System and method for adding reagents to raw material tanks in flammable and explosive scenarios

Abstract

The present invention relates to medicine filling, and in particular to a system and method for filling medicine into a raw material tank in a flammable and explosive scenario, so as to solve the problems of high labor intensity for workers, easy harm to workers' life safety and pollution to the surrounding environment caused by medicine splashing when filling medicine into the raw material tank. The present invention comprises a mobile feeding robot, an automatic capping workbench, a walking path and a cantilever shelf. The cantilever shelf is used to store multiple medicine barrels, and the automatic capping workbench is used to unscrew the barrel caps of the medicine barrels. The mobile feeding robot follows the laser path and goes to the cantilever shelf in turn to clamp the corresponding medicine barrels, then goes to the automatic capping workbench to unscrew the barrel caps, and finally goes to the raw material tank, lifts the clamping claw assembly through its telescopic arm assembly to make it close to the filling port on the top of the raw material tank, and then the flipping assembly flips and dumps the medicine barrel to inject the medicine into the corresponding raw material tank.

Description

Technical Field

[0001] The present invention relates to medicine filling, and in particular to a system and method for filling medicine into a raw material tank in a flammable and explosive scenario. Background Art

[0002] In the daily operation of chemical plants, workers need to add different reagents into raw material tanks at different stages of the reaction. The reagents are usually stored in reagent barrels, which are stored on warehouse shelves. They need to be moved manually or with the help of forklifts, which is labor-intensive for workers. The filling process is generally done manually, because the raw material tanks in chemical plants are generally large and the filling points are located at high positions. It is difficult for workers to directly fill the raw material tanks. They need to use tools such as ladders. The reagent barrels storing reagents are generally heavy. Workers need to carry the reagent barrels and then climb ladders for filling, which increases the labor intensity of workers. When workers are working at heights, there are risks of leakage and tipping of reagent barrels, which can easily endanger the life, health and safety of workers. When tipping the reagent barrels for filling, if the workers do not aim at the filling port, the reagents splashing around will also pollute the surrounding environment. Therefore, it is necessary to design a reagent filling system to automatically complete the reagent filling instead of manual work. Because a large number of flammable and explosive materials are stored in the chemical plant, this also requires the entire system to operate stably in flammable and explosive scenarios. Summary of the invention

[0003] The purpose of the present invention is to solve the technical problems of high labor intensity for workers, easy endangerment to workers' life safety and pollution to the surrounding environment caused by splashing of chemicals when adding chemicals into raw material tanks, and to provide a system and method for adding chemicals into raw material tanks in flammable and explosive scenarios.

[0004] In order to achieve the above-mentioned invention object, the present invention provides the following technical solutions:

[0005] A system for adding medicine to a raw material tank in an inflammable and explosive situation, which is used to add medicine to multiple raw material tanks. A filling port is opened on the top of each raw material tank. The system is special in that it includes a mobile feeding robot, an automatic capping workbench, a walking path and a cantilever shelf.

[0006] There are multiple cantilever shelves, each of which is equipped with multiple medicine barrels, and the medicine barrels on the same cantilever shelf contain the same medicine, and a QR code recording the corresponding medicine information is provided on the cantilever shelf;

[0007] The automatic capping workbench is used to unscrew the barrel cap of the medicine barrel;

[0008] The walking path includes a first path for guiding the mobile feeding robot to reach each raw material tank position, a second path for reaching each cantilever shelf position, and a third path for reaching the automatic capping workbench position, and the starting points of the first path, the second path, and the third path are the same point, which is the initial position of the mobile feeding robot;

[0009] The mobile feeding robot comprises a wheeled chassis, a telescopic arm assembly arranged on the wheeled chassis, and a clamping claw assembly arranged on the telescopic arm assembly;

[0010] The telescopic arm assembly can drive the clamping jaw assembly to move in the vertical direction; the clamping jaw assembly includes a clamping assembly for clamping the medicine barrel and a flipping assembly for flipping and dumping the medicine barrel;

[0011] A laser emitting device is arranged on the wheeled chassis, and the laser emitting device emits a laser navigation line, and the laser navigation line is used to cooperate with the first path, the second path and the third path to guide the movement of the mobile feeding robot.

[0012] Further, the flip assembly includes a flip motor, and the flip motor is arranged on the telescopic arm assembly;

[0013] The clamping assembly includes a clamping jaw frame, a clamping jaw motor, a movable clamping jaw and a synchronization assembly; the inner side center of the clamping jaw frame is connected to the output shaft of the flipping motor, and the clamping jaw motor is connected to the clamping jaw frame; the movable clamping jaw includes a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor and the flipping motor are both explosion-proof motors;

[0014] The first clamping jaw assembly comprises a first horizontal guide rail arranged on one side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the first clamping jaw is slidably mounted; the second clamping jaw assembly comprises a second horizontal guide rail arranged on the other side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the second clamping jaw is slidably mounted; the third clamping jaw assembly comprises a first vertical guide rail arranged on the top of the outer side of the clamping jaw frame and extending in the vertical direction, on which the third clamping jaw is slidably mounted;

[0015] The synchronous assembly includes a synchronous gear rotatably connected to the output shaft of the flip motor, a driving wheel is arranged on the top of the inner side surface of the clamping jaw frame, the output shaft of the clamping jaw motor is connected to the driving wheel, and the inner side surface of the clamping jaw frame is provided with a first meshing assembly connected to the first clamping jaw, a second meshing assembly connected to the second clamping jaw, and a third meshing assembly connected to the third clamping jaw; the first meshing assembly, the second meshing assembly and the third meshing assembly are all racks; the synchronous gear includes three coaxially fixed gears, and the first meshing assembly, the second meshing assembly and the third meshing assembly are respectively meshed with one of the gears; and the first meshing assembly is meshed with the lower side of the synchronous gear, the second meshing assembly is meshed with the upper side of the synchronous gear, and the third meshing assembly is respectively meshed with the left side of the synchronous gear and the driving wheel; or, the first meshing assembly is meshed with the upper side of the synchronous gear, the second meshing assembly is meshed with the lower side of the synchronous gear, and the third meshing assembly is respectively meshed with the right side of the synchronous gear and the driving wheel;

[0016] When the clamp motor rotates, it drives the first clamp, the second clamp and the third clamp to move synchronously away from the center of the clamp frame to release the medicine barrel or to move synchronously toward the center of the clamp frame to clamp the medicine barrel.

[0017] Further, the flip assembly includes a flip motor, and the flip motor is arranged on the telescopic arm assembly;

[0018] The clamping assembly includes a clamping jaw frame, a clamping jaw motor, a movable clamping jaw and a synchronization assembly; the inner side center of the clamping jaw frame is connected to the output shaft of the flipping motor, and the clamping jaw motor is connected to the clamping jaw frame; the movable clamping jaw includes a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor and the flipping motor are both explosion-proof motors;

[0019] The first clamping jaw assembly comprises a first horizontal guide rail arranged on one side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the first clamping jaw is slidably mounted; the second clamping jaw assembly comprises a second horizontal guide rail arranged on the other side of the outer side of the clamping jaw frame and extending in the horizontal direction, on which the second clamping jaw is slidably mounted; the third clamping jaw assembly comprises a first vertical guide rail arranged on the top of the outer side of the clamping jaw frame and extending in the vertical direction, on which the third clamping jaw is slidably mounted;

[0020] The synchronous assembly comprises an upper reversing wheel and a lower reversing wheel arranged at the top and bottom of the inner side surface of the clamping jaw frame, and a left reversing wheel and a right reversing wheel arranged at the left and right sides, the four of which are connected by a synchronous belt, and the output shaft of the clamping jaw motor is connected to the upper reversing wheel or the lower reversing wheel; an upper left steering wheel is arranged at the upper left of the inner side surface center of the clamping jaw frame, an upper right steering wheel is arranged at the upper right, a lower left steering wheel is arranged at the lower left, and a lower right steering wheel is arranged at the lower right, all of which are in contact with the outer side surface of the synchronous belt; a first meshing assembly connected to the first clamping jaw, a second meshing assembly connected to the second clamping jaw, and a third meshing assembly connected to the third clamping jaw are arranged on the inner side surface of the clamping jaw frame;

[0021] The first meshing assembly is meshed with the synchronous belt between the left reversing wheel and the lower left steering wheel, the second meshing assembly is meshed with the synchronous belt between the right reversing wheel and the upper right steering wheel, and the third meshing assembly is meshed with the synchronous belt between the upper reversing wheel and the upper left steering wheel; or the first meshing assembly is meshed with the synchronous belt between the left reversing wheel and the upper left steering wheel, the second meshing assembly is meshed with the synchronous belt between the right reversing wheel and the lower right steering wheel, and the third meshing assembly is meshed with the synchronous belt between the upper reversing wheel and the upper right steering wheel;

[0022] When the clamp motor rotates, it drives the first clamp, the second clamp and the third clamp to move synchronously away from the center of the clamp frame to release the medicine barrel or to move synchronously toward the center of the clamp frame to clamp the medicine barrel.

[0023] Furthermore, the first meshing assembly, the second meshing assembly and the third meshing assembly have the same structure and all include a tooth plate and a cover plate connected to the tooth plate, the tooth plate is provided with a rack meshing with the synchronous belt, the cover plate is provided with a groove corresponding to the position of the rack and matching the width and thickness of the synchronous belt, and a connecting piece is provided on the tooth plate for connecting to the inner side of the mounting base of the first jaw, the second jaw or the third jaw.

[0024] Further, it also includes a tensioning structure;

[0025] The tensioning structure includes a T-shaped frame, a tensioning wheel, a vertical sliding block, a horizontal sliding block, a second vertical guide rail, a third horizontal guide rail and a fixing seat;

[0026] The fixed seat is connected to the inner side surface of the clamping claw frame, the T-shaped frame includes a vertical frame and a horizontal frame vertically connected to the middle part of one side of the vertical frame, the second vertical guide rail is arranged on the vertical frame, the third horizontal guide rail is arranged on the horizontal frame, the vertical sliding block is slidably assembled on the second vertical guide rail, the horizontal sliding block is connected to the end of the housing of the flip motor away from the output shaft of the flip motor, the center of the horizontal sliding block coincides with the axial center line of the output shaft of the flip motor, and the horizontal sliding block is slidably assembled with the third horizontal guide rail, a tensioning wheel is arranged between the fixed seat and the vertical sliding block, and the two ends of the tensioning wheel are rotatably connected to the vertical sliding block and the fixed seat respectively;

[0027] The first clamping jaw, the second clamping jaw and the third clamping jaw have the same structure and all include a mounting base and a jaw body; the mounting base of the first clamping jaw is slidably mounted on the first horizontal guide rail, the mounting base of the second clamping jaw is slidably mounted on the second horizontal guide rail, and the mounting base of the third clamping jaw is slidably mounted on the first vertical guide rail, and one end of the jaw body is fixedly connected to the outer side surface of the mounting base;

[0028] A fixed clamping claw is arranged at the bottom position of the outer side surface of the clamping claw frame.

[0029] Furthermore, the telescopic arm assembly includes a driving motor, a transmission screw and a telescopic arm; the transmission screw is arranged in the telescopic arm;

[0030] The drive motor is arranged on the wheeled chassis and is an explosion-proof motor;

[0031] The telescopic arm comprises a primary telescopic arm, a secondary telescopic arm and a tertiary telescopic arm which are sequentially sleeved from the outside to the inside, and a stopper is arranged between adjacent ones; the primary telescopic arm is fixedly arranged on the wheeled chassis;

[0032] The transmission screw comprises a primary transmission screw, a secondary transmission screw and a tertiary transmission screw which are sequentially sleeved from the outside to the inside;

[0033] The primary transmission screw is connected to the output shaft of the driving motor, and the inner wall of the primary transmission screw is provided with an internal thread; the outer wall of the secondary transmission screw is provided with an external thread, and the external thread is meshed with the internal thread of the primary transmission screw;

[0034] The inner wall of the secondary transmission screw is provided with an internal thread, the outer wall of the tertiary transmission screw is provided with an external thread, the external thread of the tertiary transmission screw is meshed with the internal thread of the secondary transmission screw; and the tertiary transmission screw is fixedly connected to the inner side surface of the top plate of the tertiary telescopic arm;

[0035] The flip motor is arranged on the top plate of the three-stage telescopic arm.

[0036] Furthermore, the projections of the outer walls of the secondary telescopic arm and the tertiary telescopic arm on the horizontal plane are rectangular; the projections of the inner walls of the primary telescopic arm and the secondary telescopic arm on the horizontal plane are rectangular.

[0037] Furthermore, the automatic capping workbench comprises a capping workbench, a capping assembly, a lateral movement assembly and a barrel cap collecting device;

[0038] The capping workbench comprises a base and a mounting frame arranged on the base;

[0039] The mounting frame includes a connecting plate, which is connected to the base via a guide rod; the base is used to place the medicine barrel;

[0040] The rotary cover assembly comprises a motor, an air slip ring and a pneumatic clamp, wherein the motor is mounted at the bottom of the connecting plate, the air slip ring is rotatably mounted at the bottom of the connecting plate, the pneumatic clamp is fixedly connected to the bottom of the air slip ring, and the output shaft of the motor is connected to the air slip ring through a rotating synchronous belt; the motor is an explosion-proof motor;

[0041] The connecting plate is provided with a solenoid valve for controlling the opening and closing of the pneumatic clamping jaws, the air inlet of the solenoid valve is used to be connected to the gas pipeline, and the air outlet is connected to the pneumatic clamping jaws, and is used to control the pneumatic clamping jaws to clamp or loosen the barrel cover of the medicine barrel;

[0042] The transverse movement assembly includes a linear guide rail and a transverse movement cylinder arranged at the bottom of the connecting plate, an adapter plate is slidably mounted on the linear guide rail, the movable end of the transverse movement cylinder is connected to the adapter plate, and the action direction of the transverse movement cylinder is parallel to the linear guide rail; the motor is installed at the bottom of the adapter plate, and the air slip ring is rotatably installed at the bottom of the adapter plate;

[0043] The barrel cover collecting device is arranged on one side of the base, and includes a collecting cylinder arranged on the base and a cover collecting bucket arranged on the top of the collecting cylinder. The inlet end of the cover collecting bucket is located within the moving range of the pneumatic clamp and is used to collect the barrel covers screwed off by the pneumatic clamp.

[0044] At the same time, the present invention also provides a method for adding a reagent to a raw material tank in a flammable and explosive scenario, which adopts the above-mentioned system for adding a reagent to a raw material tank in a flammable and explosive scenario, and its special feature is that it includes the following steps:

[0045] S1. The dosing system sends a dosing instruction of the corresponding agent to the mobile dosing robot;

[0046] S2, the mobile feeding robot cooperates with the second path through the laser navigation line from the initial position and follows the second path to one of the cantilever shelves;

[0047] S3, the mobile feeding robot scans the QR code on the cantilever shelf;

[0048] S4, the mobile feeding robot identifies the information recorded in the QR code and determines whether it is the medicine required in the medicine adding instruction. If so, execute step S5; if not, go to the next cantilever shelf and return to step S3;

[0049] S5, the mobile feeding robot adjusts the height of the clamping assembly through the telescopic arm assembly, and at the same time adjusts its own posture until the clamping assembly is aligned with the medicine barrel, and the clamping assembly clamps the medicine barrel, and then the telescopic arm assembly is reset, and the mobile feeding robot cooperates with the second path through the laser navigation line and follows the second path to return to the initial position;

[0050] S6. After reaching the initial position, the mobile feeding robot cooperates with the third path through the laser navigation line, follows the third path to reach the designated position in front of the automatic capping workbench and calibrates its own posture, adjusts the height of the gripper assembly through the telescopic arm assembly, places the medicine barrel into the automatic capping workbench, and the automatic capping workbench unscrews the barrel cover of the medicine barrel;

[0051] S7, the mobile feeding robot moves the medicine barrel out of the automatic capping workbench, and then cooperates with the third path through the laser navigation line to return to the initial position along the third path;

[0052] S8, the mobile feeding robot moves from the initial position to the corresponding raw material tank position along the first path through the laser navigation line and the first path, drives the medicine barrel to be lifted to the specified position through the telescopic arm assembly, and then the flip assembly works to flip the medicine in the medicine barrel and pour it into the filling port of the raw material tank;

[0053] S9, after the filling is completed, the flip assembly is reset, and then the telescopic arm assembly is reset, and the mobile feeding robot cooperates with the first path through the laser navigation line and returns to the initial position along the first path; then, the mobile feeding robot cooperates with the second path through the laser navigation line, moves along the second path to the designated cantilever shelf position, and places the medicine barrel at the designated position of the cantilever shelf;

[0054] S10. After placement is completed, the mobile feeding robot cooperates with the second path through the laser navigation line and returns to the initial position along the second path, completing the filling of the reagent into the raw material tank in the flammable and explosive scenario.

[0055] Furthermore, step S6 also includes: when the automatic capping workbench unscrews the barrel lid of the medicine barrel, the movable end of the transverse cylinder drives the adapter plate to move to a specified position along the linear guide rail, the solenoid valve controls the pneumatic clamp to open, the unscrewed barrel lid falls into the collecting tube, and then the movable end of the transverse cylinder is reset.

[0056] Compared with the prior art, the present invention has the following beneficial effects:

[0057] (1) The present invention provides a system for adding medicine to a raw material tank in a flammable and explosive scenario, comprising a mobile feeding robot, an automatic capping workbench, a laser path and a cantilever shelf, wherein a plurality of medicine barrels are placed on the cantilever shelf, and a two-dimensional code recording corresponding medicine information is provided on the cantilever shelf; the mobile feeding robot can reach the cantilever shelf by cooperating with a laser navigation line and a second path, and scan the corresponding two-dimensional code to determine whether it is the required medicine, and take the medicine barrel out of the cantilever shelf by cooperating with the telescopic arm assembly and the clamping claw assembly of the mobile feeding robot, and then return to the initial position along the second path, and then move to the automatic capping workbench by cooperating with the laser navigation line and the third path. The workbench takes off the lid of the medicine barrel, and the mobile feeding robot follows the third path to return to the initial position, and then follows the first path to reach the designated raw material tank position, and the gripper assembly and the medicine barrel are raised to the designated height by the telescopic arm assembly, and then the flip assembly flips the medicine barrel, and pours the medicine in the medicine barrel into the raw material tank through the filling port of the raw material tank. The whole process is completed automatically without human participation, avoiding the labor of workers and causing no harm to the life safety of workers. The mobile feeding robot has high movement accuracy, which can ensure that it is aligned with the filling port when pouring, and will not cause pollution to the surrounding environment. All motors are explosion-proof motors, which meet the explosion-proof environment requirements of chemical plants.

[0058] (2) The present invention provides a system for adding medicine to a raw material tank in a flammable and explosive scenario. When the jaw motor rotates, driven by the synchronization component, the first jaw, the second jaw and the third jaw move synchronously away from the center position of the jaw frame or synchronously move toward the center position of the jaw frame to achieve the loosening or stable clamping of the medicine barrel, and the output shaft of the flip motor is connected to the center of the inner side surface of the jaw frame, so that the deflection of the entire jaw frame can be achieved. After the first jaw, the second jaw and the third jaw clamp the medicine barrel, the flip motor is used to achieve dumping and filling. Only one jaw motor is used to achieve the synchronous movement of the three jaws, and the structure is simple and the processing cost is low.

[0059] (3) The present invention provides a system for adding reagents to a raw material tank in a flammable and explosive environment. The automatic capping workbench includes a capping workbench, a capping assembly, a transverse shift assembly, and a barrel cover collecting device. The reagent barrel is aligned with the pneumatic clamp. Under the control of the solenoid valve, the pneumatic clamp clamps the barrel cover. Then the motor drives the air slip ring to rotate by rotating the synchronous belt. When the air slip ring rotates, it can drive the pneumatic clamp to rotate, so that the barrel cover can be screwed off. Then, under the action of the transverse shift assembly, the screwed barrel cover is sent to the barrel cover collecting device, the pneumatic clamp is released, and the barrel cover falls into it, completing the collection. The overall structure is simple, the manufacturing cost is low and it is easy to maintain. The automatic capping machine can replace manual labor to achieve automatic capping, and the motor is an explosion-proof motor to meet the explosion-proof environment requirements of chemical plants. The screwed barrel cover is automatically collected to avoid clutter on site. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 It is a schematic diagram of the arrangement of a system embodiment of the present invention for adding reagents to a raw material tank in a flammable and explosive scenario;

[0061] Figure 2 It is a three-dimensional structural schematic diagram of a mobile feeding robot in use in an embodiment of the system for filling a raw material tank with a reagent in an inflammable and explosive scenario of the present invention;

[0062] Figure 3 It is a schematic diagram of the three-dimensional structure of the system for adding medicine to the raw material tank in the flammable and explosive scene of the present invention and the clamping jaw assembly in the embodiment;

[0063] Figure 4 A schematic diagram of the three-dimensional structure of the clamping jaw assembly in use in the embodiment of the system for filling a raw material tank with a reagent in an inflammable and explosive scenario of the present invention (the synchronous belt, the upper left steering wheel, the lower left steering wheel, the upper right steering wheel and the lower right reversing wheel are not shown);

[0064] Figure 5 A side view of a clamping jaw assembly in an embodiment of a system for adding reagents to a raw material tank in an inflammable and explosive scenario of the present invention;

[0065] Figure 6 It is a schematic diagram of the coordination of the upper reversing wheel, the lower reversing wheel, the left reversing wheel, the right reversing wheel, the upper left steering wheel, the lower left steering wheel, the upper right steering wheel and the lower right reversing wheel with the synchronous belt in an embodiment of the system for adding reagents to a raw material tank in an inflammable and explosive scenario of the present invention;

[0066] Figure 7 A cross-sectional view of a telescopic arm assembly in an expanded state in an embodiment of a system for adding reagents to a raw material tank in an inflammable and explosive scenario of the present invention;

[0067] Figure 8 It is a front view of an automatic capping workbench in an embodiment of the system for filling a raw material tank with medicine in an inflammable and explosive scenario of the present invention;

[0068] Fig. 9 It is a rear view of an automatic capping workbench in an embodiment of the system for filling a raw material tank with medicine in an inflammable and explosive scenario of the present invention;

[0069] Fig.10 This is a schematic diagram of the cooperation between the first meshing assembly, the second meshing assembly and the third meshing assembly and the synchronous gear when all of them are racks in the embodiment of the system for filling the raw material tank with medicine in an inflammable and explosive scene of the present invention;

[0070] Fig.11 This is a schematic diagram of the coordination between the synchronous gear and the output shaft of the flip motor in the embodiment of the system for filling the raw material tank with medicine in an inflammable and explosive scene of the present invention;

[0071] Fig.12 It is a cross-sectional view of a telescopic arm assembly in a retracted state in an embodiment of the system for adding reagents to a raw material tank in a flammable and explosive scenario of the present invention.

[0072] The following are the descriptions of the reference numerals:

[0073] 1-raw material tank, 11-filling port;

[0074] 2-mobile feeding robot, 21-claw frame, 201-fixed claw; 22-claw motor, 23-flip motor; 24-first claw, 241-first horizontal guide rail, 242-mounting base, 243-claw body, 244-baffle; 25-second claw, 251-second horizontal guide rail, 26-third claw, 261-first vertical guide rail; 27-upper reversing wheel, 28-lower reversing wheel, 29-left reversing wheel, 210-right reversing wheel, 211-synchronous belt, 212-upper left steering wheel, 213-lower left steering wheel, 214-upper right steering wheel, 215-lower right steering wheel, 216-first meshing assembly, 2161-tooth plate, 2 162-cover plate; 217-second meshing assembly, 218-third meshing assembly; 219-T-frame, 2191-vertical frame, 2192-horizontal frame; 220-fixed seat, 221-second vertical guide rail, 223-tensioning wheel, 224-vertical slider, 2241-horizontal slider; 225-third horizontal guide rail, 226-wheeled chassis, 227-drive motor, 228-drive screw, 2281-first-stage drive screw, 2282-second-stage drive screw, 2283-third-stage drive screw; 229-telescopic arm, 2291-first-stage telescopic arm, 2292-second-stage telescopic arm, 2293-third-stage telescopic arm; 230-synchronous gear;

[0075] 3-automatic capping workbench, 31-capping workbench, 311-base, 312-mounting frame, 313-connecting plate, 314-guide rod, 315-first fixed flange seat, 316-second fixed flange seat, 317-anti-slip block; 32-motor, 33-adapter plate, 34-linear guide rail, 35-transverse cylinder, 351-cylinder fixing; 36-air slip ring, 37-rotating synchronous belt, 38-pneumatic clamp, 39-solenoid valve, 310-barrel cover collection device, 3101-collection cylinder, 3102-cover collection bucket;

[0076] 4-Cantilever rack;

[0077] 5-walking path, 51-first path, 52-second path, 53-third path;

[0078] 6-Laser navigation line;

[0079] 7-Barrel cover. DETAILED DESCRIPTION

[0080] The present invention will be further described below in conjunction with the accompanying drawings and exemplary embodiments.

[0081] Reference Figure 1-Figure 12 The system for adding medicine to a raw material tank in an inflammable and explosive scene of the present invention comprises a mobile feeding robot 2, an automatic capping workbench 3, a cantilever shelf 4 and a walking path 5. The system for adding medicine to a raw material tank in an inflammable and explosive scene of the present invention is used to add medicine to the raw material tank in an inflammable and explosive scene. Figure 1 The multiple raw material tanks 1 shown are filled with medicines, and a filling port 11 is provided on the top of each raw material tank 1 .

[0082] The cantilever shelf 4 is used to store medicine barrels. There are multiple cantilever shelves 4. Multiple medicine barrels are placed on each cantilever shelf 4, and the medicine barrels on the same cantilever shelf 4 contain the same medicine. A QR code that records the corresponding medicine information is provided on the cantilever shelf 4, so that the mobile feeding robot 2 can know the type of medicine by scanning the QR code. The medicine form mainly includes liquid and powder, both of which can be stored in medicine barrels, and powder medicine can also be stored in medicine bags. The mobile feeding robot 2 can clamp both medicine barrels and medicine bags. In this embodiment, the medicine is stored in the medicine barrel.

[0083] The walking path 5 is set on the ground, and includes a first path 51 for guiding the mobile feeding robot 2 to reach the position of each raw material tank 1, a second path 52 to reach the position of each cantilever shelf 4, and a third path 53 to reach the position of the automatic capping workbench 3. The starting points of the first path 51, the second path 52 and the third path 53 are the same point, which is the initial position of the mobile feeding robot 2. A charging seat is set at the initial position. When the mobile feeding robot 2 does not receive the dosing instruction sent by the dosing system, it is located on the charging seat at the initial position for charging, to ensure that the dosing will not be affected by insufficient energy.

[0084] The automatic capping workbench 3 is used to unscrew the barrel cover 7 of the medicine barrel, and its structure is as follows Figure 8 and Fig. 9 As shown, it includes a capping workbench 31, a capping assembly, a transverse movement assembly and a barrel cover collecting device 310; the capping workbench 31 includes a base 311, and a mounting frame 312 is arranged on the base 311.

[0085] The mounting frame 312 includes a connecting plate 313, which is connected to the base 311 through a guide rod 314. A first fixing flange seat 315 is provided at the bottom of the guide rod 314, and the guide rod 314 is connected to the base 311 through the first fixing flange seat 315. A second fixing flange seat 316 is provided near the top of the guide rod 314, and the connecting plate 313 is connected to the guide rod 314 through the second fixing flange seat 316, so that when the connecting plate 313 or the guide rod 314 is damaged, it is convenient to disassemble and replace. An anti-slip block 317 is provided at the top of the guide rod 314 to prevent the entire connecting plate 313 from slipping out of the guide rod 314 when the base 311 falls over.

[0086] The traverse assembly includes a linear guide rail 34 disposed at the bottom of the connecting plate 313, an adapter plate 33 is slidably mounted on the linear guide rail 34, a cylinder fixing part 351 is connected to the bottom of the connecting plate 313, and a traverse cylinder 35 is mounted on the cylinder fixing part 351. If a different type of traverse cylinder 35 is to be replaced, it can be adapted by replacing a different cylinder fixing part 351 without replacing the connecting plate 313. The movable end of the traverse cylinder 35 is connected to the adapter plate 33, so that the adapter plate 33 can be driven to slide along the linear guide rail 34.

[0087] The capping assembly includes a motor 32, an air slip ring 36 and a pneumatic clamp 38. The motor 32 is an explosion-proof servo motor, which has precise movement and explosion-proof function, is safer and can be applied to explosion-proof environments such as chemical plants. The motor 32 is installed at the bottom of the adapter plate 33, the air slip ring 36 is rotatably installed at the bottom of the adapter plate 33, and the output shaft of the motor 32 is provided with a synchronous wheel, which is connected to the air slip ring 36 through a rotating synchronous belt 37. The pneumatic clamp 38 is fixedly installed at the bottom of the air slip ring 36. The pneumatic clamp 38 is a three-claw pneumatic clamp with a large opening and closing angle and strong applicability. A solenoid valve 39 for controlling the pneumatic clamp 38 is also provided on the connecting plate 313. The air inlet of the solenoid valve 39 is used to connect to the gas pipeline, and the air outlet is used to connect to the pneumatic clamp 38. After the barrel cover 7 is aligned with the pneumatic clamp 38, the medicine barrel is placed on the base 311, and then the solenoid valve 39 controls the pneumatic clamp 38 to clamp the barrel cover 7. The motor 32 drives the air slip ring 36 to rotate by rotating the synchronous belt 37. When the air slip ring 36 rotates, it drives the pneumatic clamp 38 to rotate, and the barrel cover 7 is unscrewed. The overall structure is simple, the manufacturing cost is low and it is easy to maintain.

[0088] However, if the unscrewed barrel cover 7 is discarded carelessly, the working environment will become dirty, so a barrel cover collecting device 310 is provided, which is arranged on one side of the base 311 and is located within the moving range of the pneumatic clamp 38. The barrel cover collecting device 310 includes a collecting cylinder 3101 arranged on the base 311 and a cover collecting bucket 3102 arranged on the top of the collecting cylinder 3101, and the inlet end of the cover collecting bucket 3102 is located within the moving range of the pneumatic clamp 38. In this way, even if the transverse cylinder 35 has a certain motion error, the cover collecting bucket 3102 can also ensure that the barrel cover 7 is collected in the collecting cylinder 3101.

[0089] The structure of the mobile feeding robot 2 is as follows Figure 2 As shown, it includes a wheeled chassis 226, a telescopic arm assembly arranged on the wheeled chassis 226, and a clamping claw assembly arranged on the telescopic arm assembly. Shock absorbers are arranged on the four wheels of the wheeled chassis 226, so that excess vibration can be absorbed during movement to prevent the medicine in the medicine barrel from spilling, and each wheel can be turned independently to improve the movement flexibility of the entire wheeled chassis 226. A laser emitting device is arranged on the wheeled chassis 226, and the laser emitting device emits laser navigation lines 6 in the front, back, left and right directions of the wheeled chassis 226 respectively. The laser navigation line 6 can cooperate with the first path 51, the second path 52 and the third path 53 to guide the movement of the mobile feeding robot 2 and ensure that the mobile feeding robot 2 will not deviate during movement.

[0090] A telescopic arm assembly is provided on the wheeled chassis 226. The structure of the telescopic arm assembly is as follows: Figure 7 As shown, it includes a driving motor 227, a transmission screw 228 and a telescopic arm 229. The driving motor 227 is fixedly arranged on the wheeled chassis 226, and the driving motor 227 is an explosion-proof motor, which meets the explosion-proof requirements. The transmission screw 228 is located in the telescopic arm 229. The telescopic arm 229 includes a primary telescopic arm 2291, a secondary telescopic arm 2292 and a tertiary telescopic arm 2293 which are sequentially sleeved from the outside to the inside, and a stopper is provided between the adjacent two, and the primary telescopic arm 2291 is fixedly arranged on the wheeled chassis 226, and the transmission screw 228 includes a primary transmission screw 2281, a secondary transmission screw 2282 and a tertiary transmission screw 2283 which are sequentially sleeved from the outside to the inside, and the primary transmission screw 2281 is connected to the output shaft of the driving motor 227.

[0091] An internal thread is arranged on the inner wall of the primary transmission screw 2281, and an external thread is arranged on the outer wall of the secondary transmission screw 2282, and the external thread is meshed with the internal thread of the primary transmission screw 2281; an internal thread is arranged on the inner wall of the secondary transmission screw 2282, and an external thread is arranged on the outer wall of the tertiary transmission screw 2283, and the external thread of the tertiary transmission screw 2283 is meshed with the internal thread of the secondary transmission screw 2282, and the tertiary transmission screw 2283 is fixedly connected to the inner side surface of the top plate of the tertiary telescopic arm 2293; and the projections of the outer walls of the secondary telescopic arm 2292 and the tertiary telescopic arm 2293 on the horizontal plane are rectangular, and the projections of the inner walls of the primary telescopic arm 2291 and the inner walls of the secondary telescopic arm 2292 on the horizontal plane are rectangular, and the stability of the rectangular structure is utilized to further improve the stability of the telescopic arm assembly during lifting.

[0092] When in use, the unfolding process of the telescopic arm 229 is as follows: the driving motor 227 rotates, thereby driving the primary transmission screw 2281 to rotate first and driving the secondary transmission screw 2282 to rotate together. Because the tertiary transmission screw 2283 is fixedly connected to the inner side of the top plate of the tertiary telescopic arm 2293, it does not rotate but moves along the axial direction. Therefore, the tertiary transmission screw 2283 drives the tertiary telescopic arm 2293 and the secondary telescopic arm 2292 to unfold until the threaded fit between the tertiary transmission screw 2283 and the secondary transmission screw 2282 reaches the end. At this time, the tertiary telescopic arm 2293 is fully unfolded and arranged on the tertiary telescopic arm 229 The stopper between the tertiary telescopic arm 2293 and the secondary telescopic arm 2292 plays a role in force transmission, so that the tertiary telescopic arm 2293 drives the secondary telescopic arm 2292 to unfold, and then enters the next stage of transmission. When the primary transmission lead screw 2281 rotates, the secondary transmission lead screw 2282 moves along the axial direction until the threaded fit of the primary transmission lead screw 2281 and the secondary transmission lead screw 2282 reaches the end, and the telescopic arm 229 is fully unfolded, thus realizing multi-stage transmission and multi-stage lifting of the telescopic arm 229, with a simple structure and low processing cost, and the lead screw transmission structure is compact and rigid, which is conducive to heavy load, and can also ensure stability when it is lifted to a high place.

[0093] A clamping claw assembly is arranged on the top plate of the three-stage telescopic arm 2293, which includes a clamping assembly for clamping the medicine barrel and a flipping assembly for flipping and dumping the medicine barrel. The flipping assembly includes a flipping motor 23, and the flipping motor 23 is arranged on the top plate of the three-stage telescopic arm 2293.

[0094] The clamping assembly includes a clamping jaw frame 21, a clamping jaw motor 22, a movable clamping jaw and a synchronization assembly; the output shaft of the flipping motor 23 is connected to the center of the inner side surface of the clamping jaw frame 21, and the clamping jaw motor 22 is connected to the clamping jaw frame 21. Both the clamping jaw motor 22 and the flipping motor 23 are explosion-proof motors, which meet the explosion-proof environment requirements of chemical plants.

[0095] The movable jaw includes a first jaw assembly, a second jaw assembly and a third jaw assembly. The first jaw assembly includes a first horizontal guide rail 241 arranged on one side of the outer side surface of the jaw frame 21 and extending in the horizontal direction, on which the first jaw 24 is slidably mounted. The second jaw assembly includes a second horizontal guide rail 251 arranged on the other side of the outer side surface of the jaw frame 21 and extending in the horizontal direction, on which the second jaw 25 is slidably mounted. The third jaw assembly includes a first vertical guide rail 261 arranged on the top of the outer side surface of the jaw frame 21 and extending in the vertical direction, on which the third jaw 26 is slidably mounted. A fixed jaw 201 is arranged at the bottom position of the outer side surface of the jaw frame 21. In this way, the stability of the medicine barrel after clamping is ensured by four-way locking.

[0096] The first jaw 24, the second jaw 25 and the third jaw 26 have the same structure and all include a mounting base 242 and a claw body 243. The mounting base 242 of the first jaw 24 is slidably mounted on the first horizontal guide rail 241, the mounting base 242 of the second jaw 25 is slidably mounted on the second horizontal guide rail 251, and the mounting base 242 of the third jaw 26 is slidably mounted on the first vertical guide rail 261. One end of the claw body 243 is fixedly connected to the outer side surface of the mounting base 242. In order to prevent the medicine barrel from falling out, a baffle 244 is also provided at the outer end of the claw body 243 of the first jaw 24 and the second jaw 25.

[0097] In order to realize the synchronous movement of the first clamping jaw 24, the second clamping jaw 25 and the third clamping jaw 26, a synchronous component is also provided. In the present invention, the synchronous component has two structural forms. The first one is as follows: Figure 6 As shown, an upper reversing wheel 27 and a lower reversing wheel 28 are respectively provided at the top and bottom of the inner side surface of the clamping jaw frame 21, and a left reversing wheel 29 and a right reversing wheel 210 are respectively provided on the left and right sides, and the four are connected by a synchronous belt 211, and an upper left steering wheel 212, an upper right steering wheel 214, a lower left steering wheel 213 and a lower right steering wheel 215 are provided at the upper left of the center of the inner side surface of the clamping jaw frame 21. All of the four are in contact with the outer side surface of the synchronous belt 211. In order to prevent the synchronous belt 211 from deforming too much when passing through each steering wheel, two upper left steering wheels 212, two upper right steering wheels 214, two lower left steering wheels 213 and two lower right steering wheels 215 are respectively provided, so that the synchronous belt 211 can be gradually turned to avoid the steering angle being too large to affect the operation of the synchronous belt 211. In order to avoid generating unnecessary deflection torque on the entire clamping jaw frame 21 , the output shaft of the clamping jaw motor 22 may be connected to the upper reversing wheel 27 or the lower reversing wheel 28 . In this embodiment, in order to avoid interfering with other equipment, the output shaft of the clamping jaw motor 22 is connected to the upper reversing wheel 27 .

[0098] In order to cooperate with the synchronous belt 211 to clamp the medicine barrel, a first meshing component 216 connected to the first jaw 24, a second meshing component 217 connected to the second jaw 25, and a third meshing component 218 connected to the third jaw 26 are provided on the inner side of the clamp frame 21. The first meshing component 216 meshes with the synchronous belt 211 between the left reversing wheel 29 and the lower left steering wheel 213, the second meshing component 217 meshes with the synchronous belt 211 between the right reversing wheel 210 and the upper right steering wheel 214, and the third meshing component 218 meshes with the synchronous belt 211 between the upper reversing wheel 27 and the upper left steering wheel 212. Alternatively, the first meshing assembly 216 meshes with the synchronous belt 211 between the left reversing wheel 29 and the upper left steering wheel 212, the second meshing assembly 217 meshes with the synchronous belt 211 between the right reversing wheel 210 and the lower right steering wheel 215, and the third meshing assembly 218 meshes with the synchronous belt 211 between the upper reversing wheel 27 and the upper right steering wheel 214. In this way, when the synchronous belt 211 rotates, the first clamp 24, the second clamp 25 and the third clamp 26 can synchronously move away from the center position of the clamp frame 21 or synchronously move toward the center position of the clamp frame 21, thereby releasing or stably clamping the medicine barrel. Only one clamp motor 22 is used as the power source, and the linkage is realized through the synchronous belt 211 transmission, which saves costs.

[0099] In order to ensure that each meshing component is stably engaged with the synchronous belt 211, the structures of the first meshing component 216, the second meshing component 217 and the third meshing component 218 are the same, which include a tooth plate 2161 and a cover plate 2162 connected to the tooth plate 2161 by bolts. A rack meshing with the synchronous belt 211 is provided on the tooth plate 2161, and a groove for the synchronous belt 211 to pass through is provided on the cover plate 2162 corresponding to the position of the rack. In this way, when each meshing component is engaged with the synchronous belt 211, the synchronous belt 211 is limited in the groove through the cooperation between the tooth plate 2161 and the cover plate 2162, thereby ensuring stable engagement of the rack with the synchronous belt 211. A connecting piece is also provided on the tooth plate 2161, which is used to connect to the inner side of the mounting base 242 of the first jaw 24, the second jaw 25 or the third jaw 26.

[0100] The three clamps adopt the above-mentioned transmission form, and their opening and closing stroke is large, which can be adapted to most medicine barrels or medicine bags on the market. At the same time, the reversing wheel and the steering wheel can also adopt the sprocket form, and the synchronous belt 211 also adopts the chain form for transmission, or the synchronous belt transmission can also be replaced by rope transmission.

[0101] Alternatively, the second synchronous component structure can be used to realize the synchronous opening and closing of the three clamping jaws, such as Fig.10 and Fig.11As shown, a synchronous gear 230 is rotatably connected to the output shaft of the flip motor 23 through a bearing, and the synchronous gear 230 includes three coaxially fixed gears, and a driving wheel is arranged on the top of the inner side of the clamping jaw frame 21, and the output shaft of the clamping jaw motor 22 is connected to the driving wheel, and the first meshing component 216, the second meshing component 217 and the third meshing component 218 are all in the form of racks, and the three are respectively connected to the inner side of the mounting base 242 of the first clamping jaw 24, the second clamping jaw 25 and the third clamping jaw 26. and the third meshing assembly 218 is respectively meshed with one of the gears in the synchronous gear 230; and the first meshing assembly 216 is meshed with the lower side of the synchronous gear 230, the second meshing assembly 217 is meshed with the upper side of the synchronous gear 230, and the two ends of the third meshing assembly 218 are respectively meshed with the left side of the synchronous gear 230 and the driving wheel; or, the first meshing assembly 216 is meshed with the upper side of the synchronous gear 230, the second meshing assembly 217 is meshed with the lower side of the synchronous gear 230, and the two ends of the third meshing assembly 218 are respectively meshed with the right side of the synchronous gear 230 and the driving wheel. When the jaw motor 22 rotates, the first jaw 24, the second jaw 25 and the third jaw 26 can synchronously move away from the center position of the jaw frame 21 to release the medicine barrel or synchronously move close to the center position of the jaw frame 21 to clamp the medicine barrel, because the synchronous gear 230 is rotatably connected to the output shaft of the flip motor 23, and the two will not affect each other when they rotate.

[0102] The tensioning assembly is designed to enable the clamping frame 21 to deflect along a fixed path, improve the rotation accuracy, and ensure that when deflected into place, the barrel mouth of the medicine barrel can be aligned with the filling port 11 of the raw material tank 1. It includes a T-shaped frame 219, a tensioning wheel 223, a vertical slider 224, a transverse slider 2241, a second vertical guide rail 221, a third horizontal guide rail 225 and a fixed seat 220.

[0103] The T-shaped frame 219 includes a vertical frame 2191 and a horizontal frame 2192 vertically connected to the middle of one side of the vertical frame 2191. The second vertical guide rail 221 is arranged on the vertical frame 2191, and the third horizontal guide rail 225 is arranged on the horizontal frame 2192. The vertical slider 224 is slidably assembled on the second vertical guide rail 221, the fixed seat 220 is connected to the inner side of the clamping claw frame 21, and a tension wheel 223 is arranged between the fixed seat 220 and the vertical slider 224. The two ends of the tension wheel 223 are rotatably connected to the vertical slider 224 and the fixed seat 220 respectively.

[0104] The transverse slider 2241 is fixedly connected to the housing of the flip motor 23 at one end away from the output shaft of the flip motor 23. The center of the transverse slider 2241 coincides with the axis center line of the output shaft of the flip motor 23, and the transverse slider 2241 is slidably assembled on the third horizontal guide rail 225. When the clamping frame 21 is deflected under the drive of the flip motor 23, the tensioning wheel 223 rotates and drives the vertical slider 224 to move along the second vertical guide rail 221, and the T-frame 219 will also move along the third horizontal guide rail 225 to adapt to the deflection angle of the clamping frame 21.

[0105] At the same time, the present invention also provides a method for adding a reagent to a raw material tank in a flammable and explosive scenario, using the above-mentioned system for adding a reagent to a raw material tank in a flammable and explosive scenario, comprising the following steps:

[0106] S1, the dosing system sends a dosing instruction of the corresponding medicine to the mobile dosing robot 2;

[0107] S2, the mobile feeding robot 2 cooperates with the second path 52 from the initial position through the laser navigation line 6, and follows the second path 52 to one of the cantilever racks 4;

[0108] S3, the mobile feeding robot 2 scans the QR code on the cantilever shelf 4;

[0109] S4, the mobile feeding robot 2 identifies the information recorded in the QR code and determines whether it is the medicine required in the medicine adding instruction. If so, execute step S5; if not, go to the next cantilever shelf 4 and return to step S3;

[0110] S5, the mobile feeding robot 2 adjusts the height of the clamping assembly through the telescopic arm assembly, and at the same time adjusts its own posture until the clamping assembly is aligned with the medicine barrel, and the clamping assembly clamps the medicine barrel, and then the telescopic arm assembly is reset, and the mobile feeding robot 2 cooperates with the second path 52 through the laser navigation line 6 and follows the second path 52 to return to the initial position;

[0111] S6. After reaching the initial position, the mobile feeding robot 2 cooperates with the third path 53 through the laser navigation line 6, follows the third path 53 to reach the designated position in front of the automatic capping workbench 3 and calibrates its own posture, adjusts the height of the clamping claw assembly through the telescopic arm assembly, puts the medicine barrel into the automatic capping workbench 3, and the automatic capping workbench 3 unscrews the barrel cover 7 of the medicine barrel; when the automatic capping workbench 3 unscrews the barrel cover 7 of the medicine barrel, the movable end of the transverse cylinder 35 drives the adapter plate 33 to move to the designated position along the linear guide rail 34, the solenoid valve 39 controls the pneumatic clamping claw 38 to open, and the unscrewed barrel cover 7 falls into the collecting tube 3101, and then the movable end of the transverse cylinder 35 is reset;

[0112] S7, the mobile feeding robot 2 moves the medicine barrel out of the automatic capping workbench 3, and then cooperates with the third path 53 through the laser navigation line 6 to return to the initial position along the third path 53;

[0113] S8, the mobile feeding robot 2 moves from the initial position to the corresponding position of the raw material tank 1 along the first path 51 through the laser navigation line 6, drives the medicine barrel to be lifted to the specified position through the telescopic arm assembly, and then the flip assembly works to flip the medicine in the medicine barrel and pour it into the filling port 11 of the raw material tank 1;

[0114] S9, after the filling is completed, the flip assembly is reset, and then the telescopic arm assembly is reset, and the mobile feeding robot 2 cooperates with the first path 51 through the laser navigation line 6, and returns to the initial position along the first path 51; then, the mobile feeding robot 2 cooperates with the second path 52 through the laser navigation line 6, and moves along the second path 52 to the designated cantilever shelf 4 position, and places the medicine barrel at the designated position of the cantilever shelf 4;

[0115] S10, after the placement is completed, the mobile feeding robot 2 cooperates with the second path 52 through the laser navigation line 6, returns to the initial position along the second path 52, and completes the filling of the reagent into the raw material tank in the flammable and explosive scene.

[0116] The embodiments described above are merely descriptions of specific implementation methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A system for filling a raw material tank with a reagent in an inflammable and explosive situation, for filling a plurality of raw material tanks (1) with a reagent, each raw material tank (1) having a filling port (11) at the top, characterized in that: It comprises a mobile feeding robot (2), an automatic capping workbench (3), a walking path (5) and a cantilever shelf (4); The cantilever shelves (4) are provided in plurality, and each cantilever shelf (4) is provided with a plurality of medicine barrels, and the medicine barrels on the same cantilever shelf (4) contain the same medicine, and a QR code recording corresponding medicine information is provided on the cantilever shelf (4); The automatic capping workbench (3) is used to unscrew the barrel cap (7) of the medicine barrel; The walking path (5) comprises a first path (51) for guiding the mobile feeding robot (2) to reach the position of each raw material tank (1), a second path (52) for reaching the position of each cantilever shelf (4), and a third path (53) for reaching the position of the automatic capping workbench (3), and the starting points of the first path (51), the second path (52) and the third path (53) are the same point, which is the initial position of the mobile feeding robot (2); The mobile feeding robot (2) comprises a wheeled chassis (226), a telescopic arm assembly arranged on the wheeled chassis (226), and a clamping claw assembly arranged on the telescopic arm assembly; The telescopic arm assembly can drive the clamping jaw assembly to move in the vertical direction; the clamping jaw assembly includes a clamping assembly for clamping the medicine barrel and a flipping assembly for flipping and dumping the medicine barrel; A laser emitting device is arranged on the wheeled chassis (226), and the laser emitting device emits a laser navigation line (6). The laser navigation line (6) is used to cooperate with the first path (51), the second path (52) and the third path (53) to guide the movement of the mobile feeding robot (2); The flip assembly comprises a flip motor (23), and the flip motor (23) is arranged on the telescopic arm assembly; The clamping assembly comprises a clamping jaw frame (21), a clamping jaw motor (22), a movable clamping jaw and a synchronization assembly; the center of the inner side surface of the clamping jaw frame (21) is connected to the output shaft of the flipping motor (23), and the clamping jaw motor (22) is connected to the clamping jaw frame (21); the movable clamping jaw comprises a first clamping jaw assembly, a second clamping jaw assembly and a third clamping jaw assembly; the clamping jaw motor (22) and the flipping motor (23) are both explosion-proof motors; The synchronization component comprises a synchronization gear (230) rotatably connected to the output shaft of the flip motor (23), wherein the synchronization gear (230) comprises three coaxially fixed gears; It also includes a tensioning structure, which includes a T-shaped frame (219), a tensioning wheel (223), a vertical sliding block (224), a horizontal sliding block (2241), a second vertical guide rail (221), a third horizontal guide rail (225) and a fixing seat (220); The fixing seat (220) is connected to the inner side of the clamping claw frame (21); the T-shaped frame (219) includes a vertical frame (2191) and a horizontal frame (2192) vertically connected to the middle of one side of the vertical frame (2191); the second vertical guide rail (221) is arranged on the vertical frame (2191); the third horizontal guide rail (225) is arranged on the horizontal frame (2192); the vertical sliding block (224) is slidably assembled on the second vertical guide rail (221); the horizontal sliding block (225) is arranged on the horizontal frame (2192); 41) is connected to the housing of the flip motor (23) at one end away from the output shaft of the flip motor (23), the center of the transverse slider (2241) coincides with the axis line of the output shaft of the flip motor (23), and the transverse slider (2241) is slidably assembled with the third horizontal guide rail (225), and a tensioning wheel (223) is arranged between the fixed seat (220) and the vertical slider (224), and the two ends of the tensioning wheel (223) are rotatably connected to the vertical slider (224) and the fixed seat (220) respectively.

2. The system for adding reagents to a raw material tank in a flammable and explosive situation according to claim 1, characterized in that: The first clamping jaw assembly comprises a first horizontal guide rail (241) arranged on one side of the outer side of the clamping jaw frame (21) and extending in the horizontal direction, on which the first clamping jaw (24) is slidably mounted; the second clamping jaw assembly comprises a second horizontal guide rail (251) arranged on the other side of the outer side of the clamping jaw frame (21) and extending in the horizontal direction, on which the second clamping jaw (25) is slidably mounted; the third clamping jaw assembly comprises a first vertical guide rail (261) arranged on the top of the outer side of the clamping jaw frame (21) and extending in the vertical direction, on which the third clamping jaw (26) is slidably mounted; A driving wheel is arranged at the top of the inner side of the clamping jaw frame (21), and the output shaft of the clamping jaw motor (22) is connected to the driving wheel. The inner side of the clamping jaw frame (21) is provided with a first meshing component (216) connected to the first clamping jaw (24), a second meshing component (217) connected to the second clamping jaw (25), and a third meshing component (218) connected to the third clamping jaw (26); the first meshing component (216), the second meshing component (217), and the third meshing component (218) are all racks; the first meshing component (216), the second meshing component (217), and the third meshing component (218) are connected to the first and second clamping jaws (24). The three meshing components (218) are respectively meshed with one of the gears; and the first meshing component (216) is meshed with the lower side of the synchronous gear (230), the second meshing component (217) is meshed with the upper side of the synchronous gear (230), and the third meshing component (218) is respectively meshed with the synchronous gear (230) and the left side of the driving wheel; or, the first meshing component (216) is meshed with the upper side of the synchronous gear (230), the second meshing component (217) is meshed with the lower side of the synchronous gear (230), and the third meshing component (218) is respectively meshed with the right side of the synchronous gear (230) and the driving wheel; When the clamp motor (22) rotates, it drives the first clamp (24), the second clamp (25) and the third clamp (26) to synchronously move away from the center position of the clamp frame (21) to release the medicine barrel, or synchronously move toward the center position of the clamp frame (21) to clamp the medicine barrel.

3. The system for adding reagents to a raw material tank in a flammable and explosive situation according to claim 1, characterized in that: The first clamping jaw assembly comprises a first horizontal guide rail (241) arranged on one side of the outer side of the clamping jaw frame (21) and extending in the horizontal direction, on which the first clamping jaw (24) is slidably mounted; the second clamping jaw assembly comprises a second horizontal guide rail (251) arranged on the other side of the outer side of the clamping jaw frame (21) and extending in the horizontal direction, on which the second clamping jaw (25) is slidably mounted; the third clamping jaw assembly comprises a first vertical guide rail (261) arranged on the top of the outer side of the clamping jaw frame (21) and extending in the vertical direction, on which the third clamping jaw (26) is slidably mounted; Alternatively, the synchronization component comprises an upper reversing wheel (27) and a lower reversing wheel (28) arranged at the top and bottom of the inner side surface of the clamping jaw frame (21), and a left reversing wheel (29) and a right reversing wheel (210) arranged at the left and right sides, the four being connected by a synchronous belt (211), and the output shaft of the clamping jaw motor (22) is connected to the upper reversing wheel (27) or the lower reversing wheel (28); an upper left steering wheel (212) is provided at the upper left of the center of the inner side surface of the clamping jaw frame (21) ), an upper right steering wheel (214) is provided at the upper right, a lower left steering wheel (213) is provided at the lower left, and a lower right steering wheel (215) is provided at the lower right, all of which are in contact with the outer side surface of the synchronous belt (211); the inner side surface of the clamping jaw frame (21) is provided with a first meshing assembly (216) connected to the first clamping jaw (24), a second meshing assembly (217) connected to the second clamping jaw (25), and a third meshing assembly (218) connected to the third clamping jaw (26); The first meshing assembly (216) meshes with the synchronous belt (211) between the left reversing wheel (29) and the lower left steering wheel (213), the second meshing assembly (217) meshes with the synchronous belt (211) between the right reversing wheel (210) and the upper right steering wheel (214), and the third meshing assembly (218) meshes with the synchronous belt (211) between the upper reversing wheel (27) and the upper left steering wheel (212); or, the first meshing assembly (216) meshes with the synchronous belt (211) between the left reversing wheel (29) and the upper left steering wheel (212), the second meshing assembly (217) meshes with the synchronous belt (211) between the right reversing wheel (210) and the lower right steering wheel (215), and the third meshing assembly (218) meshes with the synchronous belt (211) between the upper reversing wheel (27) and the upper right steering wheel (214); When the clamp motor (22) rotates, it drives the first clamp (24), the second clamp (25) and the third clamp (26) to synchronously move away from the center position of the clamp frame (21) to release the medicine barrel, or synchronously move toward the center position of the clamp frame (21) to clamp the medicine barrel.

4. The system for adding reagents to a raw material tank in an inflammable and explosive situation according to claim 3, characterized in that: The first meshing assembly (216), the second meshing assembly (217) and the third meshing assembly (218) have the same structure and all include a tooth plate (2161) and a cover plate (2162) connected to the tooth plate (2161); the tooth plate (2161) is provided with a rack meshed with the synchronous belt (211); the cover plate (2162) is provided with a groove corresponding to the position of the rack and matching the width and thickness of the synchronous belt (211); a connecting piece is provided on the tooth plate (2161) for connecting to the inner side of a mounting base (242) of the first clamp (24), the second clamp (25) or the third clamp (26).

5. The system for adding reagents to a raw material tank in an inflammable and explosive situation according to claim 2 or 4, characterized in that: The first clamping jaw (24), the second clamping jaw (25) and the third clamping jaw (26) have the same structure, and all include a mounting base (242) and a claw body (243); the mounting base (242) of the first clamping jaw (24) is slidably mounted on a first horizontal guide rail (241), the mounting base (242) of the second clamping jaw (25) is slidably mounted on a second horizontal guide rail (251), and the mounting base (242) of the third clamping jaw (26) is slidably mounted on a first vertical guide rail (261); one end of the claw body (243) is fixedly connected to the outer side surface of the mounting base (242); A fixed clamping claw (201) is arranged at the bottom of the outer side surface of the clamping claw frame (21).

6. The system for adding reagents to a raw material tank in an inflammable and explosive situation according to claim 5, characterized in that: The telescopic arm assembly comprises a driving motor (227), a transmission screw (228) and a telescopic arm (229); the transmission screw (228) is arranged in the telescopic arm (229); The drive motor (227) is arranged on the wheeled chassis (226) and is an explosion-proof motor; The telescopic arm (229) comprises a primary telescopic arm (2291), a secondary telescopic arm (2292) and a tertiary telescopic arm (2293) which are sequentially sleeved from the outside to the inside, and a stopper is provided between adjacent ones; the primary telescopic arm (2291) is fixedly provided on the wheeled chassis (226); The transmission screw (228) comprises a primary transmission screw (2281), a secondary transmission screw (2282) and a tertiary transmission screw (2283) which are sequentially sleeved from the outside to the inside; The primary transmission screw (2281) is connected to the output shaft of the driving motor (227), and the inner wall of the primary transmission screw (2281) is provided with an internal thread; the outer wall of the secondary transmission screw (2282) is provided with an external thread, and the external thread is meshed with the internal thread of the primary transmission screw (2281); The inner wall of the secondary transmission screw (2282) is provided with an internal thread, and the outer wall of the tertiary transmission screw (2283) is provided with an external thread, and the external thread of the tertiary transmission screw (2283) is meshed with the internal thread of the secondary transmission screw (2282); and the tertiary transmission screw (2283) is fixedly connected to the inner side surface of the top plate of the tertiary telescopic arm (2293); The flip motor (23) is arranged on the top plate of the three-stage telescopic arm (2293).

7. The system for adding reagents to a raw material tank in an inflammable and explosive situation according to claim 6, characterized in that: The projections of the outer walls of the secondary telescopic arm (2292) and the tertiary telescopic arm (2293) on the horizontal plane are rectangular; the projections of the inner walls of the primary telescopic arm (2291) and the secondary telescopic arm (2292) on the horizontal plane are rectangular.

8. The system for adding reagents to a raw material tank in an inflammable and explosive situation according to claim 7, characterized in that: The automatic capping workbench comprises a capping workbench (31), a capping assembly, a transverse movement assembly and a barrel cap collecting device (310); The capping workbench (31) comprises a base (311) and a mounting frame (312) arranged on the base (311); The mounting frame (312) comprises a connecting plate (313), and the connecting plate (313) is connected to the base (311) via a guide rod (314); the base (311) is used to place a medicine barrel; The rotary cover assembly comprises a motor (32), an air slip ring (36) and a pneumatic clamp (38); the motor (32) is mounted on the bottom of a connecting plate (313); the air slip ring (36) is rotatably mounted on the bottom of the connecting plate (313); the pneumatic clamp (38) is fixedly connected to the bottom of the air slip ring (36); the output shaft of the motor (32) is connected to the air slip ring (36) via a rotating synchronous belt (37); the motor (32) is an explosion-proof motor; The connecting plate (313) is provided with a solenoid valve (39) for controlling the opening and closing of the pneumatic clamp (38); the air inlet of the solenoid valve (39) is connected to a gas pipeline, and the air outlet is connected to the pneumatic clamp (38) for controlling the pneumatic clamp (38) to clamp or loosen the barrel cover (7) of the medicine barrel; The transverse movement assembly comprises a linear guide rail (34) and a transverse movement cylinder (35) arranged at the bottom of the connecting plate (313); an adapter plate (33) is slidably mounted on the linear guide rail (34); a movable end of the transverse movement cylinder (35) is connected to the adapter plate (33); and the action direction of the transverse movement cylinder (35) is parallel to the linear guide rail (34); the motor (32) is mounted at the bottom of the adapter plate (33); and the air slip ring (36) is rotatably mounted at the bottom of the adapter plate (33); The barrel cover collecting device (310) is arranged on one side of the base (311), and comprises a collecting cylinder (3101) arranged on the base (311) and a cover collecting bucket (3102) arranged on the top of the collecting cylinder (3101); the inlet end of the cover collecting bucket (3102) is located within the moving range of the pneumatic clamp (38) and is used to collect the barrel covers (7) screwed off by the pneumatic clamp (38).

9. A method for adding reagents to a raw material tank in an inflammable and explosive situation, using the system for adding reagents to a raw material tank in an inflammable and explosive situation as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: S1, the dosing system sends a dosing instruction of the corresponding medicine to the mobile dosing robot (2); S2, the mobile feeding robot (2) cooperates with the second path (52) from the initial position through the laser navigation line (6), and follows the second path (52) to one of the cantilever shelves (4); S3, the mobile feeding robot (2) scans the QR code on the cantilever shelf (4); S4, the mobile feeding robot (2) identifies the information recorded in the QR code and determines whether it is the medicine required in the medicine adding instruction. If so, it executes step S5; if not, it goes to the next cantilever shelf (4) and returns to step S3; S5, the mobile feeding robot (2) adjusts the height of the clamping assembly through the telescopic arm assembly, and at the same time, the mobile feeding robot (2) adjusts its own posture until the clamping assembly is aligned with the medicine barrel, and the clamping assembly clamps the medicine barrel, and then the telescopic arm assembly is reset, and the mobile feeding robot (2) cooperates with the second path (52) through the laser navigation line (6), and follows the second path (52) to return to the initial position; S6. After reaching the initial position, the mobile feeding robot (2) cooperates with the third path (53) through the laser navigation line (6), follows the third path (53) to reach the designated position in front of the automatic capping workbench (3) and calibrates its own posture, adjusts the height of the clamping claw assembly through the telescopic arm assembly, puts the medicine barrel into the automatic capping workbench (3), and the automatic capping workbench (3) unscrews the barrel cover (7) of the medicine barrel; S7, the mobile feeding robot (2) moves the medicine barrel out of the automatic capping workbench (3), and then cooperates with the third path (53) through the laser navigation line (6) to return to the initial position along the third path (53); S8, the mobile feeding robot (2) moves from the initial position to the corresponding raw material tank (1) position along the first path (51) through the laser navigation line (6) and the first path (51), drives the medicine barrel to be lifted to the designated position through the telescopic arm assembly, and then the flip assembly works to flip the medicine in the medicine barrel and pour it into the filling port (11) of the raw material tank (1); S9, after the filling is completed, the flip assembly is reset, and then the telescopic arm assembly is reset, and the mobile feeding robot (2) cooperates with the first path (51) through the laser navigation line (6) and returns to the initial position along the first path (51); then, the mobile feeding robot (2) cooperates with the second path (52) through the laser navigation line (6), and moves along the second path (52) to the designated cantilever shelf (4) position, and places the medicine barrel at the designated position of the cantilever shelf (4); S10, after placement is completed, the mobile feeding robot (2) cooperates with the second path (52) through the laser navigation line (6), returns to the initial position along the second path (52), and completes the filling of the medicine into the raw material tank in the flammable and explosive scene.

10. The method for adding reagents to a raw material tank in an inflammable and explosive situation according to claim 9, characterized in that: The step S6 also includes: when the automatic capping workbench (3) unscrews the barrel cover (7) of the medicine barrel, the movable end of the transverse cylinder (35) drives the adapter plate (33) to move to a specified position along the linear guide rail (34), the solenoid valve (39) controls the pneumatic clamp (38) to open, and the unscrewed barrel cover (7) falls into the collection tube (3101), and then the movable end of the transverse cylinder (35) is reset.

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