CN206493308U - A kind of mobile robot extracted for dangerization solution - Google Patents
A kind of mobile robot extracted for dangerization solution Download PDFInfo
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- CN206493308U CN206493308U CN201720123114.4U CN201720123114U CN206493308U CN 206493308 U CN206493308 U CN 206493308U CN 201720123114 U CN201720123114 U CN 201720123114U CN 206493308 U CN206493308 U CN 206493308U
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Abstract
The utility model is related to a kind of mobile robot extracted for dangerization solution, the mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system, dangerization solution storage system is arranged in moving cart system, the moving cart system is connected with multi-joint mechanical arm system and dangerization solution storage system respectively, the multi-joint mechanical arm system is connected with chucking appliance system, the moving cart system and video ultrasound ripple detecting system are communicated to connect with supervisory control desk system.This mobile robot can realize that the accurate extraction of dangerization solution, unnecessary danger solution are automatically processed, and reduce intermediate link, reduce time cost, human cost and management cost.
Description
Technical field
The utility model is related to dangerization solution and extracted and detection field, specifically a kind of shifting extracted for dangerization solution
Mobile robot.
Background technology
The many places of the industry such as the manufacturing, health care, nuclear test and nuclear power, chemical metallurgy can produce a large amount of components and answer
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 storage within the enclosed space, through collection storage, sampling detection, purified treatment with
And discharge etc. step, with dilution or solidification etc. method processing after, be converted into the concentrate of small size and preserved, treat corrosivity
It is less than with radioactivity after maximum allowable discharge index, is arranged and buried or spread in environment.The sampling inspection of dangerization solution
Survey is very important link in processing procedure, and this stage detects composition and content to dangerization solution, only fully
Effective dangerization solution processing methods can be just found after detection, could only be endangered and be reduced to most after strict processing
It is low.
Dangerization solution sampling need to extract solution on a small quantity using advanced ways and means when detecting, carry out composition and content point
Analysis.From the point of view of published record and data, most of dangerization solution extraction uses the mode based on vacsorb and built
Fixed dangerization solution extraction device, the device mainly by vavuum pump, suction pipe, controlling switch and shooting is first-class constitutes, with
Dangerization solution processing equipment is fixed on somewhere together, and the extraction of dangerization solution, such device are completed in artificial presence
Consider almost not extract the measure of control using accurate for stability, so being difficult to the quantitative and random of dangerization solution
Sampling observation.Lack flexible extraction means and can not accurate quantification lifted as restriction dangerization solution treatment effeciency 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 can not be competent at sampling observation work, cause the processing of dangerization solution 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 of extraction is relatively more, away from
, it is necessary to which people enters manual operations in different environment even high-risk environment when more severe from distant, working environment, occur
（1）People is in operation in adverse circumstances the long period, is vulnerable to injury；（2）Dangerization solution taken amount is forbidden, and operating efficiency is relatively low；
（3）The problems such as unnecessary dangerization solution is not disposable.These problems had a strong impact on dangerization solution detection treatment effeciency and
The security of people.
The content of the invention
To overcome the problem above that prior art is present, the utility model provides a kind of shifting extracted for dangerization solution
Mobile robot, realized using mobile robot repeat that dangerization solution quantitatively extracts under different high-risk environments automate, it is fixed
Quantify and normalizing operation, so that contact of the completely isolated people with high-risk environment, reaches the requirement that dangerization solution is fully detected.
The utility model is realized by following technical scheme：
A kind of mobile robot extracted for dangerization solution, the mobile robot includes moving cart system, many passes
Save mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system
System, chucking appliance system, vision ultrasonic wave detecting system, dangerization solution storage system are arranged in moving cart system, described to move
Dynamic cart system is connected with multi-joint mechanical arm system and dangerization solution storage system respectively, the multi-joint mechanical arm system with
Chucking appliance system is connected, and the moving cart system and video ultrasound ripple detecting system are communicated to connect with supervisory control desk system.
Further, the moving cart system includes basic machine, control module, drive module, navigation module and led to
Interrogate module；The basic machine is used for the physical arrangement for providing moveable robot movement；The control module passes through communication module
With the communication connection of supervisory control desk system, the control module is connected by drive module with basic machine；The navigation module with
Control module is connected；The control module is connected with multi-joint mechanical arm system.
Further, the multi-joint mechanical arm system includes mechanical arm body, servo-driven module and control module；Institute
Stating basic machine includes execution unit, mechanical arm body and sensing element；The control module is controlled including multi-joint mechanical arm PLC
Device and motion-control module processed；The motion-control module is connected by servo-driven module with execution unit；The multi-joint
Mechanical arm PLC one end is connected with moving cart, and the other end is connected with sensing element.
Further, the chucking appliance system includes chuck body, tumbler, quantitative liquid taking device and pneumatic three-jaw card
Disk device；The chuck body is divided into symmetrical two halves, and the plane of symmetry is with the horizontal 45 ° of angles；The tumbler is located at fixture
In body, for realizing the relative rotation between the symmetrical two halves of chuck body；The chuck body horizontal direction and pneumatic three-jaw
Chuck assembly is connected, and vertical direction is connected with quantitative liquid taking device.
Further, the vision ultrasonic wave detecting system includes data acquisition process unit, vision module and ultrasonic wave
Module；The vision module is communicated to connect by data acquisition process unit and supervisory control desk respectively with ultrasonic wave module.
Further, the dangerization solution storage system includes storage body, takes liquid measure cup and weight sensor；It is described to take
Liquid measure cup is located in cavity volume body；The weight sensor, which is placed in, takes liquid measure cup bottom；The weight sensor and moving cart
System is connected.
Further, in addition to power-supply system, the power-supply system includes batteries, wireless charging module and power supply
Management module；The power-supply system is connected with mobile robot；The power-supply system is realized and supervisory control desk by communication network
System is communicated to connect.
Further, the supervisory control desk system includes display, the main control computer for being provided with monitoring software, led in real time
Inquiry server, the data server for being provided with background data base, video server and network communication module；The supervisory control desk
Communicated to connect with mobile robot；The main control computer passes through network communication module and real-time communication server, data, services
Device and video server communication connection；Video server is used to store video information and ultrasonic height detection information.
Compared with prior art, the beneficial effects of the utility model are as follows：
The utility model can realize that the accurate extraction of dangerization solution, unnecessary danger solution are automatically processed, and reduce centre
Link, reduces time cost, human cost and management cost；The utility model replaces the artificial dangerization solution that carries out to extract behaviour
Make, its dangerization solution extracting cycle shortens 1/3, danger solution detection efficiency is significantly improved；The utility model is introduced
Advanced automatic technology and information technology, improve the intelligent level of device, and operating process is extracted beneficial to dangerization solution
Automation and standardization, also improve the level of IT application that dangerization solution handles unit, are allowed to the disposal ability to dangerization solution
It is highly improved；The utility model is the automation extraction process towards multi items dangerization solution, is special industry from now on
Danger solution extract with detection management provide model.
The utility model integrates the mobile flexibility of moving cart system and the operating flexibility of mechanical arm, excellent with reference to both
Gesture design can be moved flexibly in different environments, quick operating dangerization solution extraction system, be carried out by wireless communication technique
Real-time command is distributed and data exchange, reaches dangerization solution high efficiency extraction and the purpose of sweetly disposition；
The pattern that dangerization solution extraction system controls to isolate with interior room execution unit using mistress, its execution unit surface warp
Special radiation proof corrosion-resistance treatment, can under the particular surroundings such as high-risk environment steady operation, reduce people contact radiation dosage,
Reduce the labor intensity and security risk of people；
The moving cart in the dangerization solution extraction system independently driven based on four McCrums is designed, realizes that movement is small
The comprehensive quick movement of car in different environments, the accessible efficient whole process for completing the extraction of dangerization solution and processing.Its
Inside, at utmost using inner space, is mitigated using three layers of full-closed structure design, each critical component of reasonable Arrangement system
Complete vehicle quality, improves mobile efficiency；
Using four articulated mechanical arms in the structure design dangerization solution extraction system of 3 gyroaxises and a linear axes,
Compared to traditional multi-joint mechanical arm, its mechanical structure simpler, manufacturing cost is low, control is easily realized, performance is stable, while simultaneous
Turn round and look at big working range, higher positioning precision and quick moving operation；
Using the mechanical arm tail end fixture in 90 degree of angle structure design dangerization solution extraction systems, fixture is integrated to grab automatically
Take with quantitative liquid getting function, functional integration is high, can be seamlessly connected with mechanical arm, can be according to operational order rapid translating work(at any time
Energy part, reduces fixture in dangerization solution extraction process and changes the outfit the time, improve the efficiency of whole process；
The quantitative extraction in dangerization solution extraction system is designed using the malleation and negative pressure of the generation of vacuum generator component
Device, device accurately detects that dangerization solution is extracted by the liquid level position detection sensor being mainly made up of solid capacitor component
Measure, being rapidly completed dangerization solution under the real-time control of PLC quantitatively extracts.The apparatus structure is simple, manufacture and maintenance
Cost is low, may be repeated dangerization solution and extracts operation.
Brief description of the drawings
Fig. 1 is System Working Principle figure of the present utility model.
Fig. 2 is the block diagram of system of the present utility model.
Fig. 3 is mobile robot structure chart of the present utility model.
Fig. 4 is mobile-robot system control structure figure of the present utility model.
Fig. 5 is control instruction of the present utility model and transmittance process network diagramming.
Fig. 6 is wireless telecommunication system network topological diagram of the present utility model.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the present utility model.
Fig. 8 is the supervisory control desk software and hardware network architecture of the present utility model.
Fig. 9 is supervisory control desk shape assumption diagram of the present utility model.
Figure 10 is moving cart system module block diagram of the present utility model.
Figure 11 is moving cart body interior structure chart of the present utility model.
Figure 12 is multi-joint mechanical arm system module block diagram of the present utility model.
Figure 13 is grip device system construction drawing of the present utility model.
Figure 14 is vision ultrasound examination composition of the present utility model and schematic diagram.
Figure 15 is dangerization solution memory system architecture figure of the present utility model.
Figure 16 is power system modules pie graph of the present utility model.
Embodiment
The utility model is further illustrated below in conjunction with the drawings and specific embodiments.
According to the characteristics of dangerization solution and automatic ration extract flow, it is considered to the reliable reality of processing safety and function
It is existing, design dangerization solution automatic ration extraction system, operation principle such as Fig. 1 institutes under a kind of high-risk environment based on mobile robot
Show.The overall thought separated using controlling organization and executing agency, mobile-robot system is placed on high-risk as executing agency
Environmental interior, supervisory control desk is placed on outside high-risk environment as controlling organization, and being not only adapted to general solution, quantitatively extraction will at random
Ask, be further adapted for that radioactivity is high, chemical composition is uncertain, the danger solution that variety type is more, safety requirements is high is quantitatively extracted at random
It is required that scene, with good flexibility.
As shown in Figure 2：The system includes supervisory control desk system, wireless communication data Transmission system, moving cart system, many
Articulated mechanical arm system, multi-functional clamp system, vision ultrasonic wave detecting system, dangerization solution storage system and power-supply system
Deng.Wherein, moving cart system, multi-joint mechanical arm system, multi-functional clamp system, dangerization solution storage system and vision
Ultrasonic wave detecting system constitutes mobile-robot system.
As shown in Figure 3：The mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, regarded
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 with moving
Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving cart system, send simultaneously
Liquid information and movement instruction is taken to give moving cart system；The moving cart system receives and forwards what supervisory control desk system was sent
Liquid information and movement instruction are taken, realizes that mobile robot gathers and placed the movement on circuit in dangerization solution；The movement is small
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 by communication network and communicated to connect with supervisory control desk system.
Fig. 4 be mobile robot system architecture control figure, supervisory control desk system as instruction send and real time data at
Reason center, by communication module in real time with the main system, vision ultrasound examination such as moving cart system, multi-joint mechanical arm system
The accessory systems such as system, multi-functional clamp system and dangerization solution storage system are connected, and are constituted and are moved under high-risk environment
Robot control system.
Specifically, supervisory control desk system is connected by wired with wireless mixing LAN with wireless communication module, wirelessly
Communication module is connected by Ethernet interface with the PLC of moving cart system.Moving cart system and multi-joint machinery
Arm system uses master-slave control mode, the i.e. PLC of moving cart system as main website, multi-joint mechanical arm system
PLC is as slave station, and both are connected by Prifibus DP module interfaces, for performing mobile and operation behavior, and many
Articulated mechanical arm pedestal is arranged on moving cart top nose.Dangerization solution storage system is arranged on moving cart top rear,
Its measuring cup weight sensor and pneumostop lid magnetic valve are integrated by O/I modules with moving cart PLC, are used
In storage and the carrying safely of dangerization solution.Multi-functional clamp system is arranged on mechanical arm tail end, its detection sensor, pneumatic system
Magnetic valve etc. is integrated by O/I modules with mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.It is arranged on
Power-supply system inside moving cart is the energy needed for main system and accessory system offer movement, operation, detection, by wireless charging
The part of electric installation, Li-ion batteries piles and power management module etc. three is constituted, and wherein power management module is by MCU micro-control lists
Member, PMIC power management integrated circuits and various sensor groups into power control.
Fig. 5 is control instruction of the present utility model and transmittance process network diagramming, and system control instruction and transmittance process are described
For supervisory control desk sends dangerization solution extracting parameter through radio transmitting device by instruction input and sending module and believed during work
Number, action command signal is to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its auxiliary
Started working after System self-test is errorless.Moving cart is moved according to instruction, is completed sending action after assignment of mission and is instructed to many passes
Mechanical arm is saved, mechanical arm is carried out corresponding dangerization solution and extracts and grasping manipulation, dangerization solution is deposited while mechanical arm is acted
Storage system works according to the control instruction cooperative mechanical arm of moving cart.In addition, vision ultrasonic wave detecting system is by collection in worksite
To video information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and electricity
Pond feedback of status gives master control platform.
Fig. 6 is wireless telecommunication system network topological diagram, inside and outside high-risk environment, builds and is based on IEEE 802.11b/g/a/h
The WIFI wireless networks of communications protocol, by WIFI wireless networks be data medium, connection supervisory control desk, moving cart system,
Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., constitute control data, video data, the state under high-risk environment
Effective passage of the transmission such as data.
Communication system is mainly made up of wireless aps, wireless data transceiving device, LAN etc., and wherein LAN is to be based on
The Ethernet that IEEE802.3 communications protocol is built, supervisory control desk is directly connected to LAN by wired mode；Wireless aps and nothing
Line data transmitter-receiver set is addressable device, and wireless aps are directly connected to LAN, wireless communication apparatus one by wired mode
End is connected with moving cart system, vision ultrasonic wave detecting system, power-supply system etc. by Ethernet interface, and the other end passes through
WIFI network and AP wireless connections, so as to realize control data, video data, the high-speed transfer of status data.
Fig. 7 is supervisory control desk system hardware and software frame diagram of the present utility model, and supervisory control desk is calculated by display, master control
The hardware such as machine, real-time communication server, data server, video server, network communication module and monitoring application system, backstage
The software sharings such as database, service software.It is wired with it is wireless mix LAN by way of with moving cart system, multi-joint
The real-time communications such as mechanical arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, simultaneously
Transmission takes liquid information and movement instruction to modules, realizes the Remote of mobile robot.
Monitor application system to develop based on windows platform, on main control computer, with basic data maintenance mould
Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module,
The big module of security protection alarm module and real-time data communication module etc. six.
Fig. 8 is the software and hardware network architecture of supervisory control desk system, main control computer, data server, video server etc.
Connected in the form of bus over ethernet, by network communication module, main control computer and each server real-time communication, just
Data query and processing 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 are captured, and
It is stored on data server and video server.Installation relation type database, number is provided for monitoring software on data server
According to storage support, 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 the 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 supervisory control desk of the present utility model, and outward appearance is designed using ergonomics thought,
It is made up of two displays, an operating desk and master control platform housing, two of which display one is used for visual control, one
It is individual to be sent and received for control instruction；Master control platform housing is made up of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, is risen anti-
Radiation, corrosion-resistant effect.
Figure 10 be moving cart system module block diagram of the present utility model, moving cart system as whole system movement
Device, including five major parts such as basic machine, control module, drive module, navigation module, communication module.The movement
Cart system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to carry
For the physical arrangement of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control
Molding block is connected by drive module with basic machine；The navigation module is connected with control module.
Figure 11 is moving cart system ontology cut-away view of the present utility model, moving cart basic machine, by dolly
Body, steering mechanism and sensing element composition, wherein trolley body is in rectangular shape, and vehicle body frame uses aluminium alloy type
Material, laid outside totally-enclosed radiation protection processing, car body the thick sheet leads of 1 ~ 2mm as shielding material；Car top is main
There is the multi-joint mechanical arm mounting hole for four screwed holes that are uniformly distributed along the circumference bearing part, forward position, and being bolted makes shifting
The base fixing plate of dynamic dolly and multi-joint mechanical arm connects together；There is dangerization solution storage device peace position to car body top rearward
Seat is filled, is rigidly connected by bolt with the mounting seat in dangerization solution storage device；Car body the right and left bottom is distributed with two pairs
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
The wireless communication apparatus connection of antenna and car interior, constitutes the wireless communication module of dolly.
Car interior, according to the principle of reasonable utilization space, is three layers of mounting structure, logic connecting relation is referring to " moving machine
Device people's System control structures figure ", first layer is upper strata, predominantly the control unit of multi-joint mechanical arm, wireless communication apparatus and
Vision ultrasonic treatment unit, the control unit of specific multi-joint mechanical arm includes 1 multi-joint mechanical arm controller, 1 fortune
The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus is 1 set of wireless telecommunications based on wireless WIFI
Device, vision ultrasonic treatment unit is 1 set of position detecting device based on CCD camera and ultrasonic wave；The second layer is intermediate layer,
The predominantly control unit of moving cart, pneumatic system, the control unit of specific 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 dangerization solution and stored to fill
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, and the supply unit of power is provided for each device, specifically have one group of lithium battery string and
1 electric power controller.The angular direction of dolly bottom four is disposed with 4 McCrum wheel servomotors and motor reducer, centre
Location arrangements have the navigation sensor and landmark sensor of a set of magnetic induction navigation, a wireless charging receiver.
Moving cart steering mechanism carries out moving of car control by the way of the four motorized wheels based on McCrum wheel
System.McCrum wheel is made up of two wheel hubs and a number of pony roll, using two ends supporting construction, small roller axis and wheel
Hub axis angle is ± 45 °, and both materials use 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 and a DC servo motor and motor reducer are direct-connected, pass through the speed control different to four wheels, realize
The motion of dolly different directions.
Control module：Including PLC and motion-control module, moving cart adds motion control using PLC
The modes such as module carry out motion control, and wherein PLC is mainly responsible for communicating with supervisory control desk, received in time by WIFI communication mode
Control instruction and feedback trolley travelling status data that supervisory control desk is sent；Motion-control module is responsible for performing the letter that PLC is received
Number instruction, to moving cart feed back navigation signal, position signalling carry out in real time handle and calculate, output control signal is to direct current
Servo-driver.In addition, the Open Control pattern that moving cart is integrally combined using host computer with slave computer, wherein host computer
For supervisory control desk system, slave computer is the PLC of moving cart system.
Drive module：Moving cart driving uses 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 uses position
The signal that control model is fed back according to control signal and servomotor produces the pwm signal of impulse form, through power amplification rear-guard
Dynamic servomotor, the pulse and direction signal that servomotor is sent according to servo-driver is started, stopped, being inverted and become
Speed etc. is acted.
Navigation module：The module is made up of Magnetic Sensor with the magnetic stripe for being laid on ground, and wherein Magnetic Sensor is divided into magnetic conductance
Sensor and magnetic landmark sensor, magnetic stripe are divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is not high to the susceptibility of high-risk environment,
Therefore the navigation module of moving cart is designed by the way of magnetic stripe navigation, the forward position in dolly bottom is provided with magnetic navigation sensor
And landmark sensor, for detecting guiding magnetic stripe and terrestrial reference magnetic stripe in the predetermined laying in ground.When moving cart is run, magnetic navigation
Sensor vertical certain distance above 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 moved 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 attached to the ground beside navigation magnetic stripe perpendicular to navigation magnetic stripe direction
On.
Communication module：It is made up of wireless communication apparatus and signal transmitting and receiving antenna, wherein wireless communication apparatus is wireless data
R-T unit, installed in first layer inside moving cart, signal transmitting and receiving antenna is arranged on right side outside moving cart.Wireless telecommunications
Module one end uses 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 instruct and movement instruction, while by the state of moving cart and interconnected system notify at once to
Master control platform.The wireless communication module other end is connected with moving cart PLC by Ethernet interface, in time sends master control platform
Take liquid instruction and movement instruction pass to moving cart PLC, while the moving cart PLC feedback signals received are passed to always
Console.
Figure 12 is multi-joint mechanical arm system module block diagram of the present utility model, and the multi-joint mechanical arm system is basis
High-risk environment dangerization solution quantitatively extracts one of feature design and integrates machinery, control, electric open chain link-type and directly
Angular coordinate formula mixed type articulated robot, working range farthest reaches 2 meters, is arranged on by bolt at the top of moving cart, with shifting
Dynamic dolly 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 execution unit, mechanical arm body, sensing element.Execution unit by servomotor, decelerator,
The part such as bearing and bearing block is constituted.The ginsengs such as angle, rotating speed, electric current, voltage of the sensing element to detect each axle servomotor
Several sensors.Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft, has four frees degree,
It is revolute pair wherein between pedestal and base, base and large arm, large arm and forearm, is mobile between forearm and end telescopic shaft
Angle remains 90 ° between pair, and forearm and end telescopic shaft.
Mechanical arm pedestal use square-section hollow aluminum casting, the DC servo drive motor of internal mounting seat,
The parts such as decelerator, bearing and bearing block, base bottom is a fixed plate with four screwed holes that are uniformly distributed along the circumference, this
Fixed plate is rigidly connected with the multi-joint arm mounting hole in moving cart by bolt.Base is used in circular cross-section
Empty aluminum casting, inside is provided with the parts such as DC servo drive motor, decelerator, bearing and the bearing block of large arm.Greatly
Arm uses the hollow and thin-walled aluminum casting of circular cross-section, and inside is provided with DC servo drive motor, decelerator, the bearing of forearm
And the parts such as bearing block.Forearm uses the solid aluminum casting of circular cross-section, and end is provided with the execution of end telescopic shaft
The parts such as part, i.e. servomotor, timing belt, nuts ball leading screw.End telescopic shaft is by servomotor, timing belt, nut
Ball-screw and end effector composition, inside ball-screw kinematic pair by the way of nut driving, make feed screw nut exist
The synchronized band driving of DC servo motor is lower to produce rotary motion, so as to drive the linear motion of leading screw progress 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 influence of radiation.
Figure 13 is multi-functional clamp structure chart of the present utility model, and the multi-functional clamp device is a collection quantitative
Liquid and gripping carry function in electricity, the gas control device of one, and multi-joint mechanical arm end, outward appearance are rigidly attached at by bolt
It is as shown below with internal structure.
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 action process is described as multi-joint mechanical arm PLC controls
Device receives taking liquid to instruct or capturing instruction for moving cart PLC transmission, if taking liquid to instruct, then multi-joint mechanical arm
Controller control tumbler goes to quantitative liquid taking device position straight down, then controls the pneumatic electricity of 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 set by respective sensor rapid feedback
Stopping is acted after quantitative.If crawl instruction, then multi-joint mechanical arm controller control tumbler turns scroll chuck device
To position straight down, then control scroll chuck air-operated solenoid valve to open, realize opening and tightening up for scroll chuck, reach and grab
The purpose taken, at the same time, the clip pressure force information in scroll chuck device pass through respective sensor rapid feedback to many passes
The mechanical arm controller of section, coordinates with air-operated solenoid valve, realizes the accurate control of grasp force.
The chuck body front is in octagon, is divided into symmetrical two halves, the plane of symmetry is with the horizontal 45 ° of angles.Fixture
Body upper part is connected to the shaft end of multi-joint mechanical arm the 4th by flange, and a self-centering three is installed in bottom in the horizontal direction
Dog chuck device, installs a quantitative liquid taking device in vertical direction.
The tumbler is made up of rotary cylinder, cylinder piston, cylinder fixture, silencer, position sensor etc., rotation
Rotaring cylinder is arranged in the chuck body first half by cylinder fixture, and cylinder piston is fixedly linked with chuck body lower half,
Power is provided by rotary cylinder during work, is relatively rotated between realizing chuck body two halves by 180 ° of rotations of cylinder, so that real
The instrument of existing scroll chuck device and quantitative liquid taking device is changed.Position sensor is used for detecting whether cylinder piston have rotated
180 ° of positions, and information transmission will give multi-joint mechanical arm PLC in place.
The pneumatic scroll chuck device, is the cylindrical jaw arrangement of pneumatic self-centering three, by body, 3 claws, 3 pressures
Force snesor, a set of pneumatic means composition.
Scroll chuck device body is in cylinder, and there are gas circuit, pneumatic connector and claw guide groove in inside；3 claws are equal
Cloth is on cylindrical body claw guide groove, using stainless steel material, above studs with anti-skidding acid and alkali-resistance flexible material, is easy to liquid taking cup
Gripping operation.Pressure sensor is arranged on the inside of claw, is protected, is held for monitoring crawl by anti-skidding acid and alkali-resistance flexible material
The grasp force during measuring cup of dangerization solution, and pressure information is passed to the PLC of multi-joint mechanical arm.
Scroll chuck pneumatic means includes one 35 logical digital electric magnet valves, two bidirectional speed control valves, a pressures
Force control valve and pipeline.Gas circuit annexation is that one first gas circuit is connected by pipeline with pressure-control valve, then with electromagnetism
Valve is connected, and is divided into two gas circuits, then two gas circuit pipelines are connected with two bidirectional speed control valves, last two pipelines and sheet
Pneumatic connector on body is connected.Wherein digital electric magnet valve is connected with the PLC of multi-joint mechanical arm, passes through multi-joint
The PLC control digital electric magnet valve of mechanical arm, and then the break-make of whole piece gas circuit is controlled, claw is realized while tightening up and opening
The function of opening.Pneumatic means is arranged on moving cart inner second layer.
Scroll chuck is threaded on octagon chuck body one side by I-shaped flange, three-jaw during off working state
Chuck axis is parallel to the ground, and scroll chuck axis is perpendicular to the ground during working condition.
The quantitative liquid taking device, including one take liquid container body, a set of detection sensing device, a set of pneumatic means.
It is a cylindric Corrosion Resistant Frp container to take liquid container body, and body left upper portion has a pneumatic system company
Sensing device is detected for liquid level position on the right side of interface, body, body interior is moved piston and is divided into upper and lower vessel.Upper container
Room is gas compartment, and two spring fixed end and a compression spring are installed in the inside, it is ensured that the stable effective work of gas compartment.Under
Vessel is liquid chamber, the danger solution for holding extraction.It is mobile piston in the middle of body, sealing ring is placed at piston two,
Sealing ring can effectively ensure that the cut-off of gas compartment and liquid chamber.
Detect that sensing device is a set of liquid level position detection sensor, in strip, be pasted onto and take on the right side of liquid container body,
For detecting the elevation information of liquid level during Liquid extracting, multi-joint mechanical arm is passed to after data processing and conversion
PLC.The liquid level that liquid level position detection sensor is made up of bonding agent, solid capacitor component, data converting circuit etc.
Detection means, solid capacitor component, through necessarily combining, can be sent out by N group solid-states alminium electrolytic condenser according to the height change of liquid level
Raw capacitance size change, then capacitance size change is converted into digital quantity through data converting circuit, so as to realize the real-time of liquid level
Monitoring.Solid capacitor component is pasted onto by bonding agent to be taken on the right side of liquid container body, and one layer of corrosion-resistant radiation proof is laid in outside
Sheet lead material.
Pneumatic means includes one 33 logical digital electric magnet valve, vacuum generator component, a bidirectional speed controls
Valve processed, a flow sensor, a baroceptor and pipeline, wherein 33 logical digital electric magnet valves have two outlets
Mouthful, vacuum generator component has an air inlet, a gas outlet.For magnetic valve, one of them goes out the connected mode of pneumatic means
Gas port is connected with the air inlet of vacuum generator component, and another gas outlet is connected with the gas outlet of vacuum generator component, together
When vacuum generator component gas outlet be connected with speed control valve, centre connection one monitoring gas circuit in gas flow rate flow
Sensor, speed control valve takes liquid container body to be connected, the baroceptor of one monitoring airline pressure of centre connection.Pneumatic dress
It is equipped with a gas source air inlet and a gas outlet, gas source air inlet connection external air source, gas outlet and quantitative liquid taking device
Take liquid container body be connected, the control end of the digital electric magnet valve in pneumatic means and the PLC of multi-joint mechanical arm
It is connected, 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 source of the gas through electricity
Magnet valve produces malleation or negative pressure when flowing through vacuum generator component, makes to take the pressure in liquid container bulk gas room to be more than or less than
Pressure in liquid chamber, piston is moved downward or upward under pressure differential effect, realizes the accurate extraction and discharge of liquid.It is pneumatic
Device is arranged on moving cart inner second layer.
Quantitative liquid taking device is threaded on octagon chuck body one side by I-shaped flange, during working condition its
Central axis is vertical with ground holding.
Figure 14 is vision ultrasound examination fundamental diagram of the present utility model, and vision ultrasonic wave detecting system is a set of
Wireless remote control system, is mobile-robot system " eyes ", to use the obstacle monitored on mobile route, calculate moving machine
The locus of device people.The system is mainly made up of supervisory control desk, wireless communication module and digital sampling and processing, wherein
Digital sampling and processing is made up of processing unit, vision module and ultrasonic wave module.
Vision ultrasonic wave detecting system merges vision and ultrasonic technology, vision module is coordinated work with ultrasonic wave module
Make, calculate locus coordinate.Its principle is that the two-dimensional image information under high-risk environment is obtained with industrial CCD camera, through image
Processing is converted into plane XY coordinate informations, then obtains the information in short transverse, i.e. Z coordinate information, two by ultrasonic sensor
Person can obtain locus coordinate after logic cell processes, and it is accurately fixed that moving cart system is carried out according to spatial coordinated information
Position.
Supervisory control desk monitoring application system has vision ultrasonic wave monitoring module, by wireless WIFI and wireless communication module with
Data acquisition module is connected, and the processing unit in data acquisition module uses embedded ARM processor, and industrial CCD is obtained in real time
The elevation information that the video information and ultrasonic displacement sensor that camera is collected are collected, and by Ethernet interface and wirelessly
Communication module, by data feedback to supervisory control desk, data are placed on video server by supervisory control desk, are easy to monitoring module to carry out ring
Border visual control and image space coordinate are calculated.
Data acquisition processing device includes two pieces of right angle installing plates, image pick-up card, 2 industrial CCD sensors, one
Individual ultrasonic displacement sensor, a ultrasonic wave analog-digital commutator, an embedded ARM processor and a wireless telecommunications
Device, wherein ccd sensor are connected by image pick-up card with embedded ARM processor, and ultrasonic sensor is turned by modulus
Changing device is connected with embedded ARM processor, is then inserted into formula arm processor and is connected with wireless communication apparatus.Right angle installing plate
One of to be arranged between mechanical arm tail end and grip device, an industrial CCD sensor and a ultrasound are installed in its front
Ripple displacement transducer, both coordinate the data acquisition for the height and position for carrying out plan-position and dangerization liquid level of solution.Another piece straight
Angle installing plate is arranged on the right side of grip device, and an industrial CCD sensor is installed thereon, for monitoring that dangerization solution is quantified in real time
Liquid level in extraction process and device.
Image pick-up card, ultrasonic wave analog-digital commutator, embedded ARM processor, wireless communication apparatus are arranged on movement
Car interior, wherein wireless communication apparatus are by wireless WIFI using 802.11b/g/a/h standard agreements and supervisory control desk video
Ultrasound examination module real-time radio is connected, and image information and ultrasonic digital information are passed in time.
Figure 15 is dangerization solution memory system architecture figure of the present utility model.The dangerization solution storage device, it is main to use
Come the danger solution stored safely and reliably transhipment mobile robot is quantitatively extracted, square storage body, 3 are specifically included
It is individual to take liquid measure cup, 3 weight sensors, a set of pneumatic means.
Storage body be corrosion-resistant radiation-resistant stainless steel, mainly by cavity volume body, moving cylinder, linkage,
Top pressure closure, sealed bolster composition.Cavity volume body is in cuboid, and there are three cavitys centre, can accommodate 3 safety glass materials
Take liquid measure cup.Cavity volume body upper surface symmetrical centre rearward location interval certain distance arrange two small one and large one cuboid it is convex
Rise, small cuboid projection is used to connect, big cuboid projection is used to limit top pressure closure spatial dimension, make its with cavity volume body
End face keeping parallelism.It is square pneumostop lid above cavity volume body, pneumostop base portion places 3 ratios and takes liquid measure rim of a cup
The bigger sealed bolster in footpath, can prevent from splashing down out in dangerization solution transportation after normal sealing.Pneumostop lid afterbody is consolidated
Determine linkage, connecting rod centre position projects through the formation revolute pair of hinge 1, connecting rod afterbody and a movable gas with small cuboid
The piston of cylinder is connected by the formation revolute pair of hinge 2.The side bottom of cavity volume body two has depositing in four mounting seats, with moving cart
Storage device mounting seat is rigidly connected with bolt.
Moving cylinder is made up of air rammer and cylinder block, and air rammer is cylindrical, is passed through with linkage end
The formation revolute pair of hinge 2；Cylinder block is cylindrical, and there are two pneumatic connectors on right side, for connecting pneumatic means；Cylinder cylinder
Body bottom, by the formation revolute pair of hinge 3, makes moving cylinder freely to be rotated with around hinge 3 with cavity volume body rear end face.
Liquid measure cup is taken to use transparent safety glass material, it is supporting with storing the cavity volume on body, it is not of the same race for storing
The liquid of class.Weight sensor use rondelle resistance-strain type weight sensor, be connected through a screw thread be fixed on take liquid measure cup
Cavity volume bottom, takes liquid measure cup to be contacted into face with into cavity volume.Its measured value is connected to after being changed through A/D by data wire
Moving cart PLC, to monitor the dynamic weight for taking dangerization solution in liquid measure cup constantly.
Pneumatic means in storage device includes one 35 logical digital electric magnet valve, two bidirectional speed control valves, one
Individual pressure-control valve and pipeline.Gas circuit annexation is that one first gas circuit is connected by pipeline with pressure-control valve, then with
Magnetic valve is connected, and is divided into two gas circuits, then two gas circuit pipelines are connected with two bidirectional speed control valves, last two pipelines
It is connected with the pneumatic connector of cylinder.Wherein digital electric magnet valve is controlled by moving cart PLC, in multi-joint mechanical arm
When system carries out taking the relevant actions such as liquid, tapping, moving cart PLC sends corresponding control signal and gives pneumatic means electromagnetism
Valve control end, driving top pressure closure cooperative mechanical arm, which is performed, opens and closes operation.The pneumatic means is arranged in moving cart
Portion's second layer.
The connection diagram of storage device and moving cart controller is as shown below, and moving cart controller is filled with storage
Magnetic valve connection in putting, controls gas path on-off, realizes the opening and closing of top pressure closure；Weight sensor passes through AD converter
It is connected with moving cart PLC, the weight information of dangerization solution during liquid is taken in real time, dangerization is realized by feeding back
Solution precise quantification is controlled.
Figure 16 is power system modules pie graph of the present utility model.The power-supply system, for for mobile robot system
System provides mobile and operation electric power energy, is made up of battery, wireless charging device and power-supply management system, wherein electric power storage
Pond is high density lithium battery strings, be directly moving cart, multi-joint mechanical arm etc. dc source is provided；Wireless charging device is used
The energy transmission means of magnetic coupling resonance, noncontact wireless charging is carried out to the supplying cell of mobile robot, by transmitter module,
The two parts such as receiving module are constituted；Power-supply management system is a battery strings management system, is protected by data acquisition module, control
Module, memory module, balance module etc. are constituted, for carrying out cell-state monitoring, battery cell equilibrium, battery charging valve
Reason and cell safety protection etc..
Moving cart wireless charging system circuit diagram is as follows, and the system is by power supply transmitter module and power supply receiving module
Composition, power supply transmitter module is made up of wireless base station apparatus and transmission power management module, and wherein wireless base station apparatus is by high frequency
Driving source, resonance transmission circuit and repeat circuit composition, whole device are installed on the ground of safety zone, constitute power supply transmitting
End；Power supply receiving module is made up of radio receiver and reception power management module, and wherein radio receiver is steady by rectification
Volt circuit, resonance receiving circuit and power management module composition, are installed on moving cart bottom, constitute power supply receiving terminal.
The mobile robot power-supply management system entrained battery dump energy of monitoring in real time, and by wireless WIFI it is real-time on
Supervisory control desk is reported, if dump energy is less than certain threshold value in off working state, can point out to move during master control platform distribution task
Mobile robot system charge deficiency is, it is necessary to charge；If perform work in electricity be less than certain threshold value, mechanically moving people to
Master control platform sends low battery alarm, interrupt it is current take liquid or moving operation, preserve current task state, wait master control platform to assign
Charging instruction.When mobile robot charges, charging emitter installation site first is automatically moved to along navigation tape, now power supply
Electric main is converted into 24V direct currents by input through wireless charging device, and is stored in lithium battery group.Complete after charging,
Task status before mobile robot recovery, proceeds corresponding operating.\
Description for the understanding of embodiment is only to understand the utility model for help, rather than for limiting
It is of the present utility model.Those skilled in the art can be carried out some using thought of the present utility model and change and change, as long as
Its technological means is without departing from thought of the present utility model and main points, still within protection domain of the present utility model.
Claims (8)
1. a kind of mobile robot extracted for dangerization solution, it is characterised in that：The mobile robot includes moving cart
System, multi-joint mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system and dangerization solution storage system, and multi-joint
Mechanical arm system, chucking appliance system, vision ultrasonic wave detecting system, dangerization solution storage system are arranged in moving cart system
On, the moving cart system is connected with multi-joint mechanical arm system and dangerization solution storage system respectively, the multi-joint machine
Tool arm system is connected with chucking appliance system, and the moving cart system and video ultrasound ripple detecting system are logical with supervisory control desk system
Letter connection.
2. a kind of mobile robot extracted for dangerization solution according to claim 1, it is characterised in that：The movement
Cart system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to carry
For the physical arrangement of moveable robot movement；The control module is communicated to connect by communication module and supervisory control desk system, institute
Control module is stated by drive module with basic machine to be connected；The navigation module is connected with control module；The control module
It is connected with multi-joint mechanical arm system.
3. a kind of mobile robot extracted for dangerization solution according to claim 2, it is characterised in that：Many passes
Saving mechanical arm system includes mechanical arm body, servo-driven module and control module；The basic machine includes execution unit, machine
Tool arm body and sensing element；The control module includes multi-joint mechanical arm PLC and motion-control module；The fortune
Dynamic control module is connected by servo-driven module with execution unit；Described multi-joint mechanical arm PLC one end and movement
Dolly is connected, and the other end is connected with sensing element.
4. a kind of mobile robot extracted for dangerization solution according to claim 1, it is characterised in that：The fixture
System includes chuck body, tumbler, quantitative liquid taking device and pneumatic scroll chuck device；The chuck body is divided into pair
Claim two halves, the plane of symmetry is with the horizontal 45 ° of angles；The tumbler is located in chuck body, for realizing chuck body pair
Claim the relative rotation between two halves；The chuck body horizontal direction is connected with pneumatic scroll chuck device, and vertical direction is with determining
Measure liquid device connection.
5. a kind of mobile robot extracted for dangerization solution according to claim 1, it is characterised in that：The vision
Ultrasonic wave detecting system includes data acquisition process unit, vision module and ultrasonic wave module；The vision module and ultrasonic wave
Module is communicated to connect by data acquisition process unit and supervisory control desk respectively.
6. a kind of mobile robot extracted for dangerization solution according to claim 1, it is characterised in that：The dangerization
Solution storage system includes storage body, takes liquid measure cup and weight sensor；It is described to take liquid measure cup to be located in cavity volume body；It is described
Weight sensor, which is placed in, takes liquid measure cup bottom；The weight sensor is connected with moving cart system.
7. a kind of mobile robot extracted for dangerization solution according to claim 1, it is characterised in that：Also include electricity
Source system, the power-supply system includes batteries, wireless charging module and power management module；The power-supply system is with moving
Mobile robot is connected；The power-supply system is realized by communication network and communicated to connect with supervisory control desk system.
8. a kind of mobile robot extracted for dangerization solution according to claim 1, it is characterised in that：The master control
Platform system processed includes display, the main control computer for being provided with monitoring software, real-time communication server, is provided with background data base
Data server, video server and network communication module；The supervisory control desk is communicated to connect with mobile robot；It is described
Main control computer is communicated to connect by network communication module and real-time communication server, data server and video server；Depending on
Frequency server is used to store video information and ultrasonic height detection information.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625567A (en) * | 2017-02-10 | 2017-05-10 | 中国东方电气集团有限公司 | Mobile robot for dangerous chemical solution extraction |
| CN108501002A (en) * | 2018-04-10 | 2018-09-07 | 焦作大学 | A kind of industrial robot based on NI Vision Builder for Automated Inspection |
-
2017
- 2017-02-10 CN CN201720123114.4U patent/CN206493308U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625567A (en) * | 2017-02-10 | 2017-05-10 | 中国东方电气集团有限公司 | Mobile robot for dangerous chemical solution extraction |
| CN108501002A (en) * | 2018-04-10 | 2018-09-07 | 焦作大学 | A kind of industrial robot based on NI Vision Builder for Automated Inspection |
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Effective date of registration: 20171225 Address after: 610000 West Core Avenue, Chengdu hi tech Zone (West District), Sichuan Province, No. 18 Patentee after: Dongfang Electric Chengdu Intelligent Technology Co., Ltd. Address before: Jinniu District Chengdu City, Sichuan province 610000 Shu Road No. 333 Patentee before: Dongfang Electric Corporation |
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Address after: 610218 east section of Ningbo Road, Zhengxing street, Tianfu New District, Chengdu, China (Sichuan) pilot Free Trade Zone, Chengdu Patentee after: Dongfang Electric Group Research Institute of science and Technology Co., Ltd Address before: 610000 No. 18 West core road, hi tech Zone, Chengdu, Sichuan Patentee before: Dongfang Electric Chengdu Intelligent Technology Co., Ltd. |