CN106625567A - Mobile robot for dangerous chemical solution extraction - Google Patents
Mobile robot for dangerous chemical solution extraction Download PDFInfo
- Publication number
- CN106625567A CN106625567A CN201710073419.3A CN201710073419A CN106625567A CN 106625567 A CN106625567 A CN 106625567A CN 201710073419 A CN201710073419 A CN 201710073419A CN 106625567 A CN106625567 A CN 106625567A
- Authority
- CN
- China
- Prior art keywords
- module
- mechanical arm
- mobile robot
- dangerization solution
- moving cart
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
- B25J13/089—Determining the position of the robot with reference to its environment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/0293—Gripping heads and other end effectors servo-actuated comprising parallel grippers having fingers directly connected to actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mobile robot for dangerous chemical solution extraction. The mobile robot comprises a mobile trolley system, a multi-joint mechanical arm system, a fixture system, a vision ultrasonic testing system and a dangerous chemical solution storage system, and the multi-joint mechanical arm system, the fixture system, the vision ultrasonic testing system and the dangerous chemical solution storage system are all arranged on the mobile trolley system; the mobile trolley system is connected with the multi-joint mechanical arm system and the dangerous chemical solution storage system; the multi-joint mechanical arm system is connected with the fixture system; and the mobile trolley system and the vision ultrasonic testing system are both in communication connection with a main console system. By means of the mobile robot, precise extraction of a dangerous chemical solution and automatic treatment of a surplus dangerous chemical solution can be achieved, middle processes are decreased, and the time cost, the labor cost and the management cost are reduced.
Description
Technical field
The present invention relates to danger solution is extracted and detection field, specifically a kind of moving machine extracted for dangerization solution
Device people.
Background technology
The manufacturing, health care, nuclear test can produce a large amount of components and answer with many places of industry such as nuclear power, chemical metallurgy
The danger solution that miscellaneous, density unevenness, corrosivity are big, radioactivity is high, easily causes serious injury to people, animal and environment.This
Class dangerization solution typically using isolation method store within the enclosed space, through collection storage, sampling detection, purified treatment with
And discharge etc. step, with dilution or solidify etc. method process after, be converted into the concentrate of small size and preserved, treat corrosivity
With radioactivity less than after maximum allowable discharge index, arranged and buried in environment or spread.The sampling inspection of dangerization solution
Survey is very important link in processing procedure, and this stage will be detected to the composition and content of dangerization solution, only fully
Effective dangerization solution processing methods can be just found after detection, only could be endangered after strict process and be reduced to most
It is low.
Dangerization solution sampling need on a small quantity extract solution when detecting using advanced ways and means, carry out composition and content point
Analysis.From the point of view of published record and data, most of dangerization solution is extracted to use and built based on the mode of vacsorb
Fixed dangerization solution extraction device, the device mainly by vavuum pump, suction pipe, controlling switch and shooting is first-class constitutes, with
Dangerization solution processing equipment is fixed on together the extraction that dangerization solution is somewhere completed in artificial presence, such device
Consider almost not using the accurate measure for extracting control, so being difficult to the quantitative and random of dangerization solution for stability
Sampling observation.Lack flexible extraction means and cannot accurate quantification become the treatment effeciency lifting of restriction dangerization solution the problems such as extract
Bottleneck, due to using fixed solution extraction device, it is impossible to move freely operation, when device breaks down or dangerization solution
In the case of change of component, fixed solution extraction device cannot be competent at sampling observation work, cause dangerization solution to process when serious temporary
Stop, production line stop, bring huge economic loss.
In addition, many occasions do not have fixed dangerization solution extraction equipment, when the danger solution type for extracting is relatively more, away from
From distant, working environment it is more severe when, need people enter different environment even high-risk environment in manual operations, occur
（1）People is in operation in adverse circumstances the long period, is vulnerable to injury；（2）Dangerization solution taken amount is forbidden, and operating efficiency is relatively low；
（3）The problems such as unnecessary dangerization solution is not disposable.These problems had a strong impact on dangerization solution detection treatment effeciency and
The security of people.
The content of the invention
To overcome the problem above of prior art presence, the invention provides a kind of moving machine extracted for dangerization solution
Device people, realizes repeating automation, quantification that dangerization solution is quantitatively extracted under different high-risk environments using mobile robot
And normalizing operation, so as to contact of the completely isolated people with high-risk environment, reach the requirement that dangerization solution is fully detected.
The present invention is realized by technical scheme below：
A kind of mobile robot extracted for dangerization solution, the mobile robot includes moving cart system, multi-joint machine
Tool arm system, chucking appliance system, vision ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, folder
Tool system, vision ultrasonic wave detecting system, dangerization solution storage system are arranged in moving cart system, the moving cart
System is connected respectively with multi-joint mechanical arm system and dangerization solution storage system, the multi-joint mechanical arm system and fixture system
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 leads to
News module；The basic machine is used to provide the physical arrangement of moveable robot movement；The control module passes through communication module
Communicate to connect with 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
Basic machine is stated including performance element, mechanical arm body and sensing element；The control module is controlled including multi-joint mechanical arm PLC
Device processed and motion-control module；The motion-control module is connected by servo-driven module with performance element；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
This is internal, for realizing the relative rotation between the symmetrical two halves of chuck body；The chuck body horizontal direction and pneumatic three-jaw
Chuck assembly connects, 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 respectively by data acquisition process unit with ultrasonic wave module with supervisory control desk.
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 is placed in and takes liquid measure cup bottom；The weight sensor and moving cart
System is connected.
Further, also including 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 include display, it is the main control computer that is provided with monitoring software, in real time logical
Inquiry server, the data server for being provided with background data base, video server and network communication module；The supervisory control desk
With mobile robot communication connection；The main control computer is by network communication module and real-time communication server, data, services
Device and video server are communicated to connect；Video server is used to store video information and ultrasonic height detection information.
Compared with prior art, beneficial effects of the present invention are as follows：
The present invention 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；The present invention replaces manually carrying out the extraction operation of dangerization solution, and its dangerization solution is carried
Cycle time 1/3 is taken, makes danger solution detection efficiency be significantly improved；Invention introduces advanced automatic technology and letter
Breath technology, improves the intelligent level of device, and beneficial to dangerization solution the automation and standardization of operating process are extracted, and also improves
Dangerization solution processes the level of IT application of unit, is allowed to be highly improved the disposal ability of dangerization solution；The present invention is
It is that the danger solution of special industry from now on is extracted and carried with detection management towards the automation extraction process of multi items dangerization solution
Model is supplied.
The mobile flexibility of synthesis moving cart system of the invention and the operating flexibility of mechanical arm, set with reference to both advantages
Meter can be moved flexibly in different environments, quick operating dangerization solution extraction system, be carried out in real time by wireless communication technique
Instruction is distributed and data exchange, reaches the purpose of dangerization solution high efficiency extraction and sweetly disposition；
The pattern that dangerization solution extraction system is isolated using mistress's control with interior room execution unit, Jing is special on its execution unit surface
Radiation proof corrosion-resistance treatment, being capable of steady operation, the dosage of reduction people's contact radiation, reduction under the particular surroundings such as high-risk environment
The labour intensity and security risk of people；
Design is based on the moving cart in the dangerization solution extraction system that four McCrums independently drive, and realizes that moving cart exists
Comprehensive quick movement in varying environment, it is accessible efficiently to complete the whole process that dangerization solution is extracted and processed.Inside it
Designed using three layers of full-closed structure, reasonable Arrangement system each critical component, at utmost using inner space, mitigates car load
Quality, improves mobile efficiency；
Using four articulated mechanical arms in the structure design dangerization solution extraction system of 3 gyroaxises and a linear axes, compare
Traditional multi-joint mechanical arm, its frame for movement simpler, low cost of manufacture, control are easily realized, stable performance, while taking into account 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, the integrated automatic crawl of fixture and
Quantitative liquid getting function, functional integration is high, can be seamlessly connected with mechanical arm, can be according to operational order rapid translating function part at any time
Part, reduces fixture in dangerization solution extraction process and changes the outfit the time, improves the efficiency of whole process；
Using vacuum generator component produce malleation and negative pressure to design dangerization solution extraction system in quantitative extraction element,
Device by the liquid level position detection sensor accurate detection dangerization solution extracted amount that is mainly made up of solid capacitor component,
It is rapidly completed dangerization solution under the real-time control of PLC quantitatively to extract.The apparatus structure is simple, manufactures and maintenance cost
It is low, may be repeated dangerization solution and extract operation.
Description of the drawings
Fig. 1 is the System Working Principle figure of the present invention.
Fig. 2 is the block diagram of system of the present invention.
Fig. 3 is the mobile robot structure chart of the present invention.
Fig. 4 is the mobile-robot system control structure figure of the present invention.
Fig. 5 is the control instruction and transmittance process network diagramming of the present invention.
Fig. 6 is the wireless telecommunication system network topological diagram of the present invention.
Fig. 7 is the supervisory control desk system hardware and software frame diagram of the present invention.
Fig. 8 is the supervisory control desk software and hardware network architecture of the present invention.
Fig. 9 is the supervisory control desk shape assumption diagram of the invention of the present invention.
Figure 10 is the moving cart system module block diagram of the present invention.
Figure 11 is the moving cart body interior structure chart of the present invention.
Figure 12 is the multi-joint mechanical arm system module block diagram of the present invention.
Figure 13 is the grip device system construction drawing of the present invention.
Figure 14 is the vision ultrasound examination composition and schematic diagram of the present invention.
Figure 15 is the danger solution memory system architecture figure of the present invention.
Figure 16 is the power system modules pie graph of the present invention.
Specific embodiment
The present invention is further illustrated below in conjunction with the drawings and specific embodiments.
According to the characteristics of dangerization solution and the flow process extracted of automatic ration, it is considered to processing safety and function it is reliable real
It is existing, dangerization solution automatic ration extraction system under a kind of different high-risk environments based on mobile robot is designed, operation principle is such as
Shown in Fig. 1.It is overall to adopt the detached thought of controlling organization and executing agency, mobile-robot system to be placed on as executing agency
Inside high-risk environment, supervisory control desk is placed on outside high-risk environment as controlling organization, is not only adapted to general solution and is quantitatively carried at random
Requirement is taken, the danger solution that radioactivity is high, chemical composition is uncertain, variety type is more, safety requirements is high is further adapted for quantitative at random
Desired scene is extracted, with good flexibility.
As shown in Figure 2：The system includes supervisory control desk system, wireless communication data Transmission system, moving cart system, many
Articulated mechanical arm system, multi-functional clamp system, vision ultrasonic wave detecting system, dangerization solution storage system and power-supply system
Deng.Wherein, moving cart system, multi-joint mechanical arm system, multi-functional clamp system, dangerization solution storage system and vision
Ultrasonic wave detecting system constitutes mobile-robot system.
As shown in Figure 3：The mobile robot includes moving cart system, multi-joint mechanical arm system, chucking appliance system, regards
Feel ultrasonic wave detecting system and dangerization solution storage system, and multi-joint mechanical arm system, chucking appliance system, vision ultrasound examination
System, dangerization solution storage system are arranged in moving cart system；The supervisory control desk system is based on communication network and shifting
Dynamic cart system communication connection, and each system status parameters in mobile robot are obtained by moving cart system, while sending
Take liquid information and movement instruction and give moving cart system；The moving cart system is received and forwards what supervisory control desk system sent
Liquid information and movement instruction are taken, realizes that mobile robot gathers and place the movement on circuit in dangerization solution；The movement is little
Car system is connected respectively with multi-joint mechanical arm system and dangerization solution storage system, the multi-joint mechanical arm system and fixture
System is connected, and the video ultrasound ripple detecting system is realized and the communication connection of supervisory control desk system by communication network.
Fig. 4 for mobile robot system architecture control figure, supervisory control desk system as instruction send and real time data at
Reason center, by communication module in real time with the main system such as moving cart system, multi-joint mechanical arm system, vision ultrasound examination
The accessory systems such as system, multi-functional clamp system and dangerization solution storage system are connected, and are constituted and are moved under high-risk environment
Robot control system.
Specifically, supervisory control desk system is connected with wireless mixing LAN by wired with wireless communication module, wirelessly
Communication module is connected by Ethernet interface with the PLC of moving cart system.Moving cart system and multi-joint machinery
Arm system adopts master-slave control mode, the i.e. PLC of moving cart system as main website, multi-joint mechanical arm system
Used as slave station, both are connected PLC by Prifibus DP module interfaces, for performing mobile and operation behavior and many
Articulated mechanical arm pedestal is arranged on moving cart top nose.Dangerization solution storage system is arranged on moving cart top rear,
Its measuring cup weight sensor and pneumostop lid magnetic valve are integrated by O/I modules with moving cart PLC, are used
In storage and the carrying safely of dangerization solution.Multi-functional clamp system is arranged on mechanical arm tail end, its detection sensor, pneumatic system
Magnetic valve etc. is integrated by O/I modules with mechanical arm controller, is quantitatively extracted and is gripped for dangerization solution.It is arranged on
Energy of the power-supply system inside moving cart for needed for main system and accessory system provide mobile, operation, detection, by wireless charging
The part of electric installation, Li-ion batteries piles and power management module etc. three constitutes, and wherein power management module is by MCU micro-control lists
Unit, PMIC power management integrated circuits and various sensor groups into power control.
Fig. 5 is the control instruction and transmittance process network diagramming of the present invention, and system control instruction and transmittance process are described as, work
Supervisory control desk sends dangerization solution extracting parameter signal, action by instruction input with sending module Jing radio transmitting devices when making
Command signal to moving cart system, vision ultrasonic wave detecting system and power-supply system, three digest journals and its accessory system from
Start working after inspection is errorless.Moving cart according to instruction movement, complete sending action after assignment of mission instruct machinery to multi-joint
Arm, makes mechanical arm carry out corresponding dangerization solution and extracts and grasping manipulation, dangerization solution storage system while mechanical arm action
Control instruction cooperative mechanical arm according to moving cart works.In addition, vision ultrasonic wave detecting system by collection in worksite to regard
Frequency information and ultrasonic data acquisition information return to master station.Power-supply system is powered to subsystems, and battery status
Feed back to master control platform.
Fig. 6 is wireless telecommunication system network topological diagram, inside and outside high-risk environment, builds and is based on IEEE 802.11b/g/a/h
The WIFI wireless networks of communications protocol, by WIFI wireless networks be data medium, connection supervisory control desk, moving cart system,
Multi-joint mechanical arm system, vision ultrasonic wave detecting system etc., constitute control data, video data, the state under high-risk environment
Effective passage of the transmission such as data.
Communication system is mainly made up of wireless aps, wireless data transceiving device, LAN etc., and wherein LAN is to be based on
The Ethernet that IEEE802.3 communications protocol builds, supervisory control desk is directly connected to LAN by wired mode；Wireless aps and nothing
Line data source and sink is addressable device, and wireless aps are directly connected to LAN, wireless communication apparatus one by wired mode
End is connected with moving cart system, vision ultrasonic wave detecting system, power-supply system etc. by Ethernet interface, and the other end passes through
WIFI network is wirelessly connected with AP, so as to realize the high-speed transfer of control data, video data, status data.
Fig. 7 is the supervisory control desk system hardware and software frame diagram of the present invention, and supervisory control desk is by display, main control computer, reality
When the hardware such as communication server, data server, video server, network communication module and monitoring application system, back-end data
The software sharings such as storehouse, service software.It is wired with it is wireless mix LAN by way of with moving cart system, multi-joint machinery
The real-time communications such as arm system, dangerization solution storage system, vision ultrasonic wave detecting system, obtain its state parameter, while sending
Liquid information and movement instruction are taken to modules, the Remote of mobile robot is realized.
Monitoring application system is developed based on windows platform, on main control computer, with basic data maintenance mould
Block, take liquid information input and instruction sending module, mobile work robot monitoring module, vision ultrasonic wave monitoring module,
The big module of security protection alarm module and real-time data communication module etc. six.
Fig. 8 for supervisory control desk system the software and hardware network architecture, main control computer, data server, video server etc.
In the form of bus connection over ethernet, by network communication module, main control computer and each server real-time communication, just
Data query and process are carried out in monitoring software.Real-time communication server is installed above Communications service software, in time crawl master
The instruction that control computer is assigned is to subsystems, while the status data and sensing data of subsystems feedback is captured, and
It is stored on data server and video server.Installation relation type database, for monitoring software number is provided on data server
Support according to storage, real-time storage operations data, feedback data, basis safeguard that data, safe operation status data, transmission refer to
Make historical data etc..Video information and ultrasonic height detection that video server real-time storage vision ultrasonic system is collected
Information.
Fig. 9 is a kind of shape assumption diagram of the supervisory control desk of the present invention, outward appearance is designed using ergonomics thought, by two
Individual display, an operating desk and master control platform housing composition, two of which display one is used for visual control, a use
Send and receive in control instruction；Master control platform housing is made up of stainless steel material, and 1 millimeters thick sheet lead is laid on surface, a radiation proof,
Corrosion-resistant effect.
Figure 10 be the present invention moving cart system module block diagram, mobile dress of the moving cart system as whole system
Put, including five major parts such as basic machine, control module, drive module, navigation module, communication module.The movement is little
Car system includes basic machine, control module, drive module, navigation module and communication module；The basic machine is used to provide
The physical arrangement of moveable robot movement；The control module is connected by communication module with supervisory control desk system, the control
Module is connected by drive module with basic machine；The navigation module is connected with control module.
Figure 11 be the present invention moving cart system ontology cut-away view, moving cart basic machine, by trolley body,
Steering mechanism and sensing element are constituted, and wherein trolley body is in rectangular shape, and vehicle body frame adopts aluminium alloy extrusions, carries out
Totally-enclosed radiation protection is processed, and the thick sheet leads of 1 ~ 2mm are laid outside car body as shielding material；Car top is main supporting part
Point, there is the multi-joint mechanical arm installing hole of four screwed holes that are uniformly distributed along the circumference forward position, and being bolted makes moving cart
Connect together with the base fixing plate of multi-joint mechanical arm；Rearward there is dangerization solution storage device mounting seat position to car body top,
It is rigidly connected with the mounting seat in dangerization solution storage device by bolt；Car body the right and left bottom be distributed with two pairs it is symmetrical
Four McCrum wheels, constitute the movable part of dolly；Car body directly to the right is disposed with signal transmitting and receiving antenna, signal transmitting and receiving antenna with
The wireless communication apparatus connection of car interior, constitutes the wireless communication module of dolly.
Car interior, according to the principle of reasonable utilization space, is three layers of mounting structure, and logic connecting relation is referring to " moving machine
Device people's System control structures figure ", ground floor is upper strata, predominantly the control unit of multi-joint mechanical arm, wireless communication apparatus and
Vision ultrasonic treatment unit, the control unit of concrete multi-joint mechanical arm includes 1 multi-joint mechanical arm controller, 1 fortune
The servo-driver of dynamic control module, 4 joint of mechanical arm, wireless communication apparatus are 1 set of wireless telecommunications based on wireless WIFI
Device, vision ultrasonic treatment unit is 1 set based on CCD camera and the position detecting device of ultrasonic wave；The second layer is intermediate layer,
The predominantly control unit of moving cart, pneumatic system, the control unit of concrete moving cart includes 1 moving cart control
Device, 1 motion-control module, the servo-driver of 4 moving cart wheels, pneumatic system includes that 1 set dangerization solution is stored and fills
Put pneumatic means, 1 set of multi-functional clamp device Tridactyle pneumatic fixture pneumatic means, 1 set of multi-functional clamp device quantitative liquid getting dress
The pneumatic means put；Third layer is bottom, for the supply unit that each device provides power, specifically have one group of lithium battery string and
1 electric power controller.The angular direction of dolly bottom four is disposed with 4 McCrum wheel servomotors and motor reducer, centre
Location arrangements have the navigation sensor and landmark sensor of a set of magnetic induction navigation, a wireless charging receiver.
Moving cart steering mechanism carries out moving of car control by the way of the four motorized wheels based on McCrum wheel
System.McCrum wheel is made up of two wheel hubs and a number of pony roll, using two ends supporting construction, little roller axis and wheel
Hub axis angle is ± 45 °, and both materials adopt corrosion-resistant radiation proof material.Two left-handed spiral configurations in four McCrum wheels
With two right-handed spiral configurations, in the way of two left two right four-wheels are arranged symmetrically moving cart car body the right and left is arranged on；Each wheat
Carat nurse wheel is direct-connected with a DC servo motor and motor reducer, by the speeds control different to four wheels, realizes
The motion of dolly different directions.
Control module：Including PLC and motion-control module, moving cart adds motion control using PLC
The modes such as module carry out motion control, and wherein PLC is mainly responsible for and supervisory control desk communication, is received in time by WIFI communication mode
Control instruction and feedback trolley travelling status data that supervisory control desk sends；Motion-control module is responsible for performing the letter that PLC is received
Number instruction, to moving cart feedback navigation signal, position signalling carry out real-time processing and calculating, output control signal is to direct current
Servo-driver.In addition, the Open Control pattern that moving cart is integrally combined using host computer with slave computer, wherein host computer
For supervisory control desk system, slave computer is the PLC of moving cart system.
Drive module：Moving cart is driven using DC servo motor driver and DC servo motor, DC servo electricity
Machine driver one end is connected with the motion-control module in moving cart PLC, and one end is connected with DC servo motor.
The motion-control module of PLC sends digital quantity high-speed pulse signal to servo-driver, and servo-driver adopts position
Control model produces the pwm signal of impulse form, Jing power amplification rear-guards according to the signal that control signal and servomotor feed back
Dynamic servomotor, the pulse and direction signal that servomotor sends according to servo-driver is started, stopped, being inverted and is become
The actions such as speed.
Navigation module：The module is made up of Magnetic Sensor with the magnetic stripe for being laid on ground, and wherein Magnetic Sensor is divided into magnetic conductance
Sensor and magnetic landmark sensor, magnetic stripe is divided into guiding magnetic stripe and terrestrial reference magnetic stripe.Magnetic induction is not high to the susceptibility of high-risk environment,
Therefore the navigation module of moving cart is designed by the way of magnetic stripe navigation, the forward position in dolly bottom is provided with magnetic navigation sensor
And landmark sensor, for guiding magnetic stripe and terrestrial reference magnetic stripe that detection makes a reservation for lay on ground.When moving cart is run, magnetic navigation
Sensor vertical gathers the magnetic field intensity of magnetic stripe in magnetic stripe top certain distance, judges that magnetic stripe is inclined relative to magnetic navigation sensor
Off normal and put, accordingly moving cart adjust automatically, it is ensured that move ahead along magnetic stripe.Landmark sensor constantly reads terrestrial reference magnetic stripe, and accordingly
Judge run location and change running status.Terrestrial reference magnetic stripe is perpendicular to navigation magnetic stripe direction, the ground being attached to beside navigation magnetic stripe
On.
Communication module：It is made up of wireless communication apparatus and signal transmitting and receiving antenna, wherein wireless communication apparatus are wireless data
R-T unit, installed in moving cart inside ground floor, signal transmitting and receiving antenna is arranged on moving cart outside right side.Wireless telecommunications
Module one end adopts WLAN standard agreement IEEE 802.11b/g/a/h, is connected with supervisory control desk real-time radio, in time
Obtain master control platform send take liquid instruction and movement instruction, while by the state of moving cart and interconnected system notify at once to
Master control platform.The wireless communication module other end is connected with moving cart PLC by Ethernet interface, in time sends master control platform
Take liquid instruction and movement instruction pass to moving cart PLC, while the feedback signal that moving cart PLC is received is passed to always
Console.
Figure 12 is the multi-joint mechanical arm system module block diagram of the present invention, and the multi-joint mechanical arm system is according to high-risk
Environment dangerization solution quantitatively extracts of feature design and integrates machinery, control, electric open chain link-type and right angle seat
Mark formula mixed type articulated robot, working range farthest reaches 2 meters, and by bolt moving cart top is arranged on, little with movement
Car cooperation completes the work such as dangerization solution lifts, dangerization solution is transported, dangerization solution is placed.Mainly include basic machine, servo
Drive and motion control portion.
Basic machine is made up of performance element, mechanical arm body, sensing element.Performance element by servomotor, decelerator,
The part such as bearing and bearing block is constituted.Sensing element is the ginseng such as angle, rotating speed, electric current, voltage for detecting each axle servomotor
Several sensors.Mechanical arm body is made up of pedestal, base, large arm, forearm and end telescopic shaft, has four frees degree,
It is secondary to rotate wherein between pedestal and base, base and large arm, large arm and forearm, it is mobile between forearm and end telescopic shaft
Angle remains 90 ° between pair, and forearm and end telescopic shaft.
Mechanical arm pedestal using square-section hollow aluminum foundry goods, the DC servo drive motor of internal mounting seat,
The parts such as decelerator, bearing and bearing block, base bottom is a fixed plate with four screwed holes that are uniformly distributed along the circumference, this
Fixed plate is rigidly connected with the multi-joint arm installing hole in moving cart by bolt.Base is using in circular cross-section
Empty aluminum foundry goods, inside is provided with the parts such as DC servo drive motor, decelerator, bearing and the bearing block of large arm.Greatly
Arm adopts the hollow and thin-walled aluminum foundry goods of circular cross-section, inside to be provided with DC servo drive motor, decelerator, the bearing of forearm
And the parts such as bearing block.Forearm adopts the solid aluminum foundry goods of circular cross-section, and end is provided with the execution of end telescopic shaft
The parts such as part, i.e. servomotor, Timing Belt, nuts ball leading screw.End telescopic shaft is by servomotor, Timing Belt, nut
Ball-screw and end effector are constituted, and inside ball-screw kinematic pair by the way of nut driving, make feed screw nut exist
The synchronized band of DC servo motor drives lower generation rotary motion, so as to drive leading screw to carry out the linear motion of vertical direction.
Sheet lead is laid on each axle of basic machine and servomotor surface, is placed on outside moving cart；Control section and
Servo-drive is partially disposed in inside moving cart, mitigates the impact of radiation.
Figure 13 be the present invention multi-functional clamp structure chart, the multi-functional clamp device, be one collection quantitative liquid getting and
Electricity, gas control device of the function in one is carried in gripping, and by bolt multi-joint mechanical arm end is rigidly attached at, outward appearance and interior
Portion's structure is as shown below.
Multi-functional clamp device include a chuck body, a tumbler, a pneumatic scroll chuck device and
One quantitative liquid taking device.
Multi-functional clamp device is controlled by mechanical arm PLC, and course of action is described as multi-joint mechanical arm PLC controls
Device receives taking liquid instruction or capturing instruction for moving cart PLC transmission, if taking liquid instruction, then multi-joint mechanical arm
Quantitative liquid taking device is gone to controller control tumbler position straight down, then the pneumatic electricity for controlling quantitative liquid taking device
Magnet valve is opened, then dangerization solution progresses into quantitative liquid taking device.At the same time, the gas flow letter in quantitative liquid taking device
Breath, pressure information, dangerization solution height information, to multi-joint mechanical arm controller, are reached and are set by respective sensor rapid feedback
Stopping action after quantitative.If crawl instruction, then multi-joint mechanical arm controller control tumbler turns in scroll chuck device
To position straight down, then scroll chuck air-operated solenoid valve opening is controlled, realize opening and tightening up for scroll chuck, reached and grab
The purpose for taking, at the same time, the clip pressure force information in scroll chuck device is by respective sensor rapid feedback to many passes
The mechanical arm controller of section, coordinates with air-operated solenoid valve, realizes the precise control of grasp force.
The chuck body front is in octagon, is divided into symmetrical two halves, and the plane of symmetry is with the horizontal 45 ° of angles.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 the horizontal direction in bottom
Dog chuck device, installs in vertical direction a quantitative liquid taking device.
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, realizes being relatively rotated between chuck body two halves by 180 ° of rotations of cylinder, so as to reality
Existing scroll chuck device is changed with the instrument of quantitative liquid taking device.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.
In cylinder, there are gas circuit, pneumatic connector and claw gathering sill in inside to scroll chuck device body；3 claws are equal
Cloth, using stainless steel material, above studs with anti-skidding acid and alkali-resistance flexible material on cylindrical body claw gathering sill, is easy to liquid taking cup
Gripping operation.Pressure sensor is arranged on claw inner side, is protected by anti-skidding acid and alkali-resistance flexible material, holds for monitoring crawl
The grasp force during measuring cup of dangerization solution, and pressure information is passed into 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, and then two gas circuit pipelines are connected with two bidirectional speeds control valves, last two pipelines and
Pneumatic connector on body is connected.Wherein digital electric magnet valve is connected with the PLC of multi-joint mechanical arm, by multi-joint
The PLC control digital electric magnet valve of mechanical arm, and then the break-make of whole piece gas circuit is controlled, claw is realized while tightening up and opening
The function of opening.Pneumatic means is arranged on moving cart inner second layer.
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 to connect
Sensing device is detected in interface, body right side for liquid level position, and body interior is moved piston and is divided into upper and lower vessel.Upper container
Room is gas compartment, and two spring fixed end and a compression spring are installed in the inside, it is ensured that gas compartment stably effectively works.Under
Vessel is liquid chamber, for holding the danger solution of extraction.It is mobile piston in the middle of body, sealing ring is placed at piston two,
Sealing ring can effectively ensure that the cut-off of gas compartment and liquid chamber.
Detection sensing device is a set of liquid level position detection sensor, in strip, is pasted onto and takes liquid container body right side,
The elevation information of liquid level during for detecting Liquid extracting, Jing after data processing and conversion multi-joint mechanical arm is passed to
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 is necessarily combined by N group solid-state alminium electrolytic condenser Jing, can be sent out according to the height change of liquid level
Raw capacitance size changes, then capacitance size change is converted into digital quantity by Jing data converting circuits, so as to realize the real-time of liquid level
Monitoring.Solid capacitor component is pasted onto by bonding agent and takes liquid container body right side, 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, flow sensor, a baroceptor and a 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 and is 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, in gas outlet and quantitative liquid taking device
The liquid container body that takes 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, the PLC for realizing multi-joint mechanical arm controls the break-make of pneumatic means gas circuit.The working method of pneumatic means is that source of the gas Jing is electric
Magnet valve produces malleation or negative pressure when flowing through vacuum generator component, is more than or less than the pressure taken in liquid container bulk gas room
Pressure in liquid room, 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 by I-shaped flange be threaded in octagon chuck body on one side on, during working condition its
Central axis is vertical with ground holding.
Figure 14 is the vision ultrasound examination fundamental diagram of the present invention, and vision ultrasonic wave detecting system is a set of wireless
Long distance control system is mobile-robot system " eyes " using obstacle on monitoring mobile route, calculate mobile robot
Locus.The system is mainly made up of supervisory control desk, wireless communication module and digital sampling and processing, wherein data
Acquisition processing module is made up of processing unit, vision module and ultrasonic wave module.
Vision ultrasonic wave detecting system merges vision and ultrasonic technology, makes vision module coordinate work with ultrasonic wave module
Make, calculate locus coordinate.Its principle is that the two-dimensional image information under high-risk environment, Jing images are obtained with industrial CCD camera
Process is converted into plane XY coordinate information, then obtains the information in short transverse, i.e. Z coordinate information by ultrasonic sensor, and two
Person can obtain locus coordinate Jing 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 adopts embedded ARM processor, and industrial CCD is obtained in real time
Collected by camera to video information and the elevation information that collects of ultrasonic displacement sensor, and by Ethernet interface and wireless
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 include two pieces of right angle installing plates, image pick-up card, 2 industrial CCD sensors, one
Individual ultrasonic displacement sensor, 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
It is one of 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 of the height and position for carrying out plan-position and dangerization liquid level of solution.Another piece straight
Angle installing plate is arranged on grip device right side, and an industrial CCD sensor is installed thereon, quantitative for monitoring dangerization solution 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 connects, and image information and ultrasonic digital information are passed in time.
Figure 15 is the danger solution memory system architecture figure of the present invention.The dangerization solution storage device, is mainly used to pacify
The danger solution that full storage and reliable transhipment mobile robot are quantitatively extracted, specifically include a square storage body, 3 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.Rearward location interval certain distance arranges that two small one and large one cuboids are convex to cavity volume body upper surface symmetrical centre
Rise, little cuboid is raised for connecting, big cuboid is raised to be used to limit top pressure closure spatial dimension so as on cavity volume body
End face keeping parallelism.Cavity volume body top is square pneumostop lid, and 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 hinge 1 and forms rotation pair, connecting rod afterbody and a movable gas with little cuboid
The piston of cylinder is formed by hinge 2 and rotates secondary connection.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
Hinge 2 is formed and rotates secondary；Cylinder block is cylindrical, and there are two pneumatic connectors on right side, for connecting pneumatic means；Cylinder cylinder
Body bottom is formed by hinge 3 with cavity volume body rear end face and rotates secondary, moving cylinder is freely rotated with around hinge 3.
Take liquid measure cup supporting using the cavity volume in transparent safety glass material, with storage body, it is not of the same race for storing
The liquid of class.Weight sensor adopts rondelle resistance-strain type weight sensor, is threaded connection to be fixed on and takes liquid measure cup
Cavity volume bottom, takes that liquid measure is cup-shaped to be contacted into face with into cavity volume.Its measured value is connected to Jing after A/D conversions 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 include one 35 logical digital electric magnet valves, 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, and 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, drives top pressure closure cooperative mechanical arm to perform and opens and closes operation.The pneumatic means is arranged in moving cart
Portion's second layer.
Storage device is as shown below with the connection diagram of moving cart controller, 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 a/d 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 feedback
Solution precise quantification is controlled.
Figure 16 is the power system modules pie graph of the present invention.The power-supply system, for carrying for mobile-robot system
For electric power energy that is mobile and operating, it is made up of battery, wireless charging device and power-supply management system, wherein battery is
The offer dc source such as high density lithium battery strings are directly moving cart, multi-joint mechanical arm；Wireless charging device adopts magnetic coupling
The energy transmission means of resonance is closed, noncontact wireless charging is carried out to the supplying cell of mobile robot, by transmitter module, received
The two parts such as module are constituted；Power-supply management system is a battery strings management system, by data acquisition module, control protection mould
Block, memory module, balance module etc. are constituted, for carrying out cell-state monitoring, battery cell equilibrium, battery charging management
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 receiver 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 are by high frequency
Driving source, resonance transmission circuit and repeat circuit composition, whole device is installed on the ground of safety zone, constitutes power supply transmitting
End；Power supply receiver 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, is installed on moving cart bottom, constitutes power supply receiving terminal.
Battery dump energy entrained by mobile robot power-supply management system real-time monitoring, and by wireless WIFI it is real-time on
Report supervisory control desk, 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 is not enough, needs 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, first charging emitter installation site is automatically moved to along navigation tape, now power supply
Electric main Jing wireless charging devices are converted into 24V direct currents by input, and are stored in lithium battery group.After completing to charge,
Task status before mobile robot recovery, proceeds corresponding operating.
For the description of the understanding of specific embodiment is only to understand the present invention for help, rather than for limiting this
Bright.Those skilled in the art can utilize the thought of the present invention to carry out some and change and change, as long as its technological means does not have
There is the thought and main points for departing from the present invention, still within protection scope of the present invention.
Claims (8)
1. it is a kind of for dangerization solution extract mobile robot, 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 respectively with multi-joint mechanical arm system and dangerization solution storage system, 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. it is according to claim 1 it is a kind of for dangerization solution extract mobile robot, 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
State control module to be connected with basic machine by drive module；The navigation module is connected with control module；The control module
It is connected with multi-joint mechanical arm system.
3. it is according to claim 1 it is a kind of for dangerization solution extract mobile robot, it is characterised in that：Many passes
Section mechanical arm system includes mechanical arm body, servo-driven module and control module；The basic machine includes performance element, 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 performance element；Described multi-joint mechanical arm PLC one end and movement
Dolly is connected, and the other end is connected with sensing element.
4. it is according to claim 1 it is a kind of for dangerization solution extract mobile robot, it is characterised in that：The fixture
System includes chuck body, tumbler, quantitative liquid taking device and pneumatic scroll chuck device；It is right that the chuck body is divided into
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, vertical direction with it is fixed
Measure liquid device connection.
5. it is according to claim 1 it is a kind of for dangerization solution extract mobile robot, 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 respectively by data acquisition process unit with supervisory control desk.
6. it is according to claim 1 it is a kind of for dangerization solution extract mobile robot, it is characterised in that：The dangerization
Solution storage system includes storage body, takes liquid measure cup and weight sensor；The liquid measure cup that takes is in cavity volume body；It is described
Weight sensor is placed in and takes liquid measure cup bottom；The weight sensor is connected with moving cart system.
7. it is according to claim 1 it is a kind of for dangerization solution extract mobile robot, it is characterised in that：Also include electricity
Origin system, the power-supply system includes batteries, wireless charging module and power management module；The power-supply system and shifting
Mobile robot is connected；The power-supply system is realized and the communication connection of supervisory control desk system by communication network.
8. it is according to claim 1 it is a kind of for dangerization solution extract mobile robot, it is characterised in that：The master control
Platform system processed includes display, be provided with monitoring software main control computer, real-time communication server, background data base is installed
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 by network communication module and the communication connection of real-time communication server, data server and video server；Depending on
Frequency server is used to store video information and ultrasonic height detection information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073419.3A CN106625567A (en) | 2017-02-10 | 2017-02-10 | Mobile robot for dangerous chemical solution extraction |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710073419.3A CN106625567A (en) | 2017-02-10 | 2017-02-10 | Mobile robot for dangerous chemical solution extraction |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106625567A true CN106625567A (en) | 2017-05-10 |
Family
ID=58846301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710073419.3A Pending CN106625567A (en) | 2017-02-10 | 2017-02-10 | Mobile robot for dangerous chemical solution extraction |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106625567A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108521157A (en) * | 2018-05-09 | 2018-09-11 | 北京铂阳顶荣光伏科技有限公司 | Robot and its charge control method and device, computer readable storage medium |
| CN108527387A (en) * | 2018-04-18 | 2018-09-14 | 湖南镭目科技有限公司 | A kind of canned harmful influence handling machine people, processing method and processing system |
| CN109917157A (en) * | 2017-12-13 | 2019-06-21 | 清华四川能源互联网研究院 | A kind of Auto-Test System of wireless charging system |
| CN110026984A (en) * | 2019-05-08 | 2019-07-19 | 苏州东控自动化科技有限公司 | A kind of smart collaboration control method based on large power output machine device people |
| CN110949475A (en) * | 2019-11-08 | 2020-04-03 | 浙江震凯化工有限公司 | Handling device and metering mechanism for explosive production |
| CN110977999A (en) * | 2019-11-21 | 2020-04-10 | 广州赛特智能科技有限公司 | Nuclear power station nuclear instrument source test intelligent robot |
| CN111360807A (en) * | 2018-12-25 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Electric control system and method for crawler rescue robot |
| CN112757253A (en) * | 2021-01-27 | 2021-05-07 | 德鲁动力科技(成都)有限公司 | Intelligent transfer robot |
| CN113088438A (en) * | 2021-05-07 | 2021-07-09 | 广东威科质量检测有限公司 | Planktonic bacteria sampling and detecting integrated robot |
| CN116331829A (en) * | 2023-05-29 | 2023-06-27 | 中国农业大学烟台研究院 | Industrial carrying robot based on computer |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3712096A (en) * | 1969-07-28 | 1973-01-23 | O Hein | Gripping head for gripping a workpiece to be swaged |
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| CN101422044A (en) * | 2002-07-25 | 2009-04-29 | 英塔茨科技公司 | Medical tele-robotic system |
| CN202261650U (en) * | 2011-11-01 | 2012-05-30 | 南京科远自动化集团股份有限公司 | Monitoring system for heliostat field of tower-type solar power plant |
| JP2015080816A (en) * | 2013-10-21 | 2015-04-27 | 株式会社近藤製作所 | Workpiece transport device |
| CN206493308U (en) * | 2017-02-10 | 2017-09-15 | 中国东方电气集团有限公司 | A kind of mobile robot extracted for dangerization solution |
-
2017
- 2017-02-10 CN CN201710073419.3A patent/CN106625567A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3712096A (en) * | 1969-07-28 | 1973-01-23 | O Hein | Gripping head for gripping a workpiece to be swaged |
| CN101422044A (en) * | 2002-07-25 | 2009-04-29 | 英塔茨科技公司 | Medical tele-robotic system |
| CN101293349A (en) * | 2008-06-05 | 2008-10-29 | 广州大学 | Robot based on Wi-Fi |
| CN202261650U (en) * | 2011-11-01 | 2012-05-30 | 南京科远自动化集团股份有限公司 | Monitoring system for heliostat field of tower-type solar power plant |
| JP2015080816A (en) * | 2013-10-21 | 2015-04-27 | 株式会社近藤製作所 | Workpiece transport device |
| CN206493308U (en) * | 2017-02-10 | 2017-09-15 | 中国东方电气集团有限公司 | A kind of mobile robot extracted for dangerization solution |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109917157A (en) * | 2017-12-13 | 2019-06-21 | 清华四川能源互联网研究院 | A kind of Auto-Test System of wireless charging system |
| CN108527387A (en) * | 2018-04-18 | 2018-09-14 | 湖南镭目科技有限公司 | A kind of canned harmful influence handling machine people, processing method and processing system |
| CN108521157A (en) * | 2018-05-09 | 2018-09-11 | 北京铂阳顶荣光伏科技有限公司 | Robot and its charge control method and device, computer readable storage medium |
| CN111360807A (en) * | 2018-12-25 | 2020-07-03 | 沈阳新松机器人自动化股份有限公司 | Electric control system and method for crawler rescue robot |
| CN110026984A (en) * | 2019-05-08 | 2019-07-19 | 苏州东控自动化科技有限公司 | A kind of smart collaboration control method based on large power output machine device people |
| CN110949475A (en) * | 2019-11-08 | 2020-04-03 | 浙江震凯化工有限公司 | Handling device and metering mechanism for explosive production |
| CN110949475B (en) * | 2019-11-08 | 2022-04-01 | 浙江震凯化工有限公司 | Handling device and metering mechanism for explosive production |
| CN110977999A (en) * | 2019-11-21 | 2020-04-10 | 广州赛特智能科技有限公司 | Nuclear power station nuclear instrument source test intelligent robot |
| CN112757253A (en) * | 2021-01-27 | 2021-05-07 | 德鲁动力科技(成都)有限公司 | Intelligent transfer robot |
| CN113088438A (en) * | 2021-05-07 | 2021-07-09 | 广东威科质量检测有限公司 | Planktonic bacteria sampling and detecting integrated robot |
| CN113088438B (en) * | 2021-05-07 | 2024-08-23 | 广东威科质量检测有限公司 | Plankton sampling detects integrated robot |
| CN116331829A (en) * | 2023-05-29 | 2023-06-27 | 中国农业大学烟台研究院 | Industrial carrying robot based on computer |
| CN116331829B (en) * | 2023-05-29 | 2023-07-25 | 中国农业大学烟台研究院 | Industrial carrying robot based on computer |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106625567A (en) | Mobile robot for dangerous chemical solution extraction | |
| CN106695741B (en) | A kind of method of mobile-robot system state-detection and initial work | |
| CN206493309U (en) | A kind of pneumatic multi-jaw chuck device | |
| CN106843213A (en) | The method that a kind of movement and courses of action based on mobile robot are planned automatically | |
| CN106799737A (en) | A kind of method that dangerization liquid safe storage based on mobile robot, transport and fixed point are placed | |
| CN106813943A (en) | A kind of method that dangerization solution based on mobile robot is automatically positioned and quantitatively extracts | |
| CN106584421A (en) | Mobile trolley system based on mobile robot | |
| CN206899222U (en) | A kind of multi-joint mechanical arm system based on mobile robot | |
| CN106695742A (en) | Multi-joint mechanical arm system based on mobile robot | |
| CN103978474B (en) | A kind of job that requires special skills robot towards extreme environment | |
| CN106737556A (en) | A kind of danger solution extraction system based on mobile robot | |
| WO2017185914A1 (en) | Electric automobile energy monitoring and swapping network in remote monitoring of cloud computing network architecture | |
| CN104284151B (en) | A kind of transformer station ground method for inspecting and cruising inspection system | |
| CN102990640B (en) | Intelligent transportation robot of electric power storehouse | |
| CN104828028B (en) | The batteries of electric automobile group of the multiple robot compositions of computer internet replaces system | |
| CN106644588A (en) | Quantitative liquid taking device for dangerous chemical solution extraction | |
| WO2017004943A1 (en) | Smart mobile detection platform for greenhouse | |
| CN105857341B (en) | A kind of intelligent railway rail polling robot | |
| CN110192472B (en) | Round grading collection robot for picking apples with two arms | |
| CN206493308U (en) | A kind of mobile robot extracted for dangerization solution | |
| WO2023216480A1 (en) | Supply system for electric energy supply and supplied vehicles of service base by means of internet of things architecture | |
| CN107253203A (en) | Multimode Intelligent toy collects robot | |
| CN106799734A (en) | A kind of method that unnecessary danger solution based on mobile robot is automatically processed | |
| CN206899220U (en) | A kind of moving cart system based on mobile robot | |
| CN206493307U (en) | A kind of danger solution storage system extracted for dangerization solution |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170510 |
|
| RJ01 | Rejection of invention patent application after publication |