CN218049242U

CN218049242U - Cleaning device for chemical waste in laboratory environment

Info

Publication number: CN218049242U
Application number: CN202220831348.5U
Authority: CN
Inventors: 董晓彤; 朱林; 黄欣怡; 苏慧; 汪俊豪; 王金
Original assignee: Yangzhou University
Current assignee: Yangzhou University
Priority date: 2022-04-12
Filing date: 2022-04-12
Publication date: 2022-12-16
Anticipated expiration: 2032-04-12

Abstract

The utility model discloses a cleaning device of chemical waste product under laboratory environment, including automobile body, the automobile body drive arrangement of drive automobile body motion, manipulator and cleaning device, the manipulator is used for picking up the manipulator of solid chemical waste product or chemical waste product packing, and cleaning device includes cleaning head, controlling means and replacement case, and the cleaning head includes fixed connection's mop and magnetic metal, and controlling means includes clean arm, electromagnetic controller, clean arm one end sets up on the automobile body, other end fixed connection electromagnetic controller, and when electromagnetic controller got the electricity, it adsorbs magnetic metal to produce magnetism, and the replacement case is used for placing the cleaning head that reaches unused after using. Clear up solid chemical industry waste product through the manipulator, through the clean liquid chemical industry waste product of cleaning device, realize full automation chemical industry waste product clearance, effectively keep the laboratory environment. And the mop cloth is automatically replaced by the magnetic device, so that the automatic working time of the device is prolonged, the times of manually replacing the mop cloth are reduced, and the labor and the time are saved.

Description

Cleaning device for chemical waste in laboratory environment

Technical Field

The utility model relates to a laboratory environment cleaning device specifically is a cleaning device of chemical waste product under laboratory environment.

Background

According to the principle that the construction of environmental facilities is combined with management, a scientific management target and a management system are established in a laboratory, and various environmental facilities are subjected to standard use, safety inspection and protection maintenance systems. The influence on the safety of the laboratory and the experimental result is ensured.

The collection clearance of waste product at ordinary times in laboratory very consumes the manpower, has the clearance untimely in addition, perhaps clears up and omits, causes the influence to the laboratory environment, and chemical industry reagent has left over the ground time long to have been difficult to handle, produces the spot, influences the laboratory environment.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: to above shortcoming, the utility model provides a full-automatic cleaning device to chemical waste product under the laboratory environment.

The technical scheme is as follows: in order to solve the problem, the utility model discloses a cleaning device of chemical waste product under laboratory environment, including automobile body, the automobile body drive arrangement of drive automobile body motion, pickup apparatus and cleaning device, pickup apparatus sets up in the automobile body front end, and pickup apparatus is including the manipulator that is used for picking up solid chemical waste product or chemical waste product packing, cleaning device includes cleaning head, controlling means and replacement case, the cleaning head includes mop, magnetic metal, mop and magnetic metal fixed connection, controlling means includes cleaning arm, solenoid controller, cleaning arm one end sets up on the automobile body, other end fixed connection solenoid controller, and when solenoid controller got power, it adsorbs magnetic metal to produce magnetism, and the replacement case is used for placing the cleaning head who uses back and not use.

Furthermore, the cleaning mechanical arm comprises a cleaning mechanical arm base, a first cleaning movable arm, a second cleaning movable arm, a first cleaning telescopic rod, a second cleaning telescopic rod and a third cleaning telescopic rod, wherein the cleaning mechanical arm base, the first cleaning movable arm, the second cleaning telescopic rod and the third cleaning telescopic rod are arranged on the vehicle body, one end of the first cleaning movable arm is hinged to the cleaning mechanical arm base, the other end of the first cleaning movable arm is hinged to one end of the second cleaning movable arm, the other end of the second cleaning movable arm is connected with an electromagnetic controller, one end of the first cleaning telescopic rod is hinged to the cleaning mechanical arm base, the other end of the first cleaning telescopic rod is hinged to the first cleaning movable arm, one end of the second cleaning telescopic rod is hinged to the second cleaning movable arm, one end of the third cleaning telescopic rod is hinged to the second cleaning movable arm, and the other end of the third cleaning telescopic rod is connected with the electromagnetic controller.

Further, the replacement box comprises a placing box for placing unused mops and a collecting box for collecting used mops.

Furthermore, a clear water spray head is further arranged on the vehicle body and used for spraying clear water to the liquid chemical waste.

Further, the manipulator comprises a picking mechanical arm base, a first picking movable arm, a second picking movable arm, a first picking telescopic rod, a second picking telescopic rod, a third picking telescopic rod and a mechanical claw, wherein the picking mechanical arm base, the first picking movable arm, the second picking telescopic rod, the third picking telescopic rod and the mechanical claw are arranged on the vehicle body, one end of the first picking movable arm is hinged to the picking mechanical arm base, the other end of the first picking movable arm is hinged to one end of the second picking movable arm, the other end of the second picking movable arm is connected with the mechanical claw, one end of the first picking telescopic rod is hinged to the picking mechanical arm base, the other end of the first picking telescopic rod is hinged to the first picking movable arm, one end of the second picking telescopic rod is hinged to the first picking movable arm, the other end of the second picking telescopic rod is hinged to the second picking movable arm, one end of the third picking telescopic rod is hinged to the second picking movable arm, and the other end of the third picking telescopic rod is connected with the mechanical claw.

Furthermore, the gripper comprises a support, a gripper telescopic rod and a gripper, the support is connected to the end of the third pickup telescopic rod, one end of the gripper telescopic rod is hinged to the support, the other end of the gripper telescopic rod is hinged to the gripper body, and one end of the gripper is hinged to the support.

Has the advantages that: compared with the prior art, the utility model, it is through manipulator clearance solid chemical industry waste product that it is showing the advantage, through the clean liquid chemical industry waste product of cleaning device, realizes full automatization chemical industry waste product clearance, effectively keeps laboratory environment, avoids the laboratory to produce the potential safety hazard, avoids the danger that artificial clearance exists simultaneously. And the mop cloth is automatically replaced by the magnetic device, so that the automatic working time of the device is prolonged, the times of manually replacing the mop cloth are reduced, and the labor and the time are saved.

Drawings

FIG. 1 is a schematic structural view of the cleaning device of the present invention;

FIG. 2 is a side view of the cleaning apparatus of the present invention;

FIG. 3 is a top view of the cleaning apparatus of the present invention;

fig. 4 is a schematic structural diagram of a manipulator in the present invention;

FIG. 5 is a schematic view of the cleaning device of the present invention;

fig. 6 is a cross-sectional view of the middle coupling connecting the vehicle body driving motor and the wheel.

Detailed Description

As shown in fig. 1 to fig. 3, the device for cleaning chemical waste products in a laboratory environment in this embodiment includes a wheel 1, a vehicle body 2, a cleaning device 3, a camera 4, a manipulator (pickup device) 5, a clean water nozzle 6, a gas sensor 7, a control and information transmission module 8, a temperature sensor 9, a power supply 10, a placing box 11, and a collecting box 12.

The wheel 1 adopts four Mecanum wheels, the Mecanum wheel is an omnidirectional wheel capable of moving in all directions and comprises a hub and rollers surrounding the hub, and the Mecanum wheel tracking trolley can operate in any direction. As shown in fig. 6, a driving motor 201 and a coupling 202 are arranged inside the vehicle body 2, the driving motor 201 is fixed inside the vehicle body 2 by screws and connected with the power supply 10 through cables, the driving motor 201 is connected with the coupling 202 and the wheels 1 after being powered on, when a motor switch is turned on, the driving motor 201 starts to work, the speed of the cleaning device is 0.05m/s, and the cleaning device can normally move in the cleaning process.

The vehicle body 2 is made of an aluminum alloy material, so that abrasion in the using process can be reduced, the service life of the device is prolonged, the device is light and durable, and the stability of the device is improved. The cleaning device 3 and the mechanical claw 5 are welded at the front end of the vehicle body, two clear water spray heads 6 are bonded, the control and information transmission module 8 and the power supply 10 are fixed above the vehicle body in a bonding mode, and the camera 4, the gas sensor 7, the temperature sensor 9, the placing box 11 and the collecting box 12 are fixed.

The cleaning device 3 comprises a cleaning head, a control device and a replacement box, the cleaning head comprises a mop cloth 301 and magnetic metal 302, the magnetic metal 302 can adopt iron sheets and the like, the mop cloth 301 is fixedly connected with the magnetic metal 302, and the iron sheets can completely cover the mop cloth and can also be connected to a certain part of the mop cloth. The control device comprises a cleaning mechanical arm and an electromagnetic controller 303, one end of the cleaning mechanical arm is arranged on the vehicle body 2, the other end of the cleaning mechanical arm is fixedly connected with the electromagnetic controller 303, when the electromagnetic controller 303 is powered on, magnetic adsorption magnetic metal 302 is generated, so that a mop 301 is fixed, when the electromagnetic controller 303 is powered off, the mop is separated, the mop is replaced, the mop is used for cleaning residual stains of liquid chemical waste, and a replacement box is used for placing a cleaning head which is used and is not used.

Place case 11 and be fixed in the top of automobile body 2 through the mode that splices for place clean mop, all paste on every mop and have the iron sheet, the iron sheet is placed upwards in proper order, can realize changing the mop. The collecting box 12 is fixed above the vehicle body 2 by gluing and is used for collecting and treating mops taken down after being wiped. In order to increase the number of the placed mops, the placing box 11 and the collecting box 12 can be magnetic box bodies with tooth grooves on two sides, the magnetism is weak when the electromagnetic controller 303 is electrified, the cleaning mechanical arm vertically clamps the mops into the collecting box 12, the mops are kept in a vertical state after the power is lost and are adsorbed in the collecting box, and the unused mops are vertically adsorbed in the tooth grooves of the placing box.

The electromagnetic controller 303 is arranged at the end part of the cleaning mechanical arm, is connected with the power supply 10 through a cable and is connected with the control and information transmission device 8 through a cable, in the operation process, the computer transmits the working instruction of the electromagnetic controller 303 to the control and information transmission device 8 through a wireless signal, and the information transmission and control device 8 controls the electromagnetic controller 303 to be electrified through the cable to generate magnetism so as to adsorb the iron sheets on the mop 301.

As shown in fig. 5, the cleaning robot includes a cleaning robot base 309, a first cleaning arm 307, a second cleaning arm 305, a first cleaning telescopic rod 308, a second cleaning telescopic rod 306, and a third cleaning telescopic rod 304, which are disposed on the vehicle body 2, an output end of the third cleaning telescopic rod 304 is connected to the electromagnetic controller 303, and the other end is hinged to the surface of the first cleaning arm 307, and is connected to the power source 10 through a cable and is connected to the control and information transmission device 8 through a cable, in the operation process, the computer transmits a working instruction of the third cleaning telescopic rod 304 of the cleaning device to the control and information transmission device 8 through a wireless signal, and the information transmission and control device 8 controls the expansion and contraction of the third cleaning telescopic rod 304 of the cleaning device through a cable.

The upper end of the second cleaning movable arm 305 is hinged with a cleaning device movable arm 307 and a second cleaning telescopic rod 306, and the movement of the cleaning device movable arm 307 and the second cleaning telescopic rod 306 drives the second cleaning movable arm 305 to move up and down, so as to drive the mop to work and clean dirt.

The output end of the second cleaning telescopic rod 306 is connected with the second cleaning movable arm 305, the other end of the second cleaning telescopic rod is hinged on the surface of the movable arm 307 of the cleaning device, the second cleaning telescopic rod is connected with the power supply 10 through a cable and is connected with the control and information transmission device 8 through a cable, in the operation process, the computer transmits the working instruction of the second cleaning telescopic rod 306 to the control and information transmission device 8 through a wireless signal, and the information transmission and control device 8 controls the extension and retraction of the second cleaning telescopic rod 306 through a cable.

The upper end of the movable arm 307 of the cleaning device is hinged to the second cleaning telescopic rod 306, the lower end of the movable arm of the cleaning device is hinged to the cleaning mechanical arm base 309, the middle of the movable arm is connected with the first cleaning telescopic rod 308, and the movable arm of the cleaning device can work up and down through contraction of the first cleaning telescopic rod 308. The output end of the first cleaning telescopic rod 308 is connected with the movable arm 307 of the cleaning device, the other end of the first cleaning telescopic rod is hinged on the surface of the cleaning mechanical arm base 309, the first cleaning telescopic rod is connected with the power supply 10 through a cable and connected with the control and information transmission device 8 through a cable, and the information transmission and control device 8 controls the first cleaning telescopic rod 308 to stretch and retract through a cable.

Camera 4 sets up on automobile body 2, the camera passes through the mode of cable and links to each other with power 10, guarantee the normal work of camera, it links to each other with control and information transmission module 8 through wireless signal transmission's mode simultaneously, the work order of camera is transmitted to control and information transmission module 8 through wireless signal to the computer end in the operation process, the work of control and information transmission module 8 rethread wireless transmission's form control camera, and send the laboratory environment image data that shoots in real time to the computer end, be convenient for shoot the waste product condition of the chemical industry raw materials of record laboratory in real time.

As shown in fig. 4, the manipulator 5 includes a picking mechanical arm base 509, a first picking movable arm 508, a second picking movable arm 505, a first picking telescopic rod 507, a second picking telescopic rod 506, a third picking telescopic rod 504 and a mechanical claw which are arranged on the vehicle body 2, wherein one end of the first picking movable arm 508 is hinged to the picking mechanical arm base 509, the other end of the first picking movable arm 508 is hinged to one end of the second picking movable arm 505, the other end of the second picking movable arm 505 is connected to the mechanical claw, one end of the first picking telescopic rod 507 is hinged to the picking mechanical arm base 509, the other end of the first picking telescopic rod 507 is hinged to the first picking movable arm 508, one end of the second picking telescopic rod 506 is hinged to the first picking movable arm 508, the other end of the second picking telescopic rod 506 is hinged to the second picking movable arm 505, one end of the third picking telescopic rod 504 is hinged to the second picking movable arm 505, the other end of the third picking telescopic rod 504 is connected to the mechanical claw, and the manipulator is used for picking and cleaning solid and cleaning chemical waste and chemical products and packaging reagents, such as reagent bottles, and liquid reagent bottles are left on the bottom surface, and liquid chemical waste products are generated, and are cleaned by matching with the cleaning device.

The mechanical claw comprises a support 503, a claw telescopic rod 502 and a claw 501, wherein the support 503 is connected to the end of a third picking telescopic rod 504, one end of the claw telescopic rod 502 is hinged to the support 503, the other end of the claw telescopic rod 502 is hinged to the claw body of the claw 501, and one end of the claw 501 is hinged to the support 503.

Clear water shower nozzle 6 fixes on automobile body 2, links to each other with power 10 through the cable, guarantees the normal work of shower nozzle, and is connected with control and information transmission module 8 through the cable, finds that control and transmission information module 8 send the working signal and give clear water shower nozzle 6 behind the liquid chemical industry waste product, and shower nozzle work water spray clearance spot.

The gas sensor 7 is fixed on the vehicle body 2 in a gluing mode, the gas sensor 7 is connected with the power supply 10 through a cable, the normal work of the gas sensor 7 is guaranteed, and the gas sensor is connected with the control and information transmission module 8 through the cable. The gas sensor 7 transmits the measurement result to the information transmission and control module 8 in the form of wireless signal, and then the information transmission and control module 8 transmits the measured gas data to the computer in the form of wireless transmission. Temperature sensor 9 is fixed on automobile body 2 through the form of gluing, and temperature sensor passes through the cable and links to each other with power 10, guarantees temperature sensor's normal work, and is connected with control and information transmission module 8 through the cable. The temperature sensor 9 transmits the measurement result to the control and information transmission module 8 in the form of wireless signal, and then the control and information transmission module 8 transmits the measured temperature data to the computer in the form of wireless transmission.

The control and information transmission module 8 is fixed above the vehicle body 2 in a bonding manner, the clean water spray head 6, the electromagnetic controller 303, the third cleaning telescopic rod 304 of the cleaning device, the second cleaning telescopic rod 306, the first cleaning telescopic rod 308, the gripper telescopic rod 502, the third picking telescopic rod 504, the second picking telescopic rod 506 and the first picking telescopic rod 507 are controlled in a cable transmission manner according to the actual working condition of the collecting device, and shooting of the camera 4 and collection of the gas sensor 7 and the temperature sensor 9 are carried out. In the detection process, the pictures collected by the camera 4, the data collected by the gas sensor 7, the data collected by the temperature sensor 9 and the information are accurately transmitted to the computer through a wireless transmission technology.

The power supply 10 is fixed above the vehicle body 2 by means of gluing. By adopting a 7.4V2200mah lithium battery, the multiplying power performance is improved, the dynamic internal resistance amplification in the circulation process is obviously reduced, and the power output of the device is improved; is the power supply part of the entire device.

When the cleaning device is used for cleaning chemical waste in a laboratory environment, the cleaning device comprises the following specific steps:

firstly, the cleaning device is placed at a designated position in a laboratory, so that the camera is aligned to the ground of the laboratory, then the power supply is switched on, and the computer is switched on. A power switch of the device is turned on, the motor provides power for the collecting device, the collecting device moves at the speed of 0.05m/s, the camera starts to record information of the ground of the laboratory, the device enters the laboratory environment, data information collected by the gas sensor 7 and the temperature sensor 9 is transmitted to a computer end in a wireless signal transmission mode, corresponding safety personnel judge the laboratory environment, and if the gas and temperature data do not reach the standard, the data are reflected to relevant personnel for processing; the camera transmits image information to the control and information transmission module through a cable and transmits the information to the computer end through a wireless transmission technology, so that corresponding security personnel can analyze the laboratory environment conveniently. In the dolly removal in-process, if meet solid chemical industry raw materials waste product when needing to collect, transmit the information of manipulator work for the manipulator through wireless mode through control and information transmission module, manipulator work snatchs the waste product and transports to the collection department, the computer end transmits cleaning device work information for cleaning device through wireless mode through control and information transmission module, if solid chemical industry waste product or chemical industry waste product packing leave over the spot, then clear water shower nozzle 6 is to spot department water spray, and through cleaning device cooperation clearance, if meet liquid chemical industry waste product, then cleaning device directly clears up behind the water spray of spot department to the clear water shower nozzle.

Claims

1. The utility model provides a cleaning device of chemical waste under laboratory environment, its characterized in that, including automobile body (2), automobile body drive arrangement (1), pickup assembly (5) and cleaning device (3) of drive automobile body (2) motion, pickup assembly (5) set up in automobile body (2) front end, and pickup assembly (5) are including the manipulator that is used for picking up solid chemical waste or chemical waste packing, cleaning device (3) are including cleaning head, controlling means and replacement case, the cleaning head includes mop (301), magnetic metal (302), mop (301) and magnetic metal (302) fixed connection, controlling means includes cleaning arm, solenoid controller (303), cleaning arm one end sets up on automobile body (2), other end fixed connection solenoid controller (303), and when solenoid controller (303) got the electricity, produced magnetic adsorption magnetic metal (302), and the replacement case is used for placing the cleaning head after using and unused.

2. The cleaning device according to claim 1, wherein the cleaning robot comprises a cleaning robot base (309), a first cleaning boom (307), a second cleaning boom (305), a first cleaning telescopic rod (308), a second cleaning telescopic rod (306) and a third cleaning telescopic rod (304) which are arranged on the vehicle body (2), one end of the first cleaning boom (307) is hinged to the cleaning robot base (309), the other end of the first cleaning boom (307) is hinged to one end of the second cleaning boom (305), the other end of the second cleaning boom (305) is connected to the electromagnetic controller (303), one end of the first cleaning telescopic rod (308) is hinged to the cleaning robot base (309), the other end of the first cleaning telescopic rod (308) is hinged to the first cleaning boom (307), one end of the second cleaning telescopic rod (306) is hinged to the first cleaning boom (307), the other end of the second cleaning telescopic rod (306) is hinged to the second cleaning boom (305), one end of the third cleaning telescopic rod (304) is hinged to the second cleaning boom (305), and the other end of the third cleaning telescopic rod (304) is connected to the electromagnetic controller (303).

3. Cleaning device according to claim 1, characterized in that the replacement box comprises a placing box (11) for placing unused mops and a collecting box (12) for collecting used mops (12).

4. The cleaning device according to claim 1, characterized in that a clean water spray head (6) is further arranged on the vehicle body (2), and the clean water spray head (6) is used for spraying clean water to the liquid chemical waste.

5. The cleaning device according to claim 1, wherein the manipulator comprises a base (509) of the picking mechanical arm, a first picking boom (508), a second picking boom (505), a first telescopic picking rod (507), a second telescopic picking rod (506), a third telescopic picking rod (504) and a gripper, the base (509) of the picking mechanical arm is arranged on the vehicle body (2), one end of the first picking boom (508) is hinged to the base (509), the other end of the first picking boom (508) is hinged to one end of the second picking boom (505), the other end of the second picking boom (505) is connected to the gripper, one end of the first telescopic picking rod (507) is hinged to the base (509), the other end of the first telescopic picking rod (507) is hinged to the first picking boom (508), one end of the second telescopic picking rod (506) is hinged to the first picking boom (508), the other end of the second telescopic picking rod (506) is hinged to the second picking boom (505), one end of the third telescopic picking rod (504) is hinged to the second picking boom (505), and the other end of the third telescopic picking rod (504) is connected to the gripper.

6. The cleaning device according to claim 5, characterized in that the mechanical gripper comprises a bracket (503), a gripper telescopic rod (502) and a gripper (501), the bracket (503) is connected to the end of the third picking telescopic rod (504), one end of the gripper telescopic rod (502) is hinged with the bracket (503), the other end of the gripper telescopic rod (502) is hinged with the gripper body of the gripper (501), and one end of the gripper (501) is hinged with the bracket (503).