stripe direction, the ground being attached to beside navigation magnetic stripe
On.
Communication module：It is made up of wireless communication apparatus and signal transmitting and receiving antenna, wherein wireless communication apparatus are wireless data
R-T unit, installed in moving cart inside ground floor, signal transmitting and receiving antenna is arranged on moving cart outside right side.Wireless telecommunications
Module one end adopts WLAN standard agreement IEEE 802.11b/g/a/h, is connected with supervisory control desk real-time radio, in time
Obtain master control platform send take liquid instruction and movement instruction, while by the state of moving cart and interconnected system notify at once to
Master control platform.The wireless communication module other end is connected with moving cart PLC by Ethernet interface, in time sends master control platform
Take liquid instruction and movement instruction pass to moving cart PLC, while the feedback signal that moving cart PLC is received is passed to always
Console.
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, and by bolt moving cart top is arranged on, little with movement
Car cooperation completes the work such as dangerization solution lifts, dangerization solution is transported, dangerization solution is placed.Mainly include basic machine, servo
Drive and motion control portion.
Basic machine is made up of performance element, mechanical arm body, sensing element.Performance element by servomotor, decelerator,
The part such as bearing and bearing block is constituted.Sensing element is the ginseng such as angle, rotating speed, electric current, voltage for detecting each axle servomotor
Several sensors.Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft, has four frees degree,
It is secondary to rotate wherein between pedestal and base, base and large arm, large arm and forearm, it is mobile between forearm and end telescopic shaft
Angle remains 90 ° between pair, and forearm and end telescopic shaft.
Mechanical arm pedestal using square-section hollow aluminum foundry goods, the DC servo drive motor of internal mounting seat,
The parts such as decelerator, bearing and bearing block, base bottom is a fixed plate with four screwed holes that are uniformly distributed along the circumference, this
Fixed plate is rigidly connected with the multi-joint arm installing hole in moving cart by bolt.Base is using in circular cross-section
Empty aluminum foundry goods, inside is provided with the parts such as DC servo drive motor, decelerator, bearing and the bearing block of large arm.Greatly
Arm adopts the hollow and thin-walled aluminum foundry goods of circular cross-section, inside to be provided with DC servo drive motor, decelerator, the bearing of forearm
And the parts such as bearing block.Forearm adopts the solid aluminum foundry goods of circular cross-section, and end is provided with the execution of end telescopic shaft
The parts such as part, i.e. servomotor, Timing Belt, nuts ball leading screw.End telescopic shaft is by servomotor, Timing Belt, nut
Ball-screw and end effector are constituted, and inside ball-screw kinematic pair by the way of nut driving, make feed screw nut exist
The synchronized band of DC servo motor drives lower generation rotary motion, so as to drive leading screw to carry out the linear motion of vertical direction.
Sheet lead is laid on each axle of basic machine and servomotor surface, is placed on outside moving cart；Control section and
Servo-drive is partially disposed in inside moving cart, mitigates the impact of radiation.
As shown in Figure 13-Figure 16, the multi-functional clamp device is one and collects quantitative liquid getting and gripping carrying function in one
The electricity of body, gas control device, by bolt multi-joint mechanical arm end, outward appearance and internal structure such as Figure 13 institutes are rigidly attached at
Show.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.In chuck body
Portion is connected to the shaft end of multi-joint mechanical arm the 4th by flange, and a three-jaw self-centering chuck is installed in the horizontal direction in bottom
Device, installs in vertical direction a quantitative liquid taking device.The tumbler is solid by rotary cylinder, cylinder piston, cylinder
Determine the composition such as part, silencer, position sensor, rotary cylinder is arranged in the chuck body first half by cylinder fixture, gas
Cylinder piston is fixedly linked with chuck body lower half, and power is provided by rotary cylinder during work, and by cylinder, 180 ° rotate realization
Relatively rotate between chuck body two halves, so as to realize that scroll chuck device is changed with the instrument of quantitative liquid taking device.Position passes
Sensor is used for detecting whether cylinder piston have rotated 180 ° of positions, and information transmission will control to multi-joint mechanical arm PLC in place
Device.The pneumatic scroll chuck device, is the cylindrical jaw arrangement of pneumatic self-centering three, by body, 3 claws, 3 pressure sensings
Device, a set of pneumatic means composition.Scroll chuck is threaded on octagon chuck body one side by I-shaped flange, non-work
Make that scroll chuck axis during state is parallel to the ground, scroll chuck axis is perpendicular to the ground during working condition.The quantitative liquid getting
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.
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.
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.
As shown in figure 17, detect that sensing device is a set of liquid level position detection sensor, in strip, be pasted onto and take liquid appearance
Device body right side, for detecting Liquid extracting during liquid level elevation information, many passes are passed to Jing after data processing and conversion
The PLC of section mechanical arm.Liquid level position detection sensor is by bonding agent, solid capacitor component, data converting circuit etc.
The liquid level sensor of composition, solid capacitor component is necessarily combined by N group solid-state alminium electrolytic condenser Jing, can be according to liquid level
There is capacitance size change in height change, then capacitance size change is converted into digital quantity by Jing data converting circuits, so as to realize
The real-time monitoring of liquid level.Solid capacitor component is pasted onto by bonding agent and takes liquid container body right side, and one layer of corrosion resistant is laid in outside
The sheet lead material of erosion radiation proof.
Quantitative liquid getting pneumatic means include one 33 logical digital electric magnet valves, vacuum generator component, one it is double
To speed control valve, flow sensor, a baroceptor and a pipeline, wherein 33 logical digital electric magnet valves have two
Individual gas outlet, vacuum generator component has an air inlet, a gas outlet.The connected mode of pneumatic means be magnetic valve wherein
One gas outlet is connected with the air inlet of vacuum generator component, the gas outlet phase of another gas outlet and vacuum generator component
Even, while the gas outlet of vacuum generator component is connected with speed control valve, gas flow rate in one monitoring gas circuit of centre connection
Flow sensor, speed control valve take liquid container body be connected, centre connection one monitoring airline pressure baroceptor.
Pneumatic means has a gas source air inlet and a gas outlet, gas source air inlet connection external air source, gas outlet and quantitative liquid getting
The liquid container body that takes in device is connected, the control end of the digital electric magnet valve in pneumatic means and the PLC of multi-joint mechanical arm
Controller is connected, and the PLC for realizing multi-joint mechanical arm controls the break-make of pneumatic means gas circuit.The working method of pneumatic means is gas
Source Jing magnetic valves produce malleation or negative pressure when flowing through vacuum generator component, are more than the pressure taken in liquid container bulk gas room
Or less than the pressure in liquid room, piston is moved downward or upward under pressure differential effect, realizes accurate extraction and the row of liquid
Go out.Pneumatic means is arranged on moving cart inner second layer.
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 (8)
1. it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：Sense including liquid container body, detection is taken
Device and quantitative liquid getting pneumatic means；The liquid container body exterior that takes is provided with pneumatic connector；The quantitative liquid getting is pneumatic
Device is connected by pneumatic connector with liquid container body is taken；The detection sensing device is arranged on and takes liquid container body exterior；
It is described take liquid container body interior and moved piston be divided into gas compartment and liquid chamber from top to bottom.
2. it is according to claim 1 it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：It is described to take
Liquid container body is cylindrical Corrosion Resistant Frp container.
3. it is according to claim 1 it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：The shifting
Piston two is placed with sealing ring, for effectively cut-off gas compartment and liquid chamber.
4. it is according to claim 1 it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：The gas
Body room upper and lower ends are provided with spring fixed end and the compression spring being fixed between spring fixed end.
5. it is according to claim 1 it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：Also include
Chuck body, in the liquid container bodies top that takes adpting flange is provided with, and the adpting flange is used for jockey body.
6. it is according to claim 1 it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：Also include
Multi-joint mechanical arm PLC, the detection sensing device and quantitative liquid getting pneumatic means are controlled with multi-joint mechanical arm PLC
Device connection processed.
7. it is according to claim 6 it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：It is described fixed
Hydraulic pneumatic device is measured including digital electric magnet valve, vacuum generator component, speed control valve, flow sensor and air pressure transmission
Sensor.
8. it is according to claim 1 it is a kind of for dangerization solution extract quantitative liquid taking device, it is characterised in that：The inspection
Surveying sensing device includes bonding agent, solid capacitor component and data converting circuit；The solid capacitor component external is laid with
Corrosion-resistant radiation proof sheet lead material.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710073425.9A CN106644588A (en) | 2017-02-10 | 2017-02-10 | Quantitative liquid taking device for dangerous chemical solution extraction |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710073425.9A CN106644588A (en) | 2017-02-10 | 2017-02-10 | Quantitative liquid taking device for dangerous chemical solution extraction |
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Family
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| CN201710073425.9A Pending CN106644588A (en) | 2017-02-10 | 2017-02-10 | Quantitative liquid taking device for dangerous chemical solution extraction |
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| CN108525866A (en) * | 2018-03-30 | 2018-09-14 | 江苏科华医疗器械科技有限公司 | Liquid device is adopted in a kind of centrifugation based on eccentric wheel |
| CN110848113A (en) * | 2019-11-18 | 2020-02-28 | 湖南朝露生物科技有限公司 | Quantitative lifting device for extracting liquid |
| CN114136719A (en) * | 2021-11-30 | 2022-03-04 | 广东电网有限责任公司 | Transformer oil sampling device and sampling control method |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
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| CN114136719A (en) * | 2021-11-30 | 2022-03-04 | 广东电网有限责任公司 | Transformer oil sampling device and sampling control method |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
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Application publication date: 20170510 |