CN106671058A - Clamp system used for extraction of dangerous chemical solution - Google Patents
Clamp system used for extraction of dangerous chemical solution Download PDFInfo
- Publication number
- CN106671058A CN106671058A CN201710073494.XA CN201710073494A CN106671058A CN 106671058 A CN106671058 A CN 106671058A CN 201710073494 A CN201710073494 A CN 201710073494A CN 106671058 A CN106671058 A CN 106671058A
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- Prior art keywords
- pneumatic
- chuck
- dangerization solution
- mechanical arm
- appliance system
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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 clamp system used for extraction of a dangerous chemical solution. The clamp system comprises a clamp body, a rotation device, a liquid quantitative extraction device and a pneumatic three-jaw chuck device. The clamp body is divided into two symmetric halves. The rotation device is located in the clamp body and used for achieving relative rotation of the two symmetric halves of the clamp body. The clamp body in the horizontal direction is connected with the pneumatic three-jaw chuck device. The lower portion of the clamp body in the perpendicular direction is connected with the liquid quantitative extraction device. A clamp of the clamp system is a composite clamp integrating a clamping function and a liquid extraction function, and can be used for completing object clamping and liquid extraction operation at a time; and the number of intermediate links can be decreased, and the working efficiency is obviously improved.
Description
Technical field
The present invention relates to automatic field, specifically a kind of chucking appliance system extracted for dangerization solution.
Background technology
The manufacturing, health care, that nuclear test can produce a large amount of components with many places of industry such as nuclear power, chemical metallurgy is multiple
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 the composition and content to dangerization solution is detected by this stage, 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 to extract solution using advanced ways and means when detecting on a small quantity, 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 is built based on the mode of vacsorb
Fixed dangerization solution extraction device, the device mainly by vacuum pump, suction pipe, controlling switch and shooting is first-class constitutes, with
Dangerization solution processing equipment is fixed on the extraction that dangerization solution is somewhere completed in artificial presence together, 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 temporary when serious
Stop, production line stop, bring huge economic loss.
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 working performance 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 safety of people.
The content of the invention
To overcome the problem above of prior art presence, the invention provides a kind of fixture system extracted for dangerization solution
System, by integrated gripping function and liquid extraction function, can once complete object gripping and Liquid extracting operation, ring in the middle of reduction
Section, hence it is evident that improve work efficiency.
The present invention is realized by technical scheme below：
A kind of chucking appliance system extracted for dangerization solution, the chucking appliance system include chuck body, tumbler, quantitative liquid getting
Device and pneumatic scroll chuck device；The chuck body is divided into symmetrical two halves, and the tumbler is located in chuck body,
For realizing the relative rotation between the symmetrical two halves of chuck body；The chuck body horizontal direction and pneumatic scroll chuck device
Connection, vertical direction bottom is connected with quantitative liquid taking device.
Further, the chuck body is octagon, and the plane of symmetry that the symmetrical two halves are formed is horizontal by 45 °
Angle.
Further, also including flange, multi-joint mechanical arm, the chuck body top is by flange and multi-joint machinery
Arm end is connected.
Further, the tumbler includes rotary cylinder, cylinder piston, and the rotary cylinder is installed on chuck body
In the first half, the rotary cylinder is connected with chuck body lower half by cylinder piston, and by rotary cylinder, 180 ° rotate real
The instrument of existing pneumatic scroll chuck device and quantitative liquid taking device is changed.
Further, the pneumatic scroll chuck device includes body, three claws, three pressure transducers, the pressure
Force transducer is installed on the inside of claw.
Further, also including scroll chuck pneumatic means, the body includes that gas circuit, pneumatic connector and claw are oriented to
Groove；The body is connected with scroll chuck pneumatic means by pneumatic connector.
Further, the pneumatic scroll chuck device adopts stainless steel material, above studs with anti-skidding acid and alkali-resistance flexible material.
Further, the quantitative liquid taking device includes taking liquid container body, detects that sensing device and quantitative liquid getting are pneumatic
Device；The liquid container body exterior that takes is provided with pneumatic connector；The detection sensing device is arranged on and takes liquid container body
It is outside；It is described take liquid container body interior and moved piston be divided into gas compartment and liquid chamber from top to bottom；The quantitative
Hydraulic pneumatic device is connected with liquid container body is taken by pneumatic connector.
Further, A/D converter, multi-joint mechanical arm PLC were also included, the detection sensing device passes through
A/D converter is connected with multi-joint mechanical arm PLC.
Further, also including multi-joint mechanical arm PLC, the scroll chuck pneumatic means, quantitative liquid getting gas
Dynamic device is connected with multi-joint mechanical arm PLC.
Compared with prior art, beneficial effects of the present invention are as follows：
The fixture of the present invention is a set of composite fixture, integrated gripping function and liquid extraction function, can once complete object gripping
Operate with Liquid extracting, cut down the number of intermediate links, hence it is evident that improve work efficiency；Clamp structure is simple, low cost, through anticorrosive resistance to
Corrosion treatmentCorrosion Science, can under the high-risk environments such as radioprotective steady operation；The quick accurate extraction of dangerization solution can be realized, is reduced
The artificial duplication of labour, meets the detection of dangerization solution and requires, significantly improve dangerization solution and extract quality；Introduce advanced automatization
Technology and information technology, improves the intelligent level of device, extracts automatization and the standard of operating process beneficial to dangerization solution
Change；Energy Remote operation, so as to make one to isolate with hazardous environment, hence it is evident that reduce the labor intensity and security risk of people, make
The working environment of people is greatly improved.
Multi-functional clamp body can be around the structure of the 360 ° of rotations in center using octagon, symmetrical two halves, can be molten by dangerization
Liquid grips function and abstraction function effective integration, once completes liquid and takes the gripping of liquid measure cup and liquid quantitative extraction operation, reduces
Fixture such as changes the outfit at the non-cutting time.
, using modular flanges design, technical grade PLC real-time controls, its opening can be with various mechanical arms for multi-functional clamp
Etc. automation equipment Seamless integration-, very flexible danger solution extraction device is formed, so as to expand its applied environment and application
Field.
Scroll chuck device in multi-functional clamp, using three-jaw frame for movement, pneumatic system as power, and installs pressure additional
Force transducer can carry out gripping operation according to dynamics as gripping power detection, realize fast reaction, the gripping of accurate power.
Quantitative liquid taking device in multi-functional clamp, using the pneumatic means based on vacuum generator component as power, makes
Dose simplified, control are stable, while using the sensor detection liquid level position based on solid capacitor component, can
Micron order is accurate to, the quick accurate extraction operation of dangerization solution is finally completed.
Multi-functional clamp body adopts corrosion-resistant stainless steel material, takes liquid container body using Corrosion Resistant Frp material,
And the sheet lead material and polyion textile flexibility material of one layer of corrosion-resistant radioprotective are laid in local, so as to comprehensive isolation fixture
With external radiation environment, it is ensured that multi-functional clamp normal time steady operation under high-risk 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 present 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 system module block diagram 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 controlling organization and the detached thought of actuator, mobile-robot system is placed on high-risk as actuator
Environmental interior, supervisory control desk are placed on outside high-risk environment as controlling organization, and being not only adapted to the random dose of general solution will
Ask, be further adapted for that radioactivity is high, chemical composition is uncertain, the random dose of danger solution that variety type is more, safety requirements is high
The scene of requirement, with good motility.
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 is gathered in dangerization solution and places the movement on circuit；The movement is little
Car system is connected with multi-joint mechanical arm system and dangerization solution storage system respectively, the multi-joint mechanical arm system and fixture
System is connected, and the video ultrasound ripple detecting system is realized communicating to connect with supervisory control desk system by communication network.
Fig. 4 for mobile robot system structure 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 aid 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 communication module with wireless mixing LAN by wired, wirelessly
Communication module is connected with the PLC of moving cart system by Ethernet interface.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 electromagnetic valve are integrated with moving cart PLC by O/I modules, 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
Electromagnetic valve etc. is integrated with mechanical arm controller by O/I modules, for dangerization solution dose and gripping.It is arranged on
Energy of the power-supply system inside moving cart for needed for main system and aid system provide mobile, operation, detection, by wireless charging
Three part such as electric installation, Li-ion batteries piles and power management module 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
When making, supervisory control desk sends dangerization solution extracting parameter signal, action with sending module Jing radio transmitting devices by instruction input
Command signal to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its aid system from
Start working after inspection is errorless.According to instruction movement, after completing assignment of mission, sending action is instructed and gives multi-joint machinery moving cart
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 key 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, is built 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., control data, video data under composition high-risk environment, state
Effective passage of the transmission such as data.
Communication system is mainly made up of wireless apss, 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 are directly connected to LAN by wired mode；Wireless apss and nothing
Line data source and sink is addressable device, and wireless apss are directly connected to LAN, wireless communication apparatus one by wired mode
End is connected by Ethernet interface with moving cart system, vision ultrasonic wave detecting system, power-supply system etc., 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 ultrasound wave monitoring module,
The six big module such as security protection alarm module and real-time data communication module.
The software and hardware network architectures of the Fig. 8 for supervisory control desk system, 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.On data server, installation relation type data base, provides number for monitoring software
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, designs outward appearance using ergonomicss thought, by two
Individual display, an operating board and master control platform housing composition, two of which display one are 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 radioprotective,
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 with supervisory control desk system by communication module, the control
Module is connected with basic machine by drive module；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 composition, in rectangular shape, vehicle body frame adopts aluminium alloy extrusions, carries out wherein trolley body
Totally-enclosed radiation protection is processed, and lays the thick sheet leads of 1 ~ 2mm as shielding material outside car body；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；There is dangerization solution storage device mounting seat position to car body top rearward,
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.
Principle of the car interior according to 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 include 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 are 1 set based on CCD camera and the position detecting device of ultrasound wave；The second layer is intermediate layer,
The predominantly control unit of moving cart, pneumatic system, the control unit of concrete moving cart include 1 moving cart control
Device, 1 motion-control module, the servo-driver of 4 moving cart wheels, pneumatic system include 1 set of dangerization solution storage dress
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, provides the supply unit of power for each device, specifically have one group of lithium battery string and
1 electric power controller.Four angular direction of dolly bottom is disposed with 4 McCrum wheel servomotors and motor reducer, centre
Location arrangements have the navigation sensor and landmark sensor, a wireless charging receptor 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, moving cart car body the right and left is arranged in the way of two left two right four-wheels are arranged symmetrically；Each wheat
Carat nurse wheel is direct-connected with a DC servo motor and motor reducer, by the speed controlling different to four wheels, realizes
The motion of dolly different directions.
Control module：Including PLC and motion-control module, moving cart adds motor control using PLC
The modes such as module carry out motor control, and wherein PLC is mainly responsible for and supervisory control desk communication, is received by WIFI communication mode in time
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 integrally combined with slave computer using host computer by moving cart, wherein host computer
For supervisory control desk system, PLC of the slave computer for 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 is sent according to servo-driver carry out starting, stop, inverting and becoming
The actions such as speed.
Navigation module：The module is made up of with the magnetic stripe for being laid on ground Magnetic Sensor, and wherein Magnetic Sensor is divided into magnetic conductance
Sensor and magnetic landmark sensor, magnetic stripe are divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is not high to the sensitivity 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, make a reservation for guiding magnetic stripe and the terrestrial reference magnetic stripe laid on ground for detection.When moving cart is run, magnetic navigation
Sensor vertical certain distance above the magnetic stripe, gathers the magnetic field intensity of magnetic stripe, 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 ground floor inside moving cart, signal transmitting and receiving antenna is arranged on right side outside moving cart.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 by Ethernet interface with moving cart PLC, is sent master control platform in time
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
Control station.
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
One of environment dangerization solution dose feature design integrates machinery, control, electric open chain link-type and right angle and sits
Mark formula mixed type articulated robot, working range farthest reach 2 meters, are arranged at the top of moving cart by bolt, 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 to detect the ginseng such as the angle of each axle servomotor, rotating speed, electric current, voltage
Several sensors.Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft, has four degree of freedom,
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
Between pair, and forearm and end telescopic shaft, angle remains 90 °.
Hollow aluminum foundry goods of the mechanical arm pedestal using square-section, the DC servo drive motor of internal mounting seat,
The parts such as decelerator, bearing and bearing block, base bottom are a fixed plate with four screwed holes that are uniformly distributed along the circumference, this
Fixed plate is rigidly connected by bolt with the multi-joint arm installing hole in moving cart.Base is using in circular cross-section
Empty aluminum foundry goods, inside are provided with the parts such as DC servo drive motor, decelerator, bearing and the bearing block of large arm.Greatly
Hollow and thin-walled aluminum foundry goods of the arm using circular cross-section, the internal DC servo drive motor for being provided with forearm, decelerator, bearing
And the parts such as bearing block.Solid aluminum foundry goods of the forearm using circular cross-section, 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 composition, by the way of driving using nut, make feed screw nut exist inside ball-screw kinematic pair
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, are rigidly attached at multi-joint mechanical arm end, outward appearance and internal structure such as Figure 13 institutes by bolt
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 4th shaft end of multi-joint mechanical arm by flange, and bottom installs a three-jaw self-centering chuck in the horizontal direction
Device, installs a quantitative liquid taking device in vertical direction.The tumbler is solid by rotary cylinder, cylinder piston, cylinder
Determine the composition such as part, acoustic filter, 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, provides power 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 and the instrument of quantitative liquid taking device are changed.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 cylindrical three jaw arrangement of pneumatic self-centering, 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
Interface, detects sensing device for liquid level position on the right side of body, and body interior is moved piston and is divided into upper and lower vessel.Upper container
Room is gas compartment, two spring fixed ends of the inside installation and a compression spring, it is ensured that gas compartment stably effectively works.Under
Vessel is liquid chamber, for holding the danger solution of extraction.It is to move 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 scroll chuck device is turned by multi-joint mechanical arm controller control tumbler
To position straight down, then scroll chuck air-operated solenoid valve opening is controlled, realize opening and tightening up for scroll chuck, reach 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, is coordinated 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 with pressure-control valve by pipeline, 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 with
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
On the right side of device body, for detecting the elevation information of liquid level during Liquid extracting, 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 are 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 is taken on the right side of liquid container body, and one layer of corrosion resistant is laid in outside
The sheet lead material of erosion radioprotective.
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 transducer, a baroceptor and a pipeline, wherein 33 logical digital electric magnet valves have two
There are an air inlet, a gas outlet in individual gas outlet, vacuum generator component.The connected mode of pneumatic means be electromagnetic 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 middle connection
Flow transducer, speed control valve takes liquid container body and is connected, the baroceptor of one monitoring airline pressure of middle connection.
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 realizes that the PLC of multi-joint mechanical arm controls the break-make of pneumatic means gas circuit.The working method of pneumatic means is gas
Source Jing electromagnetic 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 under pressure differential effect downward or upward, 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 it is used 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 (10)
1. it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：The chucking appliance system includes chuck body, rotates
Device, quantitative liquid taking device and pneumatic scroll chuck device；The chuck body is divided into symmetrical two halves, the tumbler position
In chuck body, for realizing the relative rotation between the symmetrical two halves of chuck body；The chuck body horizontal direction and gas
Dynamic scroll chuck device connection, vertical direction bottom is connected with quantitative liquid taking device.
2. it is according to claim 1 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：The fixture sheet
Body is octagon, and the plane of symmetry that the symmetrical two halves are formed is horizontal by 45 ° of angles.
3. it is according to claim 1 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：Also include method
Blue, multi-joint mechanical arm, the chuck body top is connected with multi-joint mechanical arm end by flange.
4. it is according to claim 1 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：It is described to rotate dress
Put including rotary cylinder, cylinder piston, the rotary cylinder is installed in the chuck body first half, the rotary cylinder passes through gas
Cylinder piston is connected with chuck body lower half, realizes pneumatic scroll chuck device and quantitative liquid getting by 180 ° of rotations of rotary cylinder
The instrument conversion of device.
5. it is according to claim 1 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：Described pneumatic three
Dog chuck device includes body, three claws, three pressure transducers, and the pressure transducer is installed on the inside of claw.
6. it is according to claim 5 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：Also include three-jaw
Chuck pneumatic means, the body include gas circuit, pneumatic connector and claw gathering sill；The body by pneumatic connector with
Scroll chuck pneumatic means connects.
7. it is according to claim 1 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：Described pneumatic three
Dog chuck device adopts stainless steel material, above studs with anti-skidding acid and alkali-resistance flexible material.
8. it is according to claim 1 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：The quantitative
Liquid device includes taking liquid container body, detection sensing device and quantitative liquid getting pneumatic means；The liquid container body exterior that takes sets
It is equipped with pneumatic connector；The detection sensing device is arranged on and takes liquid container body exterior；It is described to take liquid container body interior quilt
Mobile piston is divided into gas compartment and liquid chamber from top to bottom；The quantitative liquid getting pneumatic means passes through pneumatic connector and takes
Liquid container body is connected.
9. it is according to claim 8 it is a kind of for dangerization solution extract chucking appliance system, it is characterised in that：Also included A/
D transducers, multi-joint mechanical arm PLC, the detection sensing device is by A/D converter and multi-joint mechanical arm PLC
Controller connects.
10. according to a kind of arbitrary described chucking appliance system extracted for dangerization solution of claim 6 or 8, it is characterised in that：Also
Including multi-joint mechanical arm PLC, the scroll chuck pneumatic means, quantitative liquid getting pneumatic means are mechanical with multi-joint
Arm PLC connects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710073494.XA CN106671058A (en) | 2017-02-10 | 2017-02-10 | Clamp system used for extraction of dangerous chemical solution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073494.XA CN106671058A (en) | 2017-02-10 | 2017-02-10 | Clamp system used for extraction of dangerous chemical solution |
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| CN106671058A true CN106671058A (en) | 2017-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710073494.XA Pending CN106671058A (en) | 2017-02-10 | 2017-02-10 | Clamp system used for extraction of dangerous chemical solution |
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Application publication date: 20170517 |