CN108225977A - Object density detection method based on intelligent robot system - Google Patents
Object density detection method based on intelligent robot system Download PDFInfo
- Publication number
- CN108225977A CN108225977A CN201711499379.5A CN201711499379A CN108225977A CN 108225977 A CN108225977 A CN 108225977A CN 201711499379 A CN201711499379 A CN 201711499379A CN 108225977 A CN108225977 A CN 108225977A
- Authority
- CN
- China
- Prior art keywords
- article
- measured
- hanging basket
- solution
- density detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N9/00—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity
- G01N9/08—Investigating density or specific gravity of materials; Analysing materials by determining density or specific gravity by measuring buoyant force of solid materials by weighing both in air and in a liquid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses the object density detection methods based on intelligent robot system, belong to intelligent robot technology field.Article to be measured on the main mechanical cleft hand crawl objective table of main robot unit of the present invention, and article to be measured is placed on the weighing mechanism of Density Detection unit and is weighed, the quality for obtaining article to be measured is mObject, then after article to be measured is immersed in the measurement solution pool of Density Detection unit, the mass change for measuring weighing mechanism is Δ m, and the density that article to be measured is calculated is：Wherein ρSolutionDensity for solution.Article to be measured is first placed on weighing mechanism by the present invention to be weighed, then article to be measured is immersed in solution and is weighed, and then detects the density of article to be measured；Especially for compound product of endangering Density Detection when, influence of the danger compound product to health of human body can be effectively prevented from.
Description
Technical field
The present invention relates to field in intelligent robotics, more specifically to the object density based on intelligent robot system
Detection method.
Background technology
High risk industries refer to that there are greater risk, the higher industries of danger coefficient.High risk industries due to operating environment complexity,
Emergency situations are unpredictable；There is universal high-risk work posts in existing manufacturing industry, are worked using robot, both can be with
It guarantees both quality and quantity to complete work, and it is possible to prevente effectively from the potential dangerous threat for bringing the person.
The many places of the industries such as the manufacturing, health care, nuclear test and nuclear power, chemical metallurgy can generate a large amount of components and answer
The danger compound product that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily cause serious injury to people, animal and environment.This
Class danger compound body is generally stored within the enclosed space using the method for isolation；The sampling detection of danger compound product is non-in processing procedure
Often important link, this stage is sometimes for the detection of the physical property to compound product of endangering, the various objects for compound body of being endangered with understanding
Manage index.Wherein, the density of danger compound product is just important an index parameter.But existing robot detecting system, and
It is not specifically applied to the Density Detection equipment of danger compound product so that the Density Detection of irregular shape danger compound product becomes skill
Problem in art so that existing technical staff is difficult to effectively analyze the various physical parameters of danger compound product.
Through retrieval, innovation and creation it is entitled：A kind of high-risk environment welding robot (application number：201610869367.6
The applying date：2016-10-01), including welding rod, four ducted fans, parallel mechanical arm, pedestal, four adsorbable pedipulators,
Pedestal includes transverse slat, turnover panel, two shafts, and transverse slat is the square plate that a centre is equipped with rectangular window, in rectangular window
Both sides be respectively provided with a shaft, one piece is equipped in rectangular window can enclose the turnover panel to rotate around the axis, above turnover panel
Parallel mechanical arm is installed；Four ducted fans is used to provide lift for robot, and using four adsorbable pedipulators with
It is fixed between workpiece, while the straight line welding of any direction, curve welding can be met using parallel mechanical arm.The technology
Although realizing high-risk environment welding job, still it is difficult to realize under high-risk environment to the Density Detection for compound product of endangering.
In addition, innovation and creation is entitled：A kind of danger solution extracting method (application number based on mobile robot：
201710073718.7 the applying date：2017-02-10), including mobile-robot system state-detection and initial work
Method；The method of supervisory control desk system dangerization solution extraction instruction issuing；The method that mobile route is planned automatically；Dangerization solution is certainly
Dynamic positioning and the method quantitatively extracted；The method that dangerization solution secure storage, transport and fixed point are placed；Extra dangerization solution is certainly
The method of dynamic processing.This method is suitable for dangerization solution sampling detection-phase, by introducing a kind of danger based on mobile robot
Change solution extraction system, the fixed danger solution extraction device used in high-risk environment is substituted for the corrosion resistant shifting of radiation protection
Mobile robot dangerization solution extraction device, so as to fulfill dangerization solution efficiently, quantitative, Visual Inference operation.Although the technology
The extraction of dangerization solution is realized, but is still difficult to realize the Density Detection to compound product of endangering.
Invention content
1. technical problems to be solved by the inivention
It is an object of the invention to overcome in the prior art, it is difficult to the deficiency that the density for compound product of endangering is detected, carry
For the object density detection method based on intelligent robot system, examined by main robot unit, auxiliary robot cell and density
Unit cooperating is surveyed, the article to be measured being stored in hermetically sealed can is operated, article to be measured is first placed on weighing mechanism
Upper weighing, then article to be measured is immersed in solution and is weighed, and then detects the density of article to be measured.
2. technical solution
In order to achieve the above objectives, technical solution provided by the invention is：
The object density detection method based on intelligent robot system of the present invention, the main mechanical cleft hand of main robot unit
The article to be measured on objective table is captured, and article to be measured is placed on the weighing mechanism of Density Detection unit and is weighed, is obtained
Quality to article to be measured is mObject, then after article to be measured is immersed in the measurement solution pool of Density Detection unit, measure weighing machine
The mass change of structure is Δ m, and the density that article to be measured is calculated is：Wherein ρSolutionDensity for solution.
Preferably, the operating procedure of robot is as follows：
Step 1：Auxiliary robot unit picks are equipped with the hermetically sealed can of article to be measured, and hermetically sealed can is transported on objective table；
Step 2：Main robot unit takes out article to be measured from hermetically sealed can, and article to be measured is moved article to be measured
It moves to the weighing mechanism of Density Detection unit；
Step 3：Weighing mechanism weighs article to be measured, and the quality for obtaining article to be measured is mObject；Then driving measures
Solution pool moves upwards, and after article to be measured is immersed in the measurement solution pool of Density Detection unit, measures the quality of weighing mechanism
Change as Δ m.
Preferably, specific detection method is as follows：
S1, the quality information for detecting hanging basket
The quality for weighing sample hanging basket is m01；
After sample hanging basket is immersed into solution, the quality for weighing sample hanging basket is m02；
The quality information of S2, detection article to be measured
Article to be measured is added in sample hanging basket, and the quality for weighing sample hanging basket and article to be measured is m11；
After sample hanging basket and article to be measured are immersed into solution, the quality for weighing sample hanging basket and article to be measured is m12；
S3, the density for calculating article to be measured
The density of article to be measured is calculated by the following formula
Preferably, ρSolutionIt is obtained by following steps measurement：
(1) quality for weighing sample hanging basket is m01；After sample hanging basket is immersed into solution, the quality of sample hanging basket is weighed
For m02；
(2) counterweight is added in sample hanging basket, and the quality for weighing sample hanging basket and counterweight is m21；Again by sample hanging basket
And after counterweight is immersed into solution, the quality for weighing sample hanging basket and counterweight is m22；
(3) solution density ρ is calculatedSolution；The density p of article to be measured is calculated by the following formulaSolution,
Wherein mWeightQuality for counterweight；ρWeightDensity for counterweight.
Preferably, the Density Detection unit includes weighing mechanism, hoisting mechanism and measures solution pool, the weighing mechanism
Lower part is provided with hoisting mechanism, which lifts article to be measured, and the measurement solution pool is slidably mounted on hoisting machine
The lower part of structure.
Preferably, the Density Detection unit is provided with temperature measuring mechanism, which measures solution pool for detecting
Liquid level sensor is provided in temperature or/and Density Detection unit, liquid level sensor measures the liquid level height of solution pool for detecting
Degree.
Preferably, the main mechanical cleft hand of main robot unit includes bar shaped clamping jaw, takes lid pawl and small holding claw.
Preferably, step 2 the specific steps are：
(2-1) takes lid pawl to be moved to the top of hermetically sealed can, lid claw clip is taken to take the sealing cover of hermetically sealed can, and sealing cover is beaten
It opens；
(2-2) small holding claw is moved to hermetically sealed can station, and small holding claw grips hermetically sealed can, and the article to be measured in tank is poured onto
In the sample hanging basket of objective table, hermetically sealed can is placed on objective table by main mechanical cleft hand after the completion of toppling over；
(2-3) bar shaped clamping jaw is moved to sample hanging basket station, bar shaped clamping jaw gripping sample hanging basket, and sample hanging basket is moved
It is weighed on to weighing mechanism.
Preferably, Density Detection unit further includes elevating mechanism, which includes lifter plate, lifting and driving bar and drive
Dynamic component is provided with feed screw on the driving part, and the top of the driving part is provided with lifter plate, is set on lifter plate
Have and lifter plate is driven to carry out elevating movement, the liter by feed screw with the matched threaded hole of feed screw, driving part
The top of drop plate is provided with lifting and driving bar, and the top of the lifting and driving bar is connected with measuring solution pool.
Preferably, the lower part for measuring solution pool is provided with lower-weighing component, which measures solution for weighing
The quality in pond.
3. advantageous effect
Using technical solution provided by the invention, compared with existing known technology, there is following remarkable result：
(1) the object density detection method based on intelligent robot system of the invention, the host machinery claw of robot cell
Article to be measured on hand crawl objective table, and article to be measured is placed on the weighing mechanism of Density Detection unit and is weighed,
The quality for obtaining article to be measured is mObject, then after article to be measured is immersed in the measurement solution pool of Density Detection unit, measures and weigh
The mass change of mechanism is Δ m, so as to detect the density of article to be measured；Especially for endanger compound product Density Detection when,
It can be effectively prevented from influence of the danger compound product to health of human body；
(2) the object density detection method based on intelligent robot system of the invention, main mechanical cleft hand pass through axial prong hand
Revolving part is rotatablely connected with main mechanical arm, and axial prong hand fixed plate is installed on axial prong hand revolving part, and bar shaped clamping jaw is installed on axial prong
In hand fixed plate；Auxiliary mechanical cleft hand is rotatablely connected by auxiliary cleft hand revolving part and auxiliary mechanical arm, and auxiliary cleft hand fixed plate is installed on auxiliary
On cleft hand revolving part, long leg clamping jaw is installed in auxiliary cleft hand fixed plate；Main robot unit and auxiliary robot cell improve close
The flexibility ratio in detection process is spent, and then the efficiency of detection can be improved；
(3) the object density detection method based on intelligent robot system of the invention, is calculated to be measured by the following formula
The density p of articleSolution,Solution density is modified using standard test weight, so as to
Improve the accuracy of article Density Detection to be measured；
(4) the object density detection method based on intelligent robot system of the invention, the elevator of Density Detection unit
Structure drives lifter plate to carry out elevating movement by feed screw, improves the stationarity measured in solution pool lifting process, avoids
Too big fluctuation occurs for the liquid measured in solution pool, and then improve the accuracy of Density Detection.
Description of the drawings
Fig. 1 is the overall structure diagram of the robot system of the present invention；
Fig. 2 is the structure diagram (visual angle 1) of the Density Detection unit of the present invention；
Fig. 3 is the structure diagram (visual angle 2) of the Density Detection unit of the present invention；
Fig. 4 is the weighing mechanism of Density Detection unit of the present invention and hoisting mechanism schematic diagram；
Fig. 5 is the enlarged structure schematic diagram of the weighing mechanism of the present invention；
Fig. 6 is the overall structure diagram of the objective table unit of the present invention；
Fig. 7 is the objective table unit of the present invention and its counterweight supporting mechanism enlarged structure schematic diagram；
Fig. 8 is the structure diagram of the hanging basket supporting mechanism of the present invention；
Fig. 9 is the structure diagram of the counterweight support member of the counterweight supporting mechanism of the present invention；
Figure 10 is the sectional view of counterweight support member of the present invention；
Figure 11 is the structure diagram of the sample housing unit of the present invention；
Figure 12 is the structure diagram of the main mechanical cleft hand of the present invention；
Figure 13 is the structure diagram for taking lid pawl of the main mechanical cleft hand of the present invention；
Figure 14 is the structure diagram (visual angle 1) of the auxiliary mechanical cleft hand of the present invention；
Figure 15 is the structure diagram (visual angle 2) of the auxiliary mechanical cleft hand of the present invention；
Figure 16 is the sectional view of the measurement solution pool of the embodiment of the present invention 5；
Figure 17 is the structure diagram of the auxiliary robot cell of the present invention；
Figure 18 is the flow chart of the object density detection method based on intelligent robot system of the present invention.
Label declaration in schematic diagram：
100th, main robot unit；
101st, main mechanical cleft hand；102nd, main mechanical arm；110th, bar shaped clamping jaw；111st, lateral V-shaped groove；112nd, holding tank；
113rd, longitudinal V-shaped groove；114th, clamping jaw stomata；115th, transverse slider；120th, big holding claw；121st, holding claw stomata；122nd, holding claw boss；
123rd, moving block I；130th, lid pawl is taken；131st, lid supporting rod is taken；132nd, lid clamping piece is taken；133rd, alignment sensor；134th, it clamps
Mouthful；140th, small holding claw；141st, lower part holding claw；142nd, top holding claw；143rd, holding claw notch；144th, moving block II；145th, lower part is convex
Platform；150th, axial prong hand fixed plate；151st, the first assembly side；1511st, horizontal slide rail；152nd, the second assembly side；153rd, third is assembled
End；1531st, be open sliding rail；154th, the 4th assembly side；160th, axial prong hand revolving part.
200th, auxiliary robot cell；
201st, auxiliary mechanical cleft hand；202nd, auxiliary mechanical arm；203rd, rotating base；204th, support baseboard；205th, bottom plate reinforcing rib；
206th, fixing threaded hole；210th, long leg clamping jaw；211st, clamping jaw bar；212nd, claw bar clamping piece；213rd, the first revolving part；214th, it slides
Part；220th, shape claw is pressed from both sides；221st, end V-shaped groove；222nd, middle part empty slot；223rd, arc-shaped slot；224th, stroke slider；230th, two fingers
Holding claw；231st, pawl arm clamping piece；232nd, bare terminal end；233rd, circular arc is clamped；234th, clamping jaw arm；235th, the second revolving part；236th, it presss from both sides
Hold boss；240th, auxiliary cleft hand fixed plate；241st, clamping jaw assembly side；242nd, claw assembly side；243rd, holding claw assembly side；244th, row
Journey sliding rail；245th, position sensor；250th, auxiliary cleft hand revolving part.
300th, Density Detection unit；
310th, weighing mechanism；311st, top weighs balance；312nd, auxiliary weighs box；313rd, bar is weighed；314th, device is weighed；
315th, hook is weighed；320th, hoisting mechanism；321st, vertical loading board；3211st, heater element；322nd, hanging basket frame；323rd, hanging basket hanging plate；
3231st, hanging plate concave arc side；3232nd, hanging plate first side；3233rd, hanging plate second side；3234th, hanging plate guide surface；330th, it measures
Solution pool；331st, bath support plate；332nd, lower-weighing component；333rd, run-off；334th, spout hole；3361st, lower stabilier；
3362nd, middle stabilier；3363rd, stabilier is pushed up；3364th, current stabilization plate hole；340th, elevating mechanism；341st, vertical supporting rod；342nd, lower part
Cross bar；343rd, upper cross bar；344th, lifter plate；345th, lifting and driving bar；346th, it is oriented to montant；347th, feed screw；348th, it drives
Dynamic component；350th, detection unit frame；351st, top support plate；352nd, bottom support plate；353rd, vertical support frame；361st, it surveys
Warm mechanism；3611st, detector probe；362nd, liquid level sensor；363rd, handling hanging rod；
400th, objective table unit；
410th, sample hanging basket；420th, object carrying support；421st, rack leg；430th, hanging basket supporting mechanism；431st, hanging basket support portion
Part；432nd, hanging basket support plate；4321st, support plate guide surface；4322nd, support plate cancave cambered surface；4323rd, cambered surface fumarole；4324th, it props up
Fagging heater；433rd, dry jet plate；4331st, bottom fumarole；440th, counterweight supporting mechanism；441st, counterweight heating platform；
442nd, counterweight support member；443rd, counterweight heating collar；444th, jet inclined-plane；445th, main jet stomata；446th, inclined-plane fumarole；447、
Equal channeling slot；448th, counterweight support surface；450th, tank supporting mechanism is accommodated；451st, tank claw is accommodated；
500th, sample housing unit；
510th, accommodating chamber；520th, seal cover board；
600th, bottom plate platform.
Specific embodiment
Hereafter to the detailed description of exemplary embodiment that the present invention invents with reference to attached drawing, which forms the one of description
Part has been shown as example the enforceable exemplary embodiment of invention of the invention in the figure.Although these exemplary realities
Example is applied to be described in sufficient detail so that those skilled in the art can implement invention of the present invention, it is to be understood that it can be realized
His embodiment and can various changes can be made to present invention invention in the case where not departing from the spirit and scope that the present invention invents.Hereafter
The range that the required present invention invents is not limited to the more detailed description of embodiment that the present invention invents, and only
In order to be illustrated and do not limit the description of the characteristics of inventing the present invention and feature, to propose to perform what the present invention invented
Best mode, and it is sufficient to make those skilled in the art that can implement invention of the present invention.Therefore, the range invented of the present invention only by
Appended claims limit.
Hereafter the detailed description of the invention invented and example embodiment can be more fully understood with reference to attached drawing, wherein this hair
The element and feature of bright invention are identified by reference numeral.
Embodiment 1
With reference to Fig. 1-Figure 15 and Figure 18, the object density detection method based on intelligent robot system of the present embodiment, inspection
Survey method is as follows：Auxiliary robot cell 200 will be to will be loaded with article to be measured crawl, be moved on objective table unit 400；Master machine
The main mechanical cleft hand 101 of people's unit 100 captures the article to be measured on objective table unit 400, and article to be measured is placed on density
The quality for being weighed to obtain article to be measured on the weighing mechanism 310 of detection unit 300 is mObject, article to be measured is immersed in density
After the measurement solution pool 330 of detection unit 300, the mass change of weighing mechanism 310 is Δ m, then the density of article to be measured is：It is as follows：
The main mechanical cleft hand 101 of main robot unit 100 captures the article to be measured on objective table unit 400, and will be to be measured
Article is placed on the weighing mechanism 310 of Density Detection unit 300 and is weighed, and the quality for obtaining article to be measured is mObject, then will
After article to be measured is immersed in the measurement solution pool 330 of Density Detection unit 300, the mass change for measuring weighing mechanism 310 is Δ
M, the density that article to be measured is calculated are：Wherein ρSolutionDensity for solution.The operating procedure of robot
It is as follows：
Step 1：Auxiliary hermetically sealed can of the crawl of robot cell 200 equipped with article to be measured, and hermetically sealed can is transported to objective table
On unit 400；Auxiliary robot cell 200 drives auxiliary mechanical cleft hand 201, and the driving folder shape of auxiliary mechanical cleft hand 201 claw 220 grips
Seal cover board 520, and seal cover board 520 is removed, auxiliary mechanical cleft hand 201 drives long leg clamping jaw 210 to stretch into accommodating chamber 510,
Long leg clamping jaw 210 grips hermetically sealed can to the receiving tank supporting mechanism 450 of objective table unit 400, then presss from both sides shape claw 220
Seal cover board 520 is covered in accommodating chamber 510 again；
Step 2：Main robot unit 100 takes out article to be measured from hermetically sealed can, and by article to be measured by article to be measured
It is moved on the weighing mechanism 310 of Density Detection unit 300；
Step 3：Weighing mechanism 310 weighs article to be measured, and the quality for obtaining article to be measured is mObject；Then drive
It measures solution pool 330 to move upwards, after article to be measured is immersed in the measurement solution pool 330 of Density Detection unit 300, measures and claim
The mass change of measuring mechanism 310 is Δ m.
Step 2 the specific steps are：
2-1 takes lid pawl 130 to be moved to the top of hermetically sealed can, and lid pawl 130 is taken to grip the sealing cover of hermetically sealed can, and by sealing cover
It opens；
The small holding claws 140 of 2-2 are moved to hermetically sealed can station, and small holding claw 140 grips hermetically sealed can, and the article to be measured in tank is inclined
Down in the sample hanging basket 410 of objective table unit 400, hermetically sealed can is placed on objective table by main mechanical cleft hand 101 after the completion of toppling over
On unit 400；
2-3 bar shapeds clamping jaw 110 is moved to 410 station of sample hanging basket, and bar shaped clamping jaw 110 grips sample hanging basket 410, and will examination
Sample hanging basket 410 is moved on weighing mechanism 310 and is weighed.
The specific detection method of step 2 and step 3 is as follows：
S1, the quality information for detecting hanging basket
The bar shaped clamping jaw 110 of main robot unit 100 grips sample hanging basket 410, and sample hanging basket 410 is placed on density
Detection unit 300 it is upper, the quality for weighing sample hanging basket 410 is m01；
The elevating mechanism 340 of Density Detection unit 300 is driven, the lifting of elevating mechanism 340 measures solution pool 330 so that surveys
Sample hanging basket 410 is totally submerged in the solution by amount solution pool 330, and the quality of weighing sample hanging basket 410 is m02；At the same time,
The detection of temperature measuring mechanism 361 measures the quality of solution in solution pool 330；The driving of weighing mechanism 310 measures solution pool after the completion of weighing
330 move downward, and bar shaped clamping jaw 110 again takes out sample hanging basket 410 from the hoisting mechanism 320 of 310 lower part of weighing mechanism, and
Sample hanging basket 410 is placed on hanging basket supporting mechanism 430, hanging basket supporting mechanism 430 heats sample hanging basket 410, blows
It sweeps, clean so as to which the solvent on 410 surface of sample hanging basket be purged, sample hanging basket 410 will blow a cold wind over after drying up to cool down, and ensures
410 temperature of sample hanging basket is reduced to room temperature；Solution is distilled water used by the present embodiment.
The quality information of S2, detection article to be measured
Main mechanical cleft hand 101 takes lid pawl 130 to be moved to the top of hermetically sealed can, takes lid pawl 130 by the sealing cover of hermetically sealed can
It removes, then the small holding claw 140 of main mechanical cleft hand 101 is moved to the corresponding position of hermetically sealed can, and small holding claw 140 captures hermetically sealed can,
And the article to be measured in hermetically sealed can is poured onto in sample hanging basket 410, and the quality for weighing sample hanging basket 410 and article to be measured is
m11；
After sample hanging basket 410 and article to be measured are immersed into solution, the quality of sample hanging basket 410 and article to be measured is weighed
For m12；Bar shaped clamping jaw 110 again takes out sample hanging basket 410 from the hoisting mechanism 320 of 310 lower part of weighing mechanism, and by sample
Article to be measured in hanging basket 410 is poured onto in hermetically sealed can, then sample hanging basket 410 is placed on hanging basket supporting mechanism 430 and is carried out
Purging.
S3, the density for calculating article to be measured
The density p of article to be measured is calculated by the following formulaObject,Wherein ρSolution
Density for solution.It is specifically intended that front and rear temperature change≤2 DEG C measured in solution pool 330 of detection density.
Embodiment 1 is wherein used to detect the density of counterweight as 7.71g/cm-3；The density of the counterweight in itself is 7.94g/cm-3, by stabilier group to measure solution pool 330 in solution stablize, can relatively accurate detection obtain object under test
Density, and then improve the precision of detection.And the density for compound body of endangering can be detected, danger compound body is avoided to examine
The health of human body of operating personnel is endangered during survey.
The present invention a kind of detection density robot system, including main robot unit 100, auxiliary robot cell 200,
Density Detection unit 300, objective table unit 400 and sample housing unit 500, wherein main robot unit 100 include main mechanical
Cleft hand 101 and main mechanical arm 102, the main mechanical cleft hand 101 are installed on main mechanical arm 102, and main mechanical arm 102 drives host
Machinery claw hand 101 captures, moves article to be measured；Main robot unit 100, Density Detection unit 300, carries auxiliary robot cell 200
Object platform unit 400 and sample housing unit 500 are fixedly installed on bottom plate platform 600 (as shown in Figure 1).
Main robot unit 100 includes main mechanical cleft hand 101 and main mechanical arm 102, and the main mechanical cleft hand 101 is installed on
Main mechanical arm 102, main mechanical arm 102 drive main mechanical cleft hand 101 capture, move article to be measured；Main mechanical cleft hand 101 includes item
Clevis pawl 110, axial prong hand fixed plate 150 and axial prong hand revolving part 160, main mechanical cleft hand 101 pass through axial prong hand revolving part 160
It is rotatablely connected with main mechanical arm 102, axial prong hand fixed plate 150 is installed on axial prong hand revolving part 160, and bar shaped clamping jaw 110 is installed
In in axial prong hand fixed plate 150.Setting is provided with the first assembling there are four station on four stations in axial prong hand fixed plate 150
The 151, second assembly side 152,153 and the 4th assembly side 154 of third assembly side are held, and four stations are uniformly distributed in axial prong hand
The four direction of fixed plate 150.The lower part of the first wherein above-mentioned assembly side 151 is provided with horizontal slide rail 1511, and the transverse direction
The length direction of sliding rail 1511 is provided with and above-mentioned sliding slot phase perpendicular to the length direction of bar shaped clamping jaw 110 on bar shaped clamping jaw 110
The transverse slider 115 of cooperation, bar shaped clamping jaw 110 can be along the length direction foldings of horizontal slide rail 1511.Bar shaped clamping jaw 110
End set has lateral V-shaped groove 111, and the slot bottom of the transverse direction V-shaped groove 111 is provided with recess, and lateral V-shaped groove 111 is clamping object
When, recess can be buckled in around object simultaneously, prevent object from skidding in the lateral V-shaped groove 111, so as to improve clamp it is steady
It is qualitative.The middle part of bar shaped clamping jaw 110 is provided with longitudinal V-shaped groove 113, and the slot bottom of the longitudinal V-shaped groove 113 is provided with recess, is pressing from both sides
Recess can be buckled in around object simultaneously when filling object, prevent object from skidding in lateral V-shaped groove 111；Lateral V-shaped groove 111
Holding tank 112 is provided between longitudinal V-shaped groove 113, when lateral V-shaped groove 111 clamps the object with protrusion, lateral V-shaped groove
111 are clipped in the neck of object, then the head of object can be contained in holding tank 112, so as to improve the stability clamped.This
Outside, it should be noted that the opening direction of lateral V-shaped groove 111 is transversely to the machine direction the opening direction of V-shaped groove 113, lateral V-shaped groove
111 and longitudinal V-shaped groove 113 can gripping objects in different directions (as shown in Figure 12).
The end set of bar shaped clamping jaw 110 has clamping jaw stomata 114, i.e., the front end of lateral V-shaped groove 111 is provided with clamping jaw stomata
114, in gripping objects, the clamping jaw stomata 114 of lateral 111 front end of V-shaped groove can purge object lateral V-shaped groove 111,
And clamping jaw stomata 114 is provided on the surface of bar shaped clamping jaw 110, the injection direction of the clamping jaw stomata 114 on 110 surface of bar shaped clamping jaw
114 injection direction of clamping jaw stomata perpendicular to lateral 111 front end of V-shaped groove, longitudinal V-shaped groove 113 is in gripping objects, bar shaped clamping jaw
The clamping jaw stomata 114 on 110 surfaces can purge object (as shown in figure 12).
The main mechanical cleft hand 101 of the present embodiment further includes big holding claw 120, takes lid pawl 130 and small holding claw 140, wherein big embrace
Pawl 120 is installed on the second assembly side 152, and 152 lower part of the second assembly side is provided with sliding rail, and the connecting pin of big holding claw 120 is provided with
With the matched sliding block of above-mentioned sliding rail, big holding claw 120 can be slided with sliding block along the length direction of sliding rail, and big holding claw 120 passes through
Moving block I 123 is rotatablely installed on sliding block, and each holding claw of big holding claw 120 can be carried out with moving block I 123 for center of rotation
It rotates, and the opening and closing degree of big holding claw 120 is controlled during rotation, further it should be noted that being set in big holding claw 120
There is holding claw stomata 121, the holding claw stomata 121 is perpendicular to the surface of big holding claw 120, and holding claw stomata 121 is by the fixing end of holding claw
Extend to the end of holding claw, and the opening of holding claw stomata 121 is gradually reduced, big holding claw 120, can be to object in gripping objects
It is purged；The lower part of the big holding claw 120 is provided with holding claw boss 122, and holding claw boss 122 is protruded from big holding claw 120
Cambered surface, and holding claw boss 122 forms stepped boss with big 120 intrados of holding claw.
The small holding claw 140 of the present embodiment is installed on the 4th assembly side 154 of axial prong hand fixed plate 150, the 4th assembly side 154
Lower part is again provided with sliding rail, and the connecting pin of small holding claw 140 is provided with sliding block, and small holding claw 140 can be with sliding block along the length of sliding rail
It spends direction to slide, small holding claw 140 includes lower part holding claw 141 and top holding claw 142, the lower part holding claw 141 and top holding claw
142 are set as arc-shaped, and the crooked radian of top holding claw 142 is less than the crooked radian of lower part holding claw 141, the top holding claw
142 are set to the top of lower part holding claw 141, and holding claw notch 143 is formed between top holding claw 142 and lower part holding claw 141, so as to
Convenient for gripping objects, and it is worth noting that the width of lower part holding claw 141 is more than the width of top holding claw 142, so as under
Lower boss 145 is formed between portion's holding claw 141 and top holding claw 142, the clamping of object is imitated so as to improve small holding claw 140
Fruit.The holding claw of small holding claw 140 is rotatablely installed by moving block II 144 on sliding block, and the holding claw of small holding claw 140 can be with moving block
II 144 is rotated for center of rotation, so as to control the opening and closing degree of small holding claw 140.
The present embodiment takes lid pawl 130 to be set in third assembly side 153, and opening is provided in third assembly side 153 and is slided
Rail 1531 takes lid pawl 130 to be slidably mounted on opening sliding rail 1531 by sliding block, takes lid pawl 130 along opening sliding rail 1531
Length direction slides, so as to control the folding for taking lid pawl 130.Lid pawl 130 is taken to include taking lid supporting rod 131 and alignment sensor
133, this takes the end set of lid supporting rod 131 to take lid clamping piece 132, and lid clamping piece 132 is taken to be provided with the clamp port of V-arrangement
134, the alignment sensor 133 be set to two take lid supporting rod 131 between, alignment sensor 133 is for detecting quilt to be measured
Grip the position of object.
The Density Detection unit 300 of the present embodiment includes weighing mechanism 310, hoisting mechanism 320 and measures solution pool 330
(as shown in Figures 2 and 3), 310 lower part of weighing mechanism is provided with hoisting mechanism 320, which is treated with lifting
Article is surveyed, the measurement solution pool 330 is slidably mounted on the lower part of hoisting mechanism 320；Wherein weighing mechanism 310 includes top
It weighs balance 311 and auxiliary weighs box 312, which weighs the upper surface that balance 311 is set to top support plate 351, and should
Top support plate 351 is horizontally disposed, and the outside that top weighs balance 311 is provided with seal box, and auxiliary weighs box 312 and is set to
Portion weighs the lower part of balance 311, and auxiliary weighs the upper and lower surface that box 312 is fixed on top support plate 351, and top weighs balance
It is provided on 311 and weighs bar 313, weighed 313 lower part of bar and be connected with the weighing device 314 in auxiliary weighing box 312, weigh device
314 both sides are symmetrical arranged, and weigh the lower part setting of device 314 there are two weighing hook 315, and two weigh hook 315 and close
It is symmetrical in the geometric center for weighing device 314, it weighs and is hung on hoisting mechanism 320, and vertical loading board 321 is mounted on hook 315
It weighs on hook 315 (as shown in Figure 6).Hoisting mechanism 320 includes vertical loading board 321, hanging basket frame 322 and hanging basket hanging plate 323, lifting
The top of bar 321 is connected by linking up with weighing mechanism 310, and 321 lower part of vertical loading board is connected by hinge with hanging basket frame 322, institute
The bottom for stating hanging basket frame 322 is provided with hanging basket hanging plate 323 (as shown in Figure 4).
Hanging plate concave arc side 3231 is provided on the hanging basket hanging plate 323 of the present embodiment, which hangs with sample
The edge of basket 410 matches, and sample hanging basket 410 can be mounted on hanging plate concave arc side 3231, and hanging plate concave arc side 3231 is with hanging
The junction of plate first side 3232；At the same time, hanging plate concave arc side 3231 and the junction of hanging plate second side 3233 are set
There is hanging plate guide surface 3234, the hanging plate guide surface 3234 is set as arc-shaped, and arc-shaped hanging plate guide surface 3234 causes
Sample hanging basket 410 can be preferably put into hanging basket hanging plate 323.
The shaft of the vertical loading board 321 of the present embodiment and the connects hinge of hanging basket frame 322 is axially perpendicular to the flat of hanging basket frame 322
Face, i.e. shaft are axial parallel with the normal vector of 322 plane of hanging basket frame, and the vertical loading board 321 and the junction of hanging basket frame 322 is set
Heater element 3211 is equipped with, which avoids 322 surface of hanging basket frame from retaining for being thermally dried to hanging basket frame 322
Moisture and influence Density Detection as a result, and then improve accuracy of detection.
The Density Detection unit 300 of the present embodiment further includes elevating mechanism 340, which includes lifter plate
344th, lifting and driving bar 345 and driving part 348 are provided with feed screw 347 on the driving part 348, the driving part
348 top is provided with lifter plate 344, is provided on lifter plate 344 and 347 matched threaded hole of feed screw, driving portion
Part 348 drives lifter plate 344 to carry out elevating movement, the normal direction of 344 plane of lifter plate of the present embodiment by feed screw 347
Amount is parallel to the axis of feed screw 347, i.e. 344 plane of lifter plate is vertical with the axis of feed screw 347, feed screw 347
Lifter plate 344 can be pushed smoothly to move upwards.Above-mentioned driving part 348 can be that driving motor directly drives (such as
Shown in Fig. 3).
The top of the lifter plate 344 of the present embodiment is provided with lifting and driving bar 345, the top of the lifting and driving bar 345 with
It measures solution pool 330 to be connected, the middle part of bath support plate 331 of the top of lifting and driving bar 345 with measuring 330 bottom of solution pool
It is connected；Wherein elevating mechanism 340 further includes lifting support member, which includes vertical supporting rod 341, lower crosspiece
342 and upper cross bar 343, vertical supporting rod 341 be fixedly installed on detection unit frame 350, detection unit frame 350 include top
Portion's support plate 351 and bottom support plate 352, pass through vertical support frame 353 between top support plate 351 and bottom support plate 352
It is fixed and supports.
Detailed description：Vertical supporting rod 341 is fixedly installed in the bottom support plate 352 of detection unit frame 350, lower part
Cross bar 342 is fixedly installed in the lower part of vertical supporting rod 341, and upper cross bar 343 is fixedly installed in the top of vertical supporting rod 341, should
It is provided between lower crosspiece 342 and upper cross bar 343 and is oriented to montant 346, be provided on lifter plate 344 with being oriented to montant 346
Matched pilot hole, lifter plate 344 are assemblied in by pilot hole and are oriented on montant 346, and lifter plate 344 can be with guiding montant
346 are moved in the vertical direction.The axis of feed screw 347 is parallel with the axis for being oriented to montant 346 so that feed screw
347 when pushing lifter plate 344, and lifter plate 344 rises more steady, prevents lifter plate 344 from deflecting or fluctuating, into
And improve the stability of lifter plate 344.
The temperature measuring mechanism 361 of the present embodiment measures the temperature of solution pool 330, the setting of 361 lower part of temperature measuring mechanism for detecting
There is detector probe 3611, the diameter friendship of detector probe 3611 is small, and detector probe 3611 is measuring the fortune upwards of solution pool 330
The problem of after dynamic, detection measures the temperature in solution pool 330, is so as to detect to obtain measurement density, solution.Reduce temperature to close
Spend the influence measured.Measure and be provided with spout hole 334 on the side wall of solution pool 330,334 lower part of spout hole is corresponding be provided with it is excessive
Pond 333 is flowed, avoids excessive solution overflow.
The present embodiment can also include liquid level sensor 362, and liquid level sensor 362 measures solution pool 330 for detecting
Liquid level, so that after measurement solution pool 330 rises to designated position, liquid level sensor 362 receives the letter of liquid level
It after number, can be automatically stopped, avoid that error operation occurs.
For the objective table unit 400 of the present embodiment for carrying article to be measured, objective table unit 400 includes object carrying support 420,
The lower part of the object carrying support 420 is provided with rack leg 421, which is used to be supported (such as Fig. 6 to object carrying support 420
It is shown).And hanging basket supporting mechanism 430 and counterweight supporting mechanism 440 are provided on objective table unit 400, hanging basket supporting mechanism 430
For carrying sample hanging basket 410；Hanging basket supporting mechanism 430 includes hanging basket support member 431 and hanging basket support plate 432, and hanging basket
Support plate 432 is set in hanging basket support member 431, and the support end of the hanging basket support plate 432 is provided with support plate cancave cambered surface
4322, which matches with sample hanging basket 410, and a pair of of support plate cancave cambered surface 4322 is formed to sample hanging basket
410 supporting and space, supporting and space can be supported sample hanging basket 410, and the front end of support plate cancave cambered surface 4322 is provided with
Support plate guide surface 4321, when sample hanging basket 410 is put into the supporting and space of the formation of support plate cancave cambered surface 4322, support plate is oriented to
Face 4321 can guide sample hanging basket 410, so that sample hanging basket 410 is easier to be put into support plate cancave cambered surface
In 4322 supporting and space (as shown in Figure 8).And cambered surface fumarole 4323 is provided on support plate cancave cambered surface 4322, cambered surface spray
Stomata 4323 can spray high-temperature gas, so as to being purged to sample hanging basket 410, and then by the molten of 410 surface of sample hanging basket
Liquid volatilizees rapidly, and then improves the accuracy of Density Detection.Further it should be noted that branch is provided in hanging basket support plate 432
Fagging heater 4324；Support board heating apparatus 4324 is used to heat hanging basket support plate 432 and sample hanging basket 410, so as to
So that the solution on sample hanging basket 410 volatilizees rapidly, the solution influenced density inspection next time that sample hanging basket 410 is avoided to adhere to
It surveys, this is because during detection density, sample hanging basket 410 from measurement solution pool 330 after taking out, inevitably
A certain amount of solution is adhered to, the solution of 410 surface adhesion of sample hanging basket is removed by hanging basket support plate 432, can be improved close
Spend the precision of detection.
The auxiliary robot cell 200 of the present embodiment includes auxiliary mechanical cleft hand 201 and auxiliary mechanical arm 202, the subsidiary engine machinery claw
Hand 201 is installed on auxiliary mechanical arm 202, and auxiliary mechanical arm 202 drives auxiliary mechanical cleft hand 201 capture, move article to be measured；Auxiliary mechanical
Cleft hand 201 includes long leg clamping jaw 210, auxiliary cleft hand fixed plate 240 and auxiliary cleft hand revolving part 250, and auxiliary cleft hand revolving part 250 rotates
The top of auxiliary cleft hand fixed plate 240 is installed on, main mechanical cleft hand 101 is rotated by auxiliary cleft hand revolving part 250 with auxiliary mechanical arm 202
Connection, auxiliary cleft hand fixed plate 240 are installed on auxiliary cleft hand revolving part 250, and long leg clamping jaw 210 is installed on auxiliary cleft hand fixed plate 240
On.300 top of Density Detection unit is provided with handling hanging rod 363, and handling hanging rod 363 is convenient for lifting transhipment Density Detection unit
300 (as shown in Figure 14 and Figure 15).
Counterweight supporting mechanism 440 includes counterweight heating platform 441 and counterweight support member 442, and counterweight heating platform 441 can
To be heated to counterweight supporting mechanism 440, so as to around counterweight build a relatively-high temperature environment, so as to so that
The liquid for obtaining counterweight surface volatilizees as early as possible；Counterweight support surface 448 is provided in the counterweight support member 442 of the present embodiment, it should
Counterweight support surface 448 can be used for supporting counterweight, and counterweight heating collar 443, counterweight are provided with around counterweight support surface 448
The diameter of heating collar 443 is more than the diameter of counterweight, and heating can be carried out to counterweight for counterweight heating collar 443 so that the liquid on counterweight surface
Body gasifies rapidly, and counterweight surface long term is avoided to accumulate solution and influences the service life of counterweight, while also avoid counterweight surface
Liquid influences calibration effect (as shown in Figure 9 and Figure 10) of the counterweight to detection.The inner surface of counterweight heating collar 443 is provided with
Jet inclined-plane 444, is provided with inclined-plane fumarole 446 on jet inclined-plane 444, the injection direction of inclined-plane fumarole 446 with it is horizontal
Angle is a, and value is 45~60 °.
The counterweight support surface 448 of the present embodiment is provided with main jet stomata 445 and equal channeling slot 447, wherein main jet stomata
445 are set to the center of counterweight support surface 448, and equal channeling slot 447 is uniformly set to around main jet stomata 445, gas
Groove 447 is along the radial arrangement of counterweight support surface 448, and channeling slot 447 is connected with main jet stomata 445, the main jet
Stomata 445 can advertise high-temperature gas, can also carry out negative pressure exhausting to counterweight, counterweight is being placed on counterweight support surface
After 448, first regulate and control wind turbine and main jet stomata 445 is caused to carry out exhausting to counterweight support surface 448, then regulate and control wind turbine, main jet again
Stomata 445 advertises counterweight support surface 448 high-temperature gas, and high-temperature gas is blown to tired surface by equal channeling slot 447, improved
Purging effect of the main jet stomata 445 to counterweight, at the same time counterweight heating collar 443 be carried out at the same time heating, and inclined-plane fumarole
446 purge high-temperature gas to counterweight, so that the liquid on counterweight surface volatilizees rapidly, so as to improve counterweight to Density Detection
Calibrate effect.The objective table unit 400 of the present embodiment, which further includes, accommodates tank supporting mechanism 450, accommodates and is set on tank supporting mechanism 450
It is equipped with and accommodates tank claw 451, which is used to accommodate and fix receiving tank.
Hermetically sealed can is provided in sample housing unit 500, which is used to accommodate determinand sample.Sample housing unit
Accommodating chamber 510 is provided on 500, hermetically sealed can is set to accommodating chamber 510, and the top of accommodating chamber 510 is provided with seal cover board 520
(as shown in figure 11).
Embodiment 2
The substance of the present embodiment with embodiment 1, the difference lies in：On the hanging basket supporting mechanism 430 of the present embodiment
Dry jet plate 433 is additionally provided with, which is set to the lower part of hanging basket support plate 432, and dry jet plate
433 with 432 keeping parallelism of hanging basket support plate, be provided with bottom fumarole 4331 in dry jet plate 433, can be sprayed from bottom
High-temperature gas is sprayed in stomata 4331, sample hanging basket 410 is purged, so as to from cambered surface fumarole 4323 and bottom
Fumarole 4331 and then multi-faceted purging, improve purging effect, and coordinate hanging basket support plate 432 to sample hanging basket 410
Heating, so as to which rapidly sample hanging basket 410 is dried, and then improves the accuracy of detection of article density to be measured.With
This simultaneously, dry jet plate 433 can also set heating element, and the heating element is so as to around sample hanging basket 410
High-temperature region is formed, so that sample hanging basket 410 is heated as early as possible, and the liquid on 410 surface of sample hanging basket is removed as early as possible.
Embodiment 3
The substance of the present embodiment with embodiment 1, the difference lies in：The counterweight supporting mechanism 440 of the present embodiment is used
In carrying counterweight, counterweight is used to calibrate the result of Density Detection.The calibration method for having s bodies is as follows：ρSolutionPass through following step
Rapid measure obtains：
1 quality for weighing sample hanging basket 410 is m01；After sample hanging basket 410 is immersed into solution, sample hanging basket is weighed
410 quality is m02；
2 are added to counterweight in sample hanging basket 410, and the quality for weighing sample hanging basket 410 and counterweight is m21；Again by sample
After hanging basket 410 and counterweight are immersed into solution, the quality for weighing sample hanging basket 410 and counterweight is m22；
3 calculate solution density ρSolution；The density p of article to be measured is calculated by the following formulaSolution,
Wherein mWeightQuality for counterweight；ρWeightDensity for counterweight.
Embodiment 4
As shown in Figure 14, Figure 15 and Figure 17, the substance of the present embodiment with embodiment 1, the difference lies in：It retouches in detail
Robot cell 200 includes auxiliary mechanical cleft hand 201 and auxiliary mechanical arm 202 supplemented by stating, and 202 lower part of auxiliary mechanical arm is provided with rotation
Turn pedestal 203, the auxiliary mechanical cleft hand 201 is set to the top of auxiliary mechanical arm 202, and the auxiliary cleft hand of auxiliary mechanical cleft hand 201 is fixed
Plate 240 includes clamping jaw assembly side 241, claw assembly side 242 and holding claw assembly side 243, and wherein clamping jaw assembly side 241 is equipped with length
Leg clamping jaw 210, claw assembly side 242 are equipped with folder shape claw 220, and holding claw assembly side 243 is equipped with two fingers holding claw 230.Bottom plate
The side of reinforcing rib 205 is provided with chamfering circular arc 207.Clamping jaw assembly side 241, claw assembly side 242 and holding claw assembly side 243 are appointed
The angle of meaning between the two is 120 °.
Wherein, long leg clamping jaw 210 is rotatablely equipped with clamping jaw assembly side 241, long leg clamping jaw 210 by the first revolving part 213
Lower part be provided with claw bar clamping piece 212, the inside of the claw bar clamping piece 212 is set as arc-shaped, under the first revolving part 213
Portion is uniformly provided with 3 sliding parts 214, and clamping jaw bar 211 is equipped on sliding part 214, and the claw bar clamping piece 212 is set to
The one end of clamping jaw bar 211 far from the first revolving part 213.
The lower part of above-mentioned claw assembly side 242 is provided with stroke sliding rail 244,220 end set of folder shape claw have with it is upper
244 matched stroke slider 224 of stroke sliding rail is stated, folder shape claw 220 is slidably mounted on stroke sliding rail by stroke slider 224
On 244.The fixing end for pressing from both sides shape claw 220 is rotatablely installed in the shaft of stroke slider 224.Press from both sides the end set of shape claw 220
There is end V-shaped groove 221, the middle part of folder shape claw 220 is provided with arc-shaped slot 223, end V-shaped groove 221 and arc-shaped slot 223
Between be provided with middle part empty slot 222, end V-shaped groove 221 when clamp article, the riser of article can be contained in the middle part of empty slot
In 222.
In addition, two fingers holding claw 230 is rotatablely installed by the second revolving part 235 in holding claw assembly side 243, two fingers holding claw 230
Lower part be provided with clamping jaw arm 234, the end of clamping jaw arm 234 is provided with pawl arm clamping piece 231.231 one end of pawl arm clamping piece with
The end of clamping jaw arm 234 is connected, and the other end of pawl arm clamping piece 231 is provided with bare terminal end 232, and the inside of the bare terminal end 232 is set
It is equipped with clamping circular arc 233.Position sensor 245 is set in auxiliary cleft hand fixed plate 240, which embraces with two fingers
Pawl 230 is correspondingly arranged.Clamping boss 236 is provided on clamping circular arc 233, which protrudes from clamping circular arc 233
Surface, clamping boss 236 can increase the clamping effect of two fingers holding claw 230.
The lower part of the present embodiment rotating base 203 is provided with support baseboard 204, the edge setting of the support baseboard 204
There is bottom plate reinforcing rib 205, be provided with fixing threaded hole 206 on this, the side of bottom plate reinforcing rib 205 is provided with chamfering circular arc 207.
Embodiment 5
As shown in figure 16, the measurement solution pool 330 of the present embodiment is internally provided with stabilier group, under which includes
Stabilier 3361, middle stabilier 3362 and top stabilier 3363, the bottom end of the lower stabilier 3361 is close to measurement solution pool
330 side wall, and lower stabilier 3361 is extended from the both ends side wall of measurement solution pool 330 to center, wherein lower stabilier 3361
One group is set as 2, and 2 lower stabiliers 3361 are obliquely installed, and form "eight" shape, lower stabilier 3361 and vertical direction
Angle be 50~65 °；Lower 3361 top of stabilier is provided with current stabilization plate hole 3364；
The top of lower stabilier 3361 is provided with middle stabilier 3362, and the bottom end of middle stabilier 3362 is set to measurement solution
The middle part in pond 330, middle stabilier 3362 are extended from the middle part of measurement solution pool 330 to end sidewalls, and middle stabilier 3362
Bottom end is less than the top of lower stabilier 3361, and the bottom end and top of lower stabilier 3361 are provided with current stabilization plate hole 3364, and top
Current stabilization plate hole 3364 and the distance on top are less than bottom end current stabilization plate hole 3364 and the distance of bottom end；Middle 3362 top of stabilier and end
The distance of portion's side wall is less than the distance of lower 3361 top of stabilier and end sidewalls, i.e., middle 3362 top of stabilier is than lower stabilier
3361 tops are closer to end sidewalls；And the current stabilization plate hole 3364 on middle 3362 top of stabilier and lower 3361 top of stabilier
Current stabilization plate hole 3364 is staggered, i.e., the current stabilization plate hole 3364 on middle 3362 top of stabilier and the current stabilization on lower 3361 top of stabilier
The bottom surface projection of plate hole 3364 is misaligned；In addition, middle 3,362 1 groups of stabilier is set as 2,2 middle stabiliers 3362 tilt
Setting, and inverted "eight" shape is formed, the angle of middle stabilier 3362 and vertical direction is 70~80 °
The top of middle stabilier 3362 is provided with top stabilier 3363, top stabilier 3363 spliced by two stabiliers and
Into being stitched together at the top of two stabiliers, form that both sides are low, intermediate high top stabilier 3363, between two stabiliers
Angle be 100~120 °；Middle part gap is provided between 2 middle stabiliers 3362, top stabilier 3363 is located at the middle part
The upper part in gap；The distance that the distance between the left bottom end of stabilier 3363 and right bottom end are more than middle part gap is pushed up, i.e. top is steady
Flowing plate 3363 can be completely covered on the top in middle part gap.Solution pool 330 is measured during rising, will necessarily be caused
The liquid measured in solution pool 330 fluctuates, and for the liquid in molten bath during fluctuation, solution can drive sample hanging basket
410 are shaken, and then can influence the weighing quality of weighing mechanism 310 so that the accuracy of Density Detection is poor, stabilier group
The fluctuation situation that solution pool 330 is measured in moving process can be reduced, and then improve the precision of detection.Using counterweight as treating
Article is surveyed, wherein embodiment 1 is used to detect the density of counterweight as 7.66g/cm-3；And use the density of the present embodiment detection invention
For 7.79g/cm-3；The density of the counterweight in itself is 7.94g/cm-3, by stabilier group to measuring the solution in solution pool 330
Stablized, and then improve the precision of detection.
Embodiment 6
The substance of the present embodiment is with embodiment 1, and the difference lies in the lower part for measuring solution pool 330 is provided with down
Component 332 is weighed, i.e. lower-weighing component 332 is arranged in bath support plate 331, which measures for weighing
The quality of solution pool 330, and lower-weighing component 332 may be used and be used for correcting the density case that detection obtains, it is surveyed so as to reduce
Measure influence of the solution fluctuation to Density Detection in solution pool 330.
Sample hanging basket 410 is placed on hoisting mechanism 320, the detection of lower-weighing component 332 measures the quality of solution pool 330
For M01；It measures solution pool 330 to move upwards, after measurement solution pool 330 submerges sample hanging basket 410 in the solution, detection obtains
The quality for measuring solution pool 330 is M02；
Article to be measured is put into sample hanging basket 410, and sample hanging basket 410 is mounted on hoisting mechanism 320, lower-weighing
The quality that the detection of component 332 measures solution pool 330 is M11；It measures solution pool 330 to move upwards, measures solution pool 330 by sample
After hanging basket 410 and article to be measured are immersed in solution, it is M that detection, which obtains surveying the quality for measuring solution pool 330,12；
The density p of article to be measured is calculated by the following formulaObject
Wherein ρSolutionFor the density of solution,Wherein ρWeightFor the density of counterweight, mWeight
Standard quality for counterweight.Using counterweight as article to be measured, wherein embodiment 1 is used to detect the density of counterweight as 7.87g/cm-3；
The density of the counterweight in itself is 7.94g/cm-3, by using the amendment of lower-weighing component 332, and then improve the detection of density
Precision.
Invention of the present invention is described in detail above in conjunction with specific exemplary embodiment.It is understood, however, that can be
It is carry out various modifications in the case of not departing from the range that the present invention being defined by the following claims invents and modification.Detailed retouches
State should be to be considered only as with attached drawing it is illustrative and not restrictive, if there is any such modifications and variations, then
They are fallen in the range of invention described herein invention.In addition, background technology is intended to grinding in order to illustrate this technology
It was found that shape and meaning, it is no intended to limitation present invention invention or the application and the application field of the invention invented.
More specifically, although the exemplary embodiment that the present invention invents has been described herein, invention of the present invention is simultaneously
These embodiments are not limited to, but are repaiied including those skilled in the art according to the process that the detailed description of front can be appreciated that
Change, omit, the combination between for example each embodiment, adaptive change and/or replacement any and whole embodiments.Right will
The restriction asked can widely be explained, and be not limited in foregoing detailed description according to the language used in claim
Or the example described during this application is implemented, these examples should be considered as nonexcludability.It is in office where method or process power
Any step enumerated in profit requirement can perform and be not limited to the sequence proposed in claim in any order.Therefore,
The range that the present invention invents should be determined only rather than by appended claims and its legal equivalents by theory given above
Bright and example determines.
Claims (10)
1. the object density detection method based on intelligent robot system, it is characterised in that：The host of main robot unit (100)
Article to be measured on machinery claw hand (101) crawl objective table (400), and article to be measured is placed on Density Detection unit (300)
Weighing mechanism is weighed on (310), and the quality for obtaining article to be measured is mObject, then article to be measured is immersed in Density Detection unit
(300) after measurement solution pool (330), the mass change for measuring weighing mechanism (310) is Δ m, and article to be measured is calculated
Density is：Wherein ρSolutionDensity for solution.
2. the object density detection method according to claim 1 based on intelligent robot system, it is characterised in that：Machine
The operating procedure of people is as follows：
Step 1：Auxiliary hermetically sealed can of robot cell (200) crawl equipped with article to be measured, and hermetically sealed can is transported to objective table
(400) on：
Step 2：Main robot unit (100) takes out article to be measured from hermetically sealed can, and article to be measured is moved article to be measured
It moves to the weighing mechanism of Density Detection unit (300) (310)；
Step 3：Weighing mechanism (310) weighs article to be measured, and the quality for obtaining article to be measured is mObject；Then driving is surveyed
Amount solution pool (330) moves upwards, and after article to be measured is immersed in the measurement solution pool (330) of Density Detection unit (300), surveys
The mass change for measuring weighing mechanism (310) is Δ m.
3. the object density detection method according to claim 1 based on intelligent robot system, it is characterised in that：Specifically
Detection method is as follows：
S1, the quality information for detecting hanging basket
The quality for weighing sample hanging basket (410) is m01；
After sample hanging basket (410) is immersed into solution, the quality for weighing sample hanging basket (410) is m02；
The quality information of S2, detection article to be measured
Article to be measured is added in sample hanging basket (410), and the quality for weighing sample hanging basket (410) and article to be measured is m11；
After sample hanging basket (410) and article to be measured are immersed into solution, the quality of sample hanging basket (410) and article to be measured is weighed
For m12；
S3, the density for calculating article to be measured
The density p of article to be measured is calculated by the following formulaObject,
4. the object density detection method according to claim 1 based on intelligent robot system, it is characterised in that：ρSolution
It is obtained by following steps measurement：
(1) quality for weighing sample hanging basket (410) is m01；After sample hanging basket (410) is immersed into solution, sample hanging basket is weighed
(410) quality is m02；
(2) counterweight is added in sample hanging basket (410), and the quality for weighing sample hanging basket (410) and counterweight is m21；It again will examination
After sample hanging basket (410) and counterweight are immersed into solution, the quality for weighing sample hanging basket (410) and counterweight is m22；
(3) solution density ρ is calculatedSolution；The density p of article to be measured is calculated by the following formulaSolution,
Wherein mWeightQuality for counterweight；ρWeightDensity for counterweight.
5. the object density detection method according to claim 1 based on intelligent robot system, it is characterised in that：It is described
Density Detection unit (300) is including weighing mechanism (310), hoisting mechanism (320) and measures solution pool (330), the weighing machine
Structure (310) lower part is provided with hoisting mechanism (320), the hoisting mechanism (320) lifting article to be measured, the measurement solution pool
(330) it is slidably mounted on the lower part of hoisting mechanism (320).
6. the object density detection method according to claim 1 based on intelligent robot system, it is characterised in that：It is described
Density Detection unit (300) is provided with temperature measuring mechanism (361), which measures solution pool (330) for detecting
Liquid level sensor (362) is provided in temperature or/and Density Detection unit (300), liquid level sensor (362) is surveyed for detecting
Measure the liquid level of solution pool (330).
7. the object density detection method according to claim 2 based on intelligent robot system, it is characterised in that：Host
The main mechanical cleft hand (101) of device people unit (100) including bar shaped clamping jaw (110), take lid pawl (130) and small holding claw (140).
8. the object density detection method according to claim 7 based on intelligent robot system, it is characterised in that：Step
Two the specific steps are：
(2-1) takes lid pawl (130) to be moved to the top of hermetically sealed can, takes the sealing cover of lid pawl (130) gripping hermetically sealed can, and will seal
Lid is opened；
(2-2) small holding claw (140) is moved to hermetically sealed can station, and small holding claw (140) grips hermetically sealed can, and by the article to be measured in tank
It is poured onto in the sample hanging basket (410) of objective table (400), hermetically sealed can is placed on load by main mechanical cleft hand (101) after the completion of toppling over
On object platform (400)；
(2-3) bar shaped clamping jaw (110) is moved to sample hanging basket (410) station, and bar shaped clamping jaw (110) grips sample hanging basket (410),
And sample hanging basket (410) is moved on weighing mechanism (310) and is weighed.
9. according to object density detection method of the claim 1-8 any one of them based on intelligent robot system, feature
It is：Density Detection unit (300) further includes elevating mechanism (340), which includes lifter plate (344), lifting
Drive link (345) and driving part (348) are provided with feed screw (347), the driving part on the driving part (348)
(348) top is provided with lifter plate (344), is provided on lifter plate (344) and feed screw (347) matched screw thread
Hole, driving part (348) drive lifter plate (344) to carry out elevating movement, the lifter plate (344) by feed screw (347)
Top be provided with lifting and driving bar (345), the top of the lifting and driving bar (345) is connected with measuring solution pool (330).
10. the object density detection method according to claim 9 based on intelligent robot system, it is characterised in that：It surveys
The lower part of amount solution pool (330) is provided with lower-weighing component (332), which measures solution pool for weighing
(330) quality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499379.5A CN108225977B (en) | 2017-12-29 | 2017-12-29 | Object density detection method based on intelligent robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711499379.5A CN108225977B (en) | 2017-12-29 | 2017-12-29 | Object density detection method based on intelligent robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108225977A true CN108225977A (en) | 2018-06-29 |
| CN108225977B CN108225977B (en) | 2020-04-21 |
Family
ID=62645010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711499379.5A Active CN108225977B (en) | 2017-12-29 | 2017-12-29 | Object density detection method based on intelligent robot system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108225977B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501259A (en) * | 2019-08-12 | 2019-11-26 | 湖南大学 | Density sensing system and Density Detection method |
| CN114459952A (en) * | 2022-02-16 | 2022-05-10 | 山西汾西重工有限责任公司 | Density measuring device and method |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0612995A1 (en) * | 1993-02-26 | 1994-08-31 | British Nuclear Fuels PLC | An apparatus and a method for automatically measuring the density of an object |
| CN1158418A (en) * | 1996-03-01 | 1997-09-03 | 中国科学院广州地球化学研究所 | gold density meter |
| CN202092926U (en) * | 2011-01-26 | 2011-12-28 | 尚之寿 | Accessory device using electronic scale to measure material density and apparatus including same |
| CN103267707A (en) * | 2013-05-08 | 2013-08-28 | 长沙长泰机器人有限公司 | Emulsion matrix and finished product emulsion explosive density online detection system and method |
| CN104280312A (en) * | 2014-09-27 | 2015-01-14 | 广东摩德娜科技股份有限公司 | Solid density detection method and device |
| CN106124361A (en) * | 2016-09-21 | 2016-11-16 | 郑州旭飞光电科技有限公司 | The measuring method of vitreous humour density and the measurement apparatus of vitreous humour density |
| CN106198309A (en) * | 2016-08-30 | 2016-12-07 | 长沙长泰机器人有限公司 | Density of Emulsion Explosive intelligent checking system and method |
| CN107367443A (en) * | 2017-07-13 | 2017-11-21 | 中核建中核燃料元件有限公司 | A kind of water surveys pellet density measuring method |
-
2017
- 2017-12-29 CN CN201711499379.5A patent/CN108225977B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0612995A1 (en) * | 1993-02-26 | 1994-08-31 | British Nuclear Fuels PLC | An apparatus and a method for automatically measuring the density of an object |
| CN1158418A (en) * | 1996-03-01 | 1997-09-03 | 中国科学院广州地球化学研究所 | gold density meter |
| CN202092926U (en) * | 2011-01-26 | 2011-12-28 | 尚之寿 | Accessory device using electronic scale to measure material density and apparatus including same |
| CN103267707A (en) * | 2013-05-08 | 2013-08-28 | 长沙长泰机器人有限公司 | Emulsion matrix and finished product emulsion explosive density online detection system and method |
| CN104280312A (en) * | 2014-09-27 | 2015-01-14 | 广东摩德娜科技股份有限公司 | Solid density detection method and device |
| CN106198309A (en) * | 2016-08-30 | 2016-12-07 | 长沙长泰机器人有限公司 | Density of Emulsion Explosive intelligent checking system and method |
| CN106124361A (en) * | 2016-09-21 | 2016-11-16 | 郑州旭飞光电科技有限公司 | The measuring method of vitreous humour density and the measurement apparatus of vitreous humour density |
| CN107367443A (en) * | 2017-07-13 | 2017-11-21 | 中核建中核燃料元件有限公司 | A kind of water surveys pellet density measuring method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110501259A (en) * | 2019-08-12 | 2019-11-26 | 湖南大学 | Density sensing system and Density Detection method |
| CN114459952A (en) * | 2022-02-16 | 2022-05-10 | 山西汾西重工有限责任公司 | Density measuring device and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108225977B (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108007820A (en) | The robot system and its detection method of a kind of detection density | |
| CN108333079A (en) | A kind of intelligent robot for detection density | |
| CN109436640B (en) | Automatic on-line data exchange and warehouse-in shared production line and working method thereof | |
| CN106101355A (en) | A kind of mobile phone All-in-One test machine | |
| CN108225977A (en) | Object density detection method based on intelligent robot system | |
| CN108120404A (en) | Volume measuring device and method | |
| CN207636437U (en) | A kind of robot system of detection density | |
| CN107345949A (en) | A kind of industrial analysis instrument of follow-on test | |
| CN109382329B (en) | Square plate size and weight detection device and using method thereof | |
| CN207894776U (en) | A kind of intelligent robot of detection object density | |
| CN206871834U (en) | A kind of seatainer binding piece locks class product automation detecting system | |
| CN216450598U (en) | Wafer box on-line measuring device | |
| CN103601072A (en) | Absolute position adjusting method for spacecraft horizontal adjustment lifting appliance based on lifting point adjustment | |
| CN207717569U (en) | A kind of intelligence Density Detection equipment | |
| CN108254292A (en) | A kind of intelligence Density Detection equipment and its detection method | |
| KR101889664B1 (en) | Thermal conduction test apparatus and method of Liquid cas cylinder | |
| CN201413316Y (en) | Metal corrosiveness tester for dangerous goods | |
| CN209858187U (en) | Network transformer upper cover detection device | |
| CN212059756U (en) | Device for testing surface hardness of electronic glass | |
| CN207502337U (en) | Total moisture analyzer | |
| CN110275036B (en) | Offline oil granularity detection system and detection method | |
| JP2006292557A5 (en) | ||
| CN207197908U (en) | A kind of full-automatic digestion device | |
| KR20240043350A (en) | Acid eletrolytic cleaning evaluation system evaluation method using the same | |
| CN221037235U (en) | Impeller blade check out test set with pulley |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Object density detection method based on intelligent robot system Effective date of registration: 20220125 Granted publication date: 20200421 Pledgee: Wuhu Jiujiang SME Financing Guarantee Co.,Ltd. Pledgor: ANHUI PEIJI INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2022980001050 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230313 Granted publication date: 20200421 Pledgee: Wuhu Jiujiang SME Financing Guarantee Co.,Ltd. Pledgor: ANHUI PEIJI INTELLIGENT TECHNOLOGY CO.,LTD. Registration number: Y2022980001050 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |