Automatic cleaning device for hazardous chemicals

Abstract

The invention discloses an automatic hazardous chemical substance cleaning device, and relates to the field of hazardous chemical substance cleaning, the tail end of a multi-degree-of-freedom robot is provided with a quick-change main disc, a bottom surface cleaning mechanism comprises a first quick-change tool disc and a bottom surface cleaning assembly arranged on the first quick-change tool disc, and the bottom surface cleaning assembly is used for cleaning the bottom surface of the inner wall of a mixing pot; the side surface cleaning mechanism comprises a second quick-change tool tray and a side surface cleaning assembly arranged on the second quick-change tool tray, and the side surface cleaning assembly is used for cleaning the annular side surface of the inner wall of the mixing pot; and the side bottom scraping mechanism comprises a third quick-change tool tray and a side bottom scraping assembly arranged on the third quick-change tool tray, and the side bottom scraping assembly is used for assisting discharging and scraping the hazardous chemicals scraped by the bottom surface cleaning assembly and the side surface cleaning assembly to the outside of the mixing pot. The device solves the problems that due to manual discharging and cleaning of hazardous chemicals, the working intensity is high, the requirement for physical strength of operators is high, the working efficiency is low, and large potential safety hazards exist.

Description

Technical Field

[0001] The invention relates to the field of hazardous chemical cleaning, and in particular to an automated hazardous chemical cleaning device. Background Art

[0002] At present, the auxiliary discharging and mixing pot cleaning of high-viscosity and high-sensitivity hazardous chemicals are still completed by workers manually, which has problems such as high work intensity, high physical requirements for operators, and low work efficiency. In addition, the operators work face to face with hazardous chemicals, which poses great safety hazards and occupational health hazards. It is also difficult to meet the requirements of complex, efficient and process-based development. Summary of the invention

[0003] In order to solve the above technical problems, the present invention provides an automated hazardous chemical cleaning device, which solves the problems of high work intensity, high physical requirements for operators, low work efficiency and great safety hazards caused by manual discharge and cleaning of hazardous chemicals.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides an automated hazardous chemical cleaning device, comprising a multi-degree-of-freedom robot, a bottom cleaning mechanism, a side cleaning mechanism, a side bottom scraping mechanism and a controller, wherein a quick-change main plate is arranged at the end of the multi-degree-of-freedom robot, and both the multi-degree-of-freedom robot and the quick-change main plate are connected to the controller; the bottom surface cleaning mechanism comprises a first quick-change tool plate and a bottom surface cleaning component arranged on the first quick-change tool plate, the first quick-change tool plate can be connected to the quick-change main plate, and the bottom surface cleaning component is used to clean the bottom surface of the inner wall of the mixing pot; the side cleaning mechanism It includes a second quick-change tool tray and a side cleaning assembly arranged on the second quick-change tool tray, the second quick-change tool tray can be connected to the quick-change main tray, and the side cleaning assembly is used to clean the annular side of the inner wall of the mixing pot; the side bottom scraping mechanism includes a third quick-change tool tray and a side bottom scraping assembly arranged on the third quick-change tool tray, the third quick-change tool tray can be connected to the quick-change main tray, and the side bottom scraping assembly is used to assist in discharging and scrape the hazardous chemicals scraped off by the bottom cleaning assembly and the side cleaning assembly to the outside of the mixing pot.

[0006] Preferably, it also includes a connecting mechanism, which includes a six-dimensional force sensor, a first connecting plate, a second connecting plate and a third connecting plate. The first connecting plate, the six-dimensional force sensor, the second connecting plate, the third connecting plate and the quick-change main plate are connected in sequence. The end of the first connecting plate away from the six-dimensional force sensor is connected to the end of the multi-degree-of-freedom robot, and the six-dimensional force sensor is connected to the controller.

[0007] Preferably, the bottom surface cleaning assembly includes a first mounting plate, a bottom surface cleaning shovel, a first side plate, a first fixed plate and a first fixed assembly, one side of the first mounting plate is connected to the first quick-change tool tray, the first side plate is vertically fixed to the other side of the first mounting plate, the bottom surface cleaning shovel is located between the first side plate and the first fixed plate, the first fixed assembly fixedly connects the first fixed plate, the bottom surface cleaning shovel and the first side plate, the bottom surface cleaning shovel is perpendicular to the first mounting plate, and the length direction of the shovel blade of the bottom surface cleaning shovel is perpendicular to the axial direction of the first quick-change tool tray.

[0008] Preferably, the side cleaning assembly includes a second mounting plate, a side cleaning shovel, a second side plate, a second fixed plate and a second fixed assembly, one side of the second mounting plate is connected to the second quick-change tool tray, the second side plate is vertically fixed to the other side of the second mounting plate, the side cleaning shovel is located between the second side plate and the second fixed plate, the second fixed assembly fixedly connects the second fixed plate, the side cleaning shovel and the second side plate, the side cleaning shovel is perpendicular to the second mounting plate, and the length direction of the shovel blade of the side cleaning shovel is consistent with the axial direction of the second quick-change tool tray.

[0009] Preferably, the side bottom scraper assembly includes a third mounting plate and a side bottom scraper, one side of the third mounting plate is connected to the third quick-change tool tray, the side bottom scraper is fixed to the other side of the third mounting plate, and the side bottom scraper is parallel to the third mounting plate.

[0010] Preferably, it also includes a detection mechanism, which includes a fourth quick-change tool tray and a detection component arranged on the fourth quick-change tool tray, the fourth quick-change tool tray can be connected to the quick-change main tray, the detection component is used to detect the inside of the mixing pot, and the detection component is connected to the controller.

[0011] Preferably, the detection assembly includes a fourth mounting plate, a mounting bracket and a camera, one side of the fourth mounting plate is connected to the fourth quick-change tool tray, the other side of the fourth mounting plate is provided with the mounting bracket, the camera is provided on the mounting bracket, and the camera is connected to the controller.

[0012] Preferably, it further comprises a first supporting frame, wherein the first supporting frame is used to place the mixing pot.

[0013] Preferably, a groove matching the annular side wall structure of the mixing pot is provided on the upper portion of the first support frame, and a positioning hole matching the handle structure of the mixing pot is provided on the groove.

[0014] Preferably, the multi-degree-of-freedom robot is a six-degree-of-freedom robot.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The automatic cleaning device for hazardous chemicals of the present invention comprises a multi-degree-of-freedom robot, a bottom cleaning mechanism, a side cleaning mechanism, a side bottom scraping mechanism and a controller. The end of the multi-degree-of-freedom robot is provided with a quick-change main plate. When in use, the quick-change main plate is connected to the third quick-change tool plate, and the side bottom scraping assembly enters the mixing pot to assist in discharging; the quick-change main plate is connected to the first quick-change tool plate, and the bottom surface of the inner wall of the mixing pot is cleaned by the bottom surface cleaning assembly; the quick-change main plate is connected to the second quick-change tool plate, and the side cleaning assembly cleans the annular side of the inner wall of the mixing pot; the quick-change main plate is connected to the third quick-change tool plate again, and the side bottom scraping assembly scrapes the hazardous chemicals scraped by the bottom surface cleaning assembly and the side cleaning assembly to the outside of the mixing pot, thereby completing the discharging and cleaning of hazardous chemicals in the mixing pot. Compared with the manual discharging and cleaning method of hazardous chemicals, it solves the problems of high work intensity, high physical requirements for operators, low work efficiency, and greater safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 A schematic diagram of the structure of the automated hazardous chemical cleaning device provided by the present invention;

[0019] Figure 2 A front view of the bottom cleaning mechanism, the quick-change main plate and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0020] Figure 3 A top view of the bottom cleaning mechanism, the quick-change main plate and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0021] Figure 4 An exploded view of the bottom surface cleaning mechanism, the quick-change main plate and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0022] Figure 5 A front view of the side cleaning mechanism, the quick-change main disk and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0023] Figure 6 A top view of the side cleaning mechanism, the quick-change main disk and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0024] Figure 7 An exploded view of the side cleaning mechanism, the quick-change main disk and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0025] Figure 8 This is a front view of the side and bottom scraping mechanism, the quick-change main plate and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0026] Fig. 9 An exploded view of the side and bottom scraping mechanism, the quick-change main disc and the connecting mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0027] Fig.10 This is a front view of the detection mechanism, quick-change main disk and connection mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0028] Fig.11 An exploded diagram of the detection mechanism, the quick-change main disk and the connection mechanism in the automated hazardous chemical cleaning device provided by the present invention;

[0029] Fig.12 A schematic diagram of the structure of the first support frame in the automated hazardous chemical cleaning device provided by the present invention;

[0030] Fig.13 A schematic structural diagram of a mixing pot used for cleaning by the automated hazardous chemical cleaning device provided by the present invention.

[0031] Explanation of reference numerals: 1. multi-degree-of-freedom robot; 2. quick-change main plate; 3. connection mechanism; 31. first connection plate; 32. six-dimensional force sensor; 33. second connection plate; 34. third connection plate; 4. bottom surface cleaning mechanism; 41. first quick-change tool plate; 42. first mounting plate; 43. bottom surface cleaning shovel; 44. first side plate; 45. first fixing plate; 46. first rib plate; 5. side surface cleaning mechanism; 51. second quick-change tool plate; 52. second mounting plate; 5 3. Side cleaning shovel; 54. Second side plate; 55. Second fixing plate; 56. Second rib plate; 6. Side bottom scraping mechanism; 61. Third quick-change tool tray; 62. Third mounting plate; 63. Side bottom scraping shovel; 7. Detection mechanism; 71. Fourth quick-change tool tray; 72. Fourth mounting plate; 73. Mounting bracket; 74. Camera; 8. Controller; 9. First support frame; 10. Groove; 11. Positioning hole; 12. Second support frame; 13. Mixing pot; 14. Handle. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The purpose of the present invention is to provide an automated hazardous chemical cleaning device, which solves the problems of high work intensity, high physical requirements for operators, low work efficiency and great safety hazards caused by manual discharge and cleaning of hazardous chemicals.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] like Figure 1-Figure 13 As shown, this embodiment provides an automated hazardous chemical cleaning device, including a multi-degree-of-freedom robot 1, a bottom cleaning mechanism 4, a side cleaning mechanism 5, a side bottom scraping mechanism 6 and a controller 8. A quick-change main plate 2 is provided at the end of the multi-degree-of-freedom robot 1, and the multi-degree-of-freedom robot 1 and the quick-change main plate 2 are both connected to the controller 8; the bottom cleaning mechanism 4 includes a first quick-change tool plate 41 and a bottom cleaning assembly arranged on the first quick-change tool plate 41, the first quick-change tool plate 41 can be connected to the quick-change main plate 2, and the bottom cleaning assembly is used to clean the bottom surface of the inner wall of the mixing pot 13; The surface cleaning mechanism 5 includes a second quick-change tool tray 51 and a side cleaning assembly arranged on the second quick-change tool tray 51. The second quick-change tool tray 51 can be connected to the quick-change main tray 2. The side cleaning assembly is used to clean the annular side of the inner wall of the mixing pot 13; the side bottom scraping mechanism 6 includes a third quick-change tool tray 61 and a side bottom scraping assembly arranged on the third quick-change tool tray 61. The third quick-change tool tray 61 can be connected to the quick-change main tray 2. The side bottom scraping assembly is used to assist in discharging and scrape the hazardous chemicals scraped off by the bottom cleaning assembly and the side cleaning assembly to the outside of the mixing pot 13.

[0036] When in use, the quick-change main disk 2 is connected to the third quick-change tool disk 61, and the side bottom scraping assembly enters the mixing pot 13 to assist in discharging; the quick-change main disk 2 is connected to the first quick-change tool disk 41, and the bottom surface of the inner wall of the mixing pot 13 is cleaned by the bottom cleaning assembly; the quick-change main disk 2 is connected to the second quick-change tool disk 51, and the side cleaning assembly cleans the annular side surface of the inner wall of the mixing pot 13; the quick-change main disk 2 is connected to the third quick-change tool disk 61 again, and the side bottom scraping assembly scrapes the hazardous chemicals scraped off by the bottom cleaning assembly and the side cleaning assembly to the outside of the mixing pot 13, thereby completing the discharging and cleaning of hazardous chemicals in the mixing pot 13. Compared with the manual discharge and cleaning method of hazardous chemicals, it solves the problems of high work intensity, high physical requirements for operators, low work efficiency and greater safety hazards, realizes the intelligent and unmanned operation of hazardous chemical discharge and cleaning operations, and also lays the foundation for the efficient process of cleaning operations of other specifications of mixing pots 13, meets the requirements of green, safe and efficient handling of hazardous chemical materials, and provides guarantees for improving the inherent safety of high-risk industries and reducing the danger and complexity of hazardous chemical operations.

[0037] The present embodiment also includes a connecting mechanism 3, which connects the quick-change main plate 2 to the end of the multi-degree-of-freedom robot 1. Specifically, the connecting mechanism 3 includes a six-dimensional force sensor 32, a first connecting plate 31, a second connecting plate 33, and a third connecting plate 34. The first connecting plate 31, the six-dimensional force sensor 32, the second connecting plate 33, the third connecting plate 34, and the quick-change main plate 2 are connected in sequence. The end of the first connecting plate 31 away from the six-dimensional force sensor 32 is connected to the end of the multi-degree-of-freedom robot 1. The six-dimensional force sensor 32 is connected to the controller 8, and the operation process is monitored by the six-dimensional force sensor 32.

[0038] Specifically, the six-dimensional force sensor 32 monitors the force of the bottom cleaning mechanism 4, the side cleaning mechanism 5 and the side bottom scraping mechanism 6 during operation and transmits the data to the controller 8. The controller 8 controls the multi-degree-of-freedom robot 1 so that the bottom cleaning mechanism 4, the side cleaning mechanism 5 and the side bottom scraping mechanism 6 are at appropriate working force.

[0039] like Figure 2-4As shown, the bottom cleaning assembly includes a first mounting plate 42, a bottom cleaning shovel 43, a first side plate 44, a first fixed plate 45 and a first fixed assembly. One side of the first mounting plate 42 is connected to the first quick-change tool tray 41, and the first side plate 44 is vertically fixed to the other side of the first mounting plate 42. The bottom cleaning shovel 43 is located between the first side plate 44 and the first fixed plate 45. The first fixed assembly fixes the first fixed plate 45, the bottom cleaning shovel 43 and the first side plate 44. The bottom cleaning shovel 43 is perpendicular to the first mounting plate 42, and the length direction of the shovel blade of the bottom cleaning shovel 43 is perpendicular to the axial direction of the first quick-change tool tray 41. When working, the bottom cleaning shovel 43 is extended into the mixing pot 13 driven by the multi-degree-of-freedom robot 1, and approaches the bottom surface of the inner wall of the mixing pot 13, thereby scraping off and cleaning the hazardous chemicals on the bottom surface.

[0040] Specifically, the bottom cleaning assembly further includes two first ribs 46, one end of each first rib 46 is connected to the first mounting plate 42, and the other end of each first rib 46 is connected to the first side plate 44, that is, the connection strength between the first side plate 44 and the first mounting plate 42 is strengthened by the two first ribs 46. The first rib 46 in this embodiment is a first right-angled triangle rib.

[0041] The first fixing assembly in this embodiment includes a first fixing bolt and a first fixing nut. The first fixing bolt passes through the first side plate 44, the bottom cleaning shovel 43 and the first fixing plate 45 in sequence and is installed with the first fixing nut. The first fixing nut is screwed to make it tight against the first fixing plate 45, thereby achieving a fixed connection between the first side plate 44, the bottom cleaning shovel 43 and the first fixing plate 45.

[0042] like Figure 5-7 As shown, the side cleaning assembly includes a second mounting plate 52, a side cleaning shovel 53, a second side plate 54, a second fixed plate 55 and a second fixed assembly. One side of the second mounting plate 52 is connected to the second quick-change tool tray 51. The second side plate 54 is vertically fixed to the other side of the second mounting plate 52. The side cleaning shovel 53 is located between the second side plate 54 and the second fixed plate 55. The second fixed assembly fixedly connects the second fixed plate 55, the side cleaning shovel 53 and the second side plate 54. The side cleaning shovel 53 is perpendicular to the second mounting plate 52. The length direction of the shovel blade of the side cleaning shovel 53 is consistent with the axial direction of the second quick-change tool tray 51. When working, the side cleaning shovel 53 is driven by the multi-degree-of-freedom robot 1 to extend into the mixing pot 13 and approach the annular side surface of the inner wall of the mixing pot 13, thereby scraping off and cleaning the hazardous chemicals on the annular side surface.

[0043] Specifically, the side cleaning assembly further includes two second ribs 56, one end of each second rib 56 is connected to the second mounting plate 52, and the other end of each second rib 56 is connected to the second side plate 54, that is, the connection strength between the second side plate 54 and the second mounting plate 52 is strengthened by the two second ribs 56. The second rib 56 in this embodiment is a second right-angled triangle rib.

[0044] The second fixing assembly in this embodiment includes a second fixing bolt and a second fixing nut. The second fixing bolt passes through the second side plate 54, the side cleaning shovel 53 and the second fixing plate 55 in sequence and is installed with a second fixing nut. The second fixing nut is screwed to make it tight against the second fixing plate 55, thereby achieving a fixed connection between the second side plate 54, the side cleaning shovel 53 and the second fixing plate 55.

[0045] like Figure 8 and 9 As shown, the side bottom scraping assembly includes a third mounting plate 62 and a side bottom scraper 63. One side of the third mounting plate 62 is connected to the third quick-change tool tray 61. The side bottom scraper 63 is fixed to the other side of the third mounting plate 62, and the side bottom scraper 63 is parallel to the third mounting plate 62. When working, the side bottom scraper 63 is driven by the multi-degree-of-freedom robot 1 to extend into the mixing pot 13 and approach the annular side surface of the inner wall of the mixing pot 13. The side bottom scraper 63 moves along the axial direction of the mixing pot 13, thereby scraping the hazardous chemicals to the outside of the mixing pot 13.

[0046] like Fig.13 As shown, the mixing pot 13 includes a cylindrical body and a circular bottom plate arranged at one end of the cylindrical body, and two handles 14 are symmetrically arranged on both sides of the cylindrical body.

[0047] like Fig. 9 As shown, the side of the side bottom scraper 63 away from the third mounting plate 62 is an arc-shaped structure that matches the cylindrical side structure of the inner wall of the mixing pot 13, so that the side bottom scraper 63 can fit with the cylindrical side of the inner wall of the mixing pot 13 when moving along the axial direction of the mixing pot 13, reducing dead angles for scraping and achieving better discharging and cleaning effects.

[0048] In this specific implementation, the bottom cleaning shovel 43, the side cleaning shovel 53 and the side bottom scraper 63 are all made of plastic material, specifically, polytetrafluoroethylene material.

[0049] like Fig.10 and 11 As shown, the present embodiment also includes a detection mechanism 7, which includes a fourth quick-change tool tray 71 and a detection component arranged on the fourth quick-change tool tray 71, the fourth quick-change tool tray 71 can be connected to the quick-change main tray 2, the detection component is used to detect the inside of the mixing pot 13, and the detection component is connected to the controller 8.

[0050] The detection component includes a fourth mounting plate 72, a mounting bracket 73 and a camera 74. One side of the fourth mounting plate 72 is connected to the fourth quick-change tool tray 71, and the other side of the fourth mounting plate 72 is provided with a mounting bracket 73. The camera 74 is arranged on the mounting bracket 73, and the camera 74 is connected to the controller 8.

[0051] This embodiment also includes a first support frame 9 , which is used to place the mixing pot 13 .

[0052] like Fig.12 As shown, in order to make the mixing pot 13 more stable and not to rotate, the upper part of the first support frame 9 is provided with a groove 10 matching the annular side wall structure of the mixing pot 13, and the groove 10 is provided with a positioning hole 11 matching the structure of the handle 14 of the mixing pot 13. The groove 10 in this embodiment is an arc groove matching the cylindrical structure of the mixing pot 13.

[0053] This embodiment also includes a second support frame 12, which is used to place the bottom cleaning mechanism 4, the side cleaning mechanism 5, the side bottom scraping mechanism 6 and the detection mechanism 7.

[0054] It should be noted that the quick-change main tray 2, the first quick-change tool tray 41, the second quick-change tool tray 51, the third quick-change tool tray 61 and the fourth quick-change tool tray 71 in this embodiment are all components in the prior art, so their specific structures are not repeated. The quick-change main tray 2 can be connected to any one of the first quick-change tool tray 41, the second quick-change tool tray 51, the third quick-change tool tray 61 and the fourth quick-change tool tray 71, so that the quick-change main tray 2 is connected to any one of the bottom cleaning component, the side cleaning component, the side bottom scraping component and the detection component.

[0055] In this specific embodiment, the multi-degree-of-freedom robot 1 is a six-degree-of-freedom robot. Specifically, the six-degree-of-freedom robot is a six-degree-of-freedom explosion-proof robot.

[0056] The specific use process is as follows: after the high-viscosity and high-sensitivity hazardous chemicals are fully mixed in the mixing pot 13, the mixing pot 13 is placed on the first support frame 9, so that a handle 14 of the mixing pot 13 extends into the positioning hole 11 of the first support frame 9. The controller 8 controls the end of the multi-degree-of-freedom robot 1 to move to the top of the second support frame 12, so that the quick-change main plate 2 at the end of the multi-degree-of-freedom robot 1 is docked and locked with the third quick-change tool plate 61, and the side bottom scraper 63 on the third quick-change tool plate 61 is moved into the mixing pot 13 by the multi-degree-of-freedom robot 1, and the side bottom scraper 63 is used to assist in discharging.

[0057] After the discharge is completed, the controller 8 controls the end of the multi-degree-of-freedom robot 1 to move to the top of the second support frame 12, so that the side bottom scraping mechanism 6 is placed on the second support frame 12, and the quick-change main plate 2 is controlled so that it is no longer locked with the third quick-change tool plate 61, and the quick-change main plate 2 is separated from the third quick-change tool plate 61. The quick-change main plate 2 is controlled to move to the top of the first quick-change tool plate 41, so that the quick-change main plate 2 and the first quick-change tool plate 41 are docked and locked, and the bottom cleaning shovel 43 on the first quick-change tool plate 41 is moved to the mixing pot 13 by the multi-degree-of-freedom robot 1 to clean the bottom surface of the mixing pot 13.

[0058] The controller 8 controls the end of the multi-degree-of-freedom robot 1 to move to the top of the second support frame 12, so that the bottom cleaning mechanism 4 is placed on the second support frame 12, and controls the quick-change main plate 2 so that it is no longer locked with the first quick-change tool plate 41, and separates the quick-change main plate 2 from the first quick-change tool plate 41. The quick-change main plate 2 is controlled to move to the top of the second quick-change tool plate 51, so that the quick-change main plate 2 and the second quick-change tool plate 51 are docked and locked, and the side cleaning shovel 53 on the second quick-change tool plate 51 is moved to the mixing pot 13 by the multi-degree-of-freedom robot 1 to clean the annular side of the mixing pot 13.

[0059] The controller 8 controls the end of the multi-degree-of-freedom robot 1 to move to the top of the second support frame 12, so that the side cleaning mechanism 5 is placed on the second support frame 12, and controls the quick-change main plate 2 so that it is no longer locked with the second quick-change tool plate 51, and separates the quick-change main plate 2 from the second quick-change tool plate 51. The quick-change main plate 2 is controlled to move to the top of the third quick-change tool plate 61, so that the quick-change main plate 2 and the third quick-change tool plate 61 are docked and locked, and the side bottom scraper 63 on the third quick-change tool plate 61 is moved to the mixing pot 13 by the multi-degree-of-freedom robot 1, and the hazardous chemicals scraped off by the bottom cleaning component and the side cleaning component are scraped to the outside of the mixing pot 13.

[0060] The controller 8 controls the end of the multi-degree-of-freedom robot 1 to move to the top of the second support frame 12, so that the side bottom scraping mechanism 6 is placed on the second support frame 12, and controls the quick-change main plate 2 so that it is no longer locked with the third quick-change tool plate 61, and separates the quick-change main plate 2 from the third quick-change tool plate 61. The quick-change main plate 2 is controlled to move to the top of the fourth quick-change tool plate 71, so that the quick-change main plate 2 and the fourth quick-change tool plate 71 are docked and locked, and the camera 74 on the fourth quick-change tool plate 71 is moved to the mixing pot 13 by the multi-degree-of-freedom robot 1 to detect the inside of the mixing pot 13 to detect the cleaning effect.

[0061] It can be seen that in this embodiment, three different shovel bodies are used to clean the mixing pot 13, and the cleaning effect is better and the cleaning efficiency is improved. At the same time, a robot quick-change tool is used to replace the shovel body, and no manual intervention is required during the production process, and the replacement speed is fast. After that, the camera 74 is used to check the cleaned mixing pot 13 to achieve a completely unmanned operation process. The automatic cleaning of the mixing pot 13 by a robot in conjunction with different shovel bodies proposed in this embodiment can replace manual labor, can achieve rapid unmanned cleaning, and can monitor the cleaning process in real time, solving many problems existing in manual cleaning.

[0062] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An automated hazardous chemical cleaning device, characterized in that: The invention comprises a multi-degree-of-freedom robot, a bottom cleaning mechanism, a side cleaning mechanism, a side bottom scraping mechanism and a controller, wherein a quick-change main plate is arranged at the end of the multi-degree-of-freedom robot, and the multi-degree-of-freedom robot and the quick-change main plate are both connected to the controller; the bottom surface cleaning mechanism comprises a first quick-change tool plate and a bottom surface cleaning component arranged on the first quick-change tool plate, the first quick-change tool plate can be connected to the quick-change main plate, and the bottom surface cleaning component is used to clean the bottom surface of the inner wall of the mixing pot; the side surface cleaning mechanism comprises a second quick-change tool plate and a side surface cleaning component arranged on the second quick-change tool plate, the second quick-change tool plate can be connected to the quick-change main plate, and the side surface cleaning component is used to clean the annular side surface of the inner wall of the mixing pot; the side bottom scraping mechanism comprises a third quick-change tool plate and a side bottom scraping component arranged on the third quick-change tool plate, the third quick-change tool plate can be connected to the quick-change main plate, and the side bottom scraping component is used to assist in discharging and scrape the hazardous chemicals scraped off by the bottom surface cleaning component and the side surface cleaning component to the outside of the mixing pot.

2. The automated hazardous chemical cleaning device according to claim 1, characterized in that: It also includes a connecting mechanism, which includes a six-dimensional force sensor, a first connecting plate, a second connecting plate and a third connecting plate. The first connecting plate, the six-dimensional force sensor, the second connecting plate, the third connecting plate and the quick-change main plate are connected in sequence. The end of the first connecting plate away from the six-dimensional force sensor is connected to the end of the multi-degree-of-freedom robot, and the six-dimensional force sensor is connected to the controller.

3. The automated hazardous chemical cleaning device according to claim 1, characterized in that: The bottom surface cleaning assembly includes a first mounting plate, a bottom surface cleaning shovel, a first side plate, a first fixed plate and a first fixed assembly, one side of the first mounting plate is connected to the first quick-change tool tray, the first side plate is vertically fixed to the other side of the first mounting plate, the bottom surface cleaning shovel is located between the first side plate and the first fixed plate, the first fixed assembly fixedly connects the first fixed plate, the bottom surface cleaning shovel and the first side plate, the bottom surface cleaning shovel is perpendicular to the first mounting plate, and the length direction of the shovel blade of the bottom surface cleaning shovel is perpendicular to the axial direction of the first quick-change tool tray.

4. The automated hazardous chemical cleaning device according to claim 1, characterized in that: The side cleaning assembly includes a second mounting plate, a side cleaning shovel, a second side plate, a second fixed plate and a second fixed assembly. One side of the second mounting plate is connected to the second quick-change tool tray. The second side plate is vertically fixed to the other side of the second mounting plate. The side cleaning shovel is located between the second side plate and the second fixed plate. The second fixed assembly fixedly connects the second fixed plate, the side cleaning shovel and the second side plate. The side cleaning shovel is perpendicular to the second mounting plate. The length direction of the shovel blade of the side cleaning shovel is consistent with the axial direction of the second quick-change tool tray.

5. The automated hazardous chemical cleaning device according to claim 1, characterized in that: The side bottom scraper assembly includes a third mounting plate and a side bottom scraper. One side of the third mounting plate is connected to the third quick-change tool tray. The side bottom scraper is fixed to the other side of the third mounting plate and is parallel to the third mounting plate.

6. The automated hazardous chemical cleaning device according to claim 1, characterized in that: It also includes a detection mechanism, which includes a fourth quick-change tool tray and a detection component arranged on the fourth quick-change tool tray, the fourth quick-change tool tray can be connected to the quick-change main tray, the detection component is used to detect the inside of the mixing pot, and the detection component is connected to the controller.

7. The automated hazardous chemical cleaning device according to claim 6, characterized in that: The detection component includes a fourth mounting plate, a mounting bracket and a camera. One side of the fourth mounting plate is connected to the fourth quick-change tool tray, and the other side of the fourth mounting plate is provided with the mounting bracket. The camera is arranged on the mounting bracket, and the camera is connected to the controller.

8. The automated hazardous chemical cleaning device according to claim 1, characterized in that: It also includes a first supporting frame, wherein the first supporting frame is used to place the mixing pot.

9. The automated hazardous chemical cleaning device according to claim 8, characterized in that: The upper part of the first support frame is provided with a groove matching the annular side wall structure of the mixing pot, and the groove is provided with a positioning hole matching the handle structure of the mixing pot.

10. The automated hazardous chemical cleaning device according to claim 1, characterized in that: The multi-degree-of-freedom robot is a six-degree-of-freedom robot.

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