Automatic insulation oil acid value detection system based on mechanical arm

Abstract

The invention discloses an automatic insulation oleic acid value detection system based on a mechanical arm, and belongs to the technical field of insulation oleic acid value detection.The automatic insulation oleic acid value detection system comprises an automatic communication device and an acid value auxiliary mechanism, the acid value auxiliary mechanism comprises an acid value cup base, and a cooperative mechanical arm is arranged above the acid value cup base; an acid value equipment door opening mechanism is arranged above the acid value cup base, acid value testing equipment is arranged above the acid value cup base, and an acid value testing cup is arranged above the acid value cup base; the door opening mechanism comprises a stepping motor, the stepping motor is connected with a first rotating shaft and a coupler, and the stepping motor is electrically connected with the automatic communication device. According to the invention, a secondary development communication protocol is written for the automatic communication device, an automatic control program flow is added, and an acid value auxiliary mechanism is arranged in a matched manner, so that a manually operated acid value detector is transformed to be adaptive to automatic operation and construction of the auxiliary mechanism, and automatic control of sample loading and unloading is realized.

Description

Technical Field

[0001] The invention belongs to the technical field of insulating oil acid value detection, and in particular relates to an insulating oil acid value automatic detection system based on a mechanical arm. Background Art

[0002] At present, the insulating oil acid value tester is a non-automated equipment, which requires the experimenter to manually prepare materials and manually click the operation panel to realize sample testing, and the human operation factor has a great influence. In order to promote the construction of smart laboratories, strengthen the automation and intelligence of instruments, improve the detection efficiency, and reduce the pressure on personnel, an automatic detection system for the acid value of insulating oil is needed. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art and to provide an automatic detection system for the acid value of insulating oil based on a robotic arm, thereby solving the problems in the above-mentioned background technology.

[0004] The object of the present invention is achieved as follows: an automatic detection system for the acid value of insulating oil based on a mechanical arm, which includes an automatic communication device and an acid value auxiliary mechanism, wherein the acid value auxiliary mechanism includes an acid value cup base, a cooperative mechanical arm is arranged above the acid value cup base, an acid value equipment door opening mechanism is arranged above the acid value cup base, an acid value test device is arranged above the acid value cup base, and an acid value test cup is arranged above the acid value cup base; the door opening mechanism includes a stepper motor, the stepper motor is connected with a first rotating shaft and a coupling, and the stepper motor is electrically connected to the automatic communication device. By writing a secondary development communication protocol for the automatic communication device, adding an automatic control program flow, and coordinating the setting of the acid value auxiliary mechanism, the manually operated acid value detector is transformed into an adaptive automatic operation, and the original manual operation capability is retained. The loading and unloading interaction of the special equipment is realized by action teaching, point calibration, and grasping action trajectory programming. By transforming the acid value meter, an auxiliary mechanism is constructed to realize the automatic control of loading and unloading.

[0005] Furthermore, the collaborative robot arm includes a second rotating shaft, which is connected to a turntable. The second rotating shaft is connected to the stepper motor through a clamp, and the stepper motor is used to control the clamp to reach the position for clamping and placing the acid value cup. The clamp controls the stepper motor to clamp and release the acid value cup, and the turntable controls the rotation of the acid value cup of the stepper motor.

[0006] Furthermore, the automatic communication device includes an acid value meter, a drive frame and a central control system. The withstand voltage tester is connected to the drive frame via a serial port, and the drive frame is connected to the central control system via a TCP / IP protocol.

[0007] Furthermore, the acid value meter sends data to the industrial computer of the central control system through the serial port. The industrial computer is used to deploy a unified driver framework, convert the data protocol from the serial port to TCP / IP, and perform secondary development after analysis for automatic control.

[0008] Furthermore, the model of the acid value testing equipment is BSC6x, an acid value cup turntable is arranged above the acid value cup base, and a plurality of acid value testing cups are arranged, and all are arranged above the acid value cup turntable.

[0009] Furthermore, the stepper motor rotating shaft of the door opening mechanism is used to open the door of the acid value equipment, and the PLC of the central control system sends a pulse signal to control the servo motor of the acid value cup turntable to rotate, and rotates the acid value cup to be tested to the pick-up position of the collaborative robot arm; the PLC of the central control system sends a pulse signal to control the X-axis servo motor of the collaborative robot arm to rotate 180 degrees, and controls the Z-axis servo motor of the collaborative robot arm to descend to the acid value cup grabbing position.

[0010] Furthermore, the central control program of the central control system controls the electric claw of the collaborative robot arm to clamp and grab the acid value cup, and the PLC of the central control system sends a pulse signal to control the Z-axis and X-axis servo motors to rise and rotate to the acid value equipment respectively; the PLC of the central control system sends a pulse signal to control the Z-axis of the collaborative robot arm to descend to the position of the acid value instrument to place the acid value cup, and the electric claw of the robot arm releases and places the acid value cup; the program of the central control system controls the door opening mechanism of the acid value equipment to close the door, which is used to start the automatic test of the acid value equipment.

[0011] Furthermore, the PLC of the central control system sends a pulse signal to control the collaborative robot arm to descend to the acid value meter, and the electric claw clamps and takes out the acid value cup, and is used for the collaborative robot arm Z axis to rise and rotate to the turntable position, the collaborative robot arm Z axis to descend to the turntable position, and the electric claw releases to put back the tested acid value cup.

[0012] Furthermore, the PLC pulse signal of the central control system controls the X-axis servo motor of the collaborative robot arm to rotate 360 ​​degrees, which is used for taking and placing samples between the acid value cup turntable and the acid value meter.

[0013] The beneficial effects of the present invention are as follows: by writing a secondary development communication protocol for the automated communication device, adding an automated control program flow, and coordinating the setting of an acid value auxiliary mechanism, the manually operated acid value detector is transformed into an adaptive automated operation, while retaining the original manual operation capability. The loading and unloading interaction of the special equipment is realized through action teaching, point calibration, and grabbing action trajectory programming. By transforming the acid value instrument and constructing an auxiliary mechanism, the automated control of loading and unloading is realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of the automated communication device of the present invention;

[0015] Figure 2 is a front view schematic diagram of the acid value auxiliary mechanism of the present invention;

[0016] Figure 3 is a rear view schematic diagram of the acid value auxiliary mechanism of the present invention;

[0017] Figure 4 It is a schematic diagram of the interior of the collaborative robot arm of the present invention.

[0018] In the figure: 1. acid value cup base 2. collaborative robot arm 3. door opening mechanism 4. acid value testing equipment 5. acid value testing cup 6. second rotating axis 7. stepper motor 8. collaborative robot arm X-axis motor 9. collaborative robot arm electric claw 10. collaborative robot arm Z-axis motor. DETAILED DESCRIPTION

[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings. It should be pointed out that all directional words such as up, down, front, back, left, and right that appear in the present invention do not limit the present invention, but are only for more clear description and explanation of the present invention.

[0020] like Figure 1-4 As shown, this embodiment discloses an automatic detection system for the acid value of insulating oil based on a mechanical arm, which includes an automatic communication device and an acid value auxiliary mechanism, wherein the acid value auxiliary mechanism includes an acid value cup base 1, a cooperative mechanical arm 2 is arranged above the acid value cup base 1, an acid value equipment door opening mechanism 3 is arranged above the acid value cup base 1, an acid value test device 4 is arranged above the acid value cup base 1, and an acid value test cup 5 is arranged above the acid value cup base 1; the door opening mechanism 3 includes a stepper motor 7, the stepper motor 7 is connected to a first rotating shaft and a coupling, and the stepper motor 7 is electrically connected to the automatic communication device. By writing a secondary development communication protocol for the automatic communication device, adding an automatic control program flow, and coordinating the setting of an acid value auxiliary mechanism, the manually operated acid value detector is transformed into an adaptive automatic operation, and the original manual operation capability is retained. The loading and unloading interaction of the special equipment is realized by action teaching, point calibration, and grasping action trajectory programming. By transforming the acid value meter, an auxiliary mechanism is constructed to realize the automatic control of loading and unloading.

[0021] The automatic communication device includes the interface document provided by the acid value meter manufacturer, based on the TCP / IP protocol, and develops a driver suitable for automatic control. Its architecture is as follows Figure 1 .

[0022] The communication protocol requirements of the acid value meter are: serial port TTL / cmos, baud rate 115200 1 8N 1.

[0023] Data format description: Hexadecimal

[0024] 1. Issue commands

[0025] Frame header device number command data length data checksum end

[0026] 0x55 0x aa 0x 03 abd cs 0x 16

[0027]

[0028]

[0029] 2. Command response

[0030] Frame header device number command data length data checksum end

[0031] 0x55 0x aa 0x03 abd cs 0x 16

[0032]

[0033] 3. Status upload;

[0034] Frame header device number command data length data checksum end

[0035] 0x 55 0x aa 0x 03 0x a1 0x 1 d cs 0x 16

[0036] Data content description:

[0037] Bit7-Bit5 current cup position number, 001 means 1 cup position, 110 means 6 cup positions; bit4 cup position angle 0 is the normal position, 1 is the retreated cup position; bit0 status information, 0 is idle state, 1 is in testing.

[0038] 4. Cup position and oil sample selection

[0039] Frame header device number command data length data checksum end

[0040] 0x 55 0x aa 0x 03 0x a8 0x 1 d cs 0x 16

[0041] Data content description:

[0042] Bit7-Bit5 cup position number, 001 means 1 cup position, 110 means 6 cup positions; Bit4 whether this cup position is selected, set to 1 for selected, 0 for unselected; bit1, bit0 oil sample selection 00, transformer oil; 01 turbine oil; 10 extract liquid.

[0043] answer

[0044] Frame header device number command data length data checksum end

[0045] 0x 55 0x aa 0x 03 0x a8 0x 1 d cs 0x 16

[0046] Data content description:

[0047] 0x66 Setting completed, 00 Abnormal

[0048] 5. Experiment completed data upload

[0049] Frame header device number command data length data checksum end

[0050] 0x55 0xaa 0x03 0xa9 0x0b d cs 0x16

[0051] Data content

[0052]

[0053]

[0054] 6. Neutralization liquid titration abnormal alarm (lack of liquid, needle blockage, leakage, etc.)

[0055] Frame header device number command data length data checksum end

[0056] 0x55 0xaa 0x03 0xab 0x0 No cs 0x16

[0057] The acid value meter sends data to the industrial computer through the serial port. At the same time, a unified driver framework is deployed on the industrial computer to convert the data protocol from the serial port to TCP / IP. Through its research and secondary development, the following automatic control commands are realized.

[0058] The acid value auxiliary mechanism includes 1. acid value equipment BSC6x; 2. acid value equipment door opening mechanism 3; 3. collaborative robot arm 2; 4. acid value cup turntable; 5. acid value cup.

[0059] According to the collaborative structure design, the auxiliary mechanism of automated operation is developed, which mainly realizes the following functions:

[0060] 1. The central control program controls the door opening mechanism 3 of the acid value equipment to open the door, and the stepper motor 7 of the door opening mechanism 3 rotates the shaft to open the door of the acid value equipment

[0061] 2. The PLC sends a pulse signal to control the servo motor of the acid value cup turntable to rotate, and rotates the acid value cup to be tested to the pick-up position of the collaborative robot arm 2

[0062] 3.PLC sends a pulse signal to control the collaborative robot arm 2X axis servo motor to rotate 180 degrees, and then controls the collaborative robot arm 2Z axis servo motor to descend to the acid value cup grabbing position

[0063] 4. The central control program controls the electric claws of the collaborative robot arm 2 to clamp and grab the acid value cup. The PLC sends pulse signals to control the Z-axis and X-axis servo motors to rise and rotate to the acid value equipment respectively.

[0064] 5.PLC sends a pulse signal to control the Z axis of the collaborative robot arm 2 to descend to the position where the acid value cup is placed on the acid value meter, and the robot arm electric claw releases and places the acid value cup.

[0065] 6. The central control program controls the door opening mechanism 3 of the acid value equipment to close the door and starts the automatic test of the acid value equipment

[0066] 7. After the acid value instrument test is completed, the central control program controls the acid value equipment door opening mechanism 3 to open the door

[0067] 8.PLC sends a pulse signal to control the collaborative robot arm 2 to descend to the acid value meter, the electric claw clamps and takes out the acid value cup, and the Z axis of the collaborative robot arm 2 rises and rotates to the turntable position

[0068] 9. The Z axis of the collaborative robot arm 2 descends to the turntable position, and the electric claw releases to put the tested acid value cup back.

[0069] The 3 components of the door opening mechanism are as follows:

[0070] The collaborative robot arm 2 is composed of a rotating shaft, a gripper control motor, and a turntable control motor; the stepper motor 7 of the rotating shaft controls the gripper to reach the position for gripping and placing the acid value cup; the gripper control motor controls gripping and releasing the acid value cup; and the turntable control motor controls the rotation of the acid value cup.

[0071] The components of collaborative robot arm 2 are as follows:

[0072] According to the collaborative structure design, the auxiliary mechanism of automated operation is developed, which mainly realizes the following functions:

[0073] 1. The 2X-axis servo motor of the collaborative robot arm can rotate 360 ​​degrees through PLC pulse signal control to realize the sample placement from the acid value cup turntable to the acid value instrument.

[0074] 2. The collaborative robot arm 2Z-axis servo motor can move up and down to pick up and place samples through PLC pulse signal control. The moving step accuracy is precisely controlled at 0.2mm, and the arrival signal can be fed back to the PLC through the servo signal.

[0075] 3. The electric claws of the collaborative robot arm 2 can accurately control the gripping stroke with a stroke accuracy of 0.01mm.

[0076] Composite robot gripper and switch cover design;

[0077] The composite robot gripper consists of the parts shown in the picture, including: pipetting press, micro slide electric cylinder, mounting flange, industrial parallel electric claw, gripper and movable fingertips, depth camera, and pipette gun holder.

[0078]

[0079]

[0080] The minimum gripper travel diameter is 36.8mm and the maximum gripper travel diameter is 113mm.

[0081] The composite robot is mainly composed of the bottom mobile tool - Autonomous Mobile Robot (AMR) and the upper collaborative robot arm 2. AMR is a comprehensive system that integrates multiple functions such as environmental perception, dynamic decision planning, behavior control and execution. With the support of Simultaneous Localization and Mapping (SLAM) technology, it can achieve the function of precise navigation directly through natural environment information without prior environmental deployment. The function of AMR is mainly composed of two core sensors: 1. Inertial navigation system, 2. LiDAR.

[0082] Inertial Navigation System (INS) is an autonomous navigation system that uses Newtonian mechanics to calculate the acceleration of an object and puts the value into navigation coordinates to obtain the object's position information. Its use is not limited by spatial conditions.

[0083] Laser radar uses a 360° rotating laser radar, which is a radar system that emits laser beams to detect the position, speed and other characteristic quantities of the target. By emitting a detection signal (laser beam) to the target, and then comparing the received signal reflected from the target (target echo) with the emitted signal, relevant information about the target can be obtained, such as target distance, direction, height, speed, attitude, and even shape parameters, so as to detect, track and identify the surrounding environment. It works in the infrared and visible light bands, and is composed of a laser transmitter, an optical receiver, a turntable and an information processing system.

[0084] The composite robot uses the LOAM (LIDAR odometry and mapping in real-time) algorithm, mainly by extracting edge and surf features from the point cloud for matching and positioning. When the composite robot starts from an unknown location in an unknown environment, it can locate its own position, posture, and motion trajectory in real time through the observation of the inertial navigation system and the laser radar during the movement, and then build an incremental map based on its own position, so as to achieve the purpose of simultaneous positioning and map construction. In the automated detection of insulating oil, the composite robot is set to the path between the working stations and stations of each instrument through advance map construction. These stations and maps are saved in the robot, and accurate and repeatable navigation is performed according to the constructed map and the saved station coordinates and paths during each navigation. Let the robot reliably reach the required station.

[0085] The specific algorithm steps are as follows:

[0086] 1. Obtain the inertial navigation odometer data between two adjacent frames of point cloud, and use it to correct motion distortion of the point cloud after integration.

[0087] 2. Classify the point cloud according to the lidar beam ID and extract edge and singular point features.

[0088] 3. Construct a cost function for the specific difference between the current frame and the map, and use the least squares optimization solver to solve the current pose.

[0089] 4. Update local map features by continuously performing algorithm step calculations in real time, and ultimately achieve accurate map construction and point navigation by integrating lidar sensors and inertial navigation sensors.

[0090] The composite robot can save the constructed map, and then perform matching positioning and navigation based on the map, combined with the information read in real time by the laser radar and relational navigation. Therefore, the composite robot can perform real-time navigation and obstacle avoidance based on the map constructed in the early stage, and perform sample delivery and automated testing.

[0091] When the composite robot moves into position, the six-axis collaborative robot mounted above can identify and locate the QR code through the robot vision system, find the posture of the corresponding barcode by querying the database, and execute the action.

[0092] The complete parameters of the composite robot are as follows.

[0093]

[0094] The communication protocol of the acid value tester needs to be connected to the central control system through the driver. The driver software needs to support the functional process control, sample data flow and storage of the tester, and provide a safe and standardized software interface for the upper system.

[0095] ①Establish heartbeat packet: Socket communication,

[0096] ②Method execution: Socket communication,

[0097] ③Confirmation message after receiving the other party’s message: Socket communication,

[0098] ④Completion message: Socket communication,

[0099] ⑤Confirmation message after receiving the completion message: Socket communication,

[0100] ⑥ Error message during reception: Http Post communication,

[0101] ⑦ Error handling message during the process: Socket communication.

[0102] Through the above methods, the central control system can remotely connect with the driver program, and the central control system can remotely control and call the device to implement device actions and method execution.

[0103] All actions, methods and parameter interfaces of the developed acid value meter are connected to the central control system. Each instruction is encapsulated into an icon module. Multiple commands are connected in series by dragging and dropping on the front-end page, thus realizing the editing of the automated process.

[0104] For acid value testing, we have sorted out the following process steps.

[0105] (1) The composite robot takes samples and directs it to the vicinity of the acid value meter

[0106] (2) Through robot vision recognition, locate the acid value meter and execute its corresponding posture and method

[0107] (3) At the same time, the central control system controls the acid value meter to initialize

[0108] (4) The central control controls the composite robot to pick up the sample, scan the code, and then place it on the table.

[0109] (5) The central control system controls the auxiliary mechanism to take samples and add samples

[0110] (6) The central control system controls the acid value meter for testing

[0111] (7) The central control system controls the acid value meter to return the result

[0112] (8) After the above is completed, the central control system puts the sample bottle back on the body and executes the subsequent samples

[0113] Based on the functions of the command modules of the central control system constructed above, the process actions are spliced ​​together to form a set of test processes for automatic acid value detection. In the central control system, this process can be called to directly conduct the test of automatic acid value detection.

[0114] Combined with the hardware structure, a set of auxiliary mechanisms are designed to achieve a series of automated operations including automatic loading and unloading, automatic operation, automatic data collection, etc. through the coordination and cooperation between robots.

[0115] The above are only preferred specific implementation modes of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical solutions and concepts of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic detection system for the acid value of insulating oil based on a robotic arm, comprising an automatic communication device and an acid value auxiliary mechanism, characterized in that: The acid value auxiliary mechanism includes an acid value cup base, a cooperative mechanical arm is arranged above the acid value cup base, an acid value equipment door opening mechanism is arranged above the acid value cup base, an acid value testing equipment is arranged above the acid value cup base, and an acid value testing cup is arranged above the acid value cup base; the door opening mechanism includes a stepper motor, the stepper motor is connected to a first rotating shaft and a coupling, and the stepper motor is electrically connected to the automatic communication device.

2. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 1 is characterized in that: The collaborative robot arm includes a second rotating shaft, which is connected to a turntable. The second rotating shaft is connected to the stepper motor through a clamp. The stepper motor is used to control the clamp to reach the position for clamping and placing the acid value cup. The clamp controls the stepper motor to clamp and release the acid value cup. The turntable controls the rotation of the acid value cup of the stepper motor.

3. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 2 is characterized in that: The automatic communication device comprises an acid value meter, a drive frame and a central control system. The withstand voltage tester is connected to the drive frame via a serial port, and the drive frame is connected to the central control system via a TCP / IP protocol.

4. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 3 is characterized in that: The acid value meter sends data to the industrial computer of the central control system through the serial port. The industrial computer is used to deploy a unified driver framework, convert the data protocol from the serial port to TCP / IP, and perform secondary development after analysis for automatic control.

5. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 4 is characterized in that: The model of the acid value testing equipment is BSC6x. An acid value cup turntable is arranged above the acid value cup base. There are multiple acid value testing cups, and all of them are arranged above the acid value cup turntable.

6. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 5 is characterized in that: The stepper motor rotating shaft of the door opening mechanism is used to open the door of the acid value equipment. The PLC of the central control system sends a pulse signal to control the servo motor of the acid value cup turntable to rotate, and rotates the acid value cup to be tested to the pick-up and placement position of the collaborative robot arm; the PLC of the central control system sends a pulse signal to control the X-axis servo motor of the collaborative robot arm to rotate 180 degrees, and controls the Z-axis servo motor of the collaborative robot arm to descend to the acid value cup grabbing position.

7. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 6 is characterized in that: The central control program of the central control system controls the electric claw of the cooperative robot arm to clamp and grab the acid value cup. The PLC of the central control system sends a pulse signal to control the Z-axis and X-axis servo motors to rise and rotate to the acid value equipment respectively; the PLC of the central control system sends a pulse signal to control the Z-axis of the cooperative robot arm to descend to the position of the acid value instrument for placing the acid value cup, and the electric claw of the robot arm releases and places the acid value cup; the program of the central control system controls the door opening mechanism of the acid value equipment to close the door, which is used to start the automatic test of the acid value equipment.

8. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 7 is characterized in that: The PLC of the central control system sends a pulse signal to control the collaborative robot arm to descend to the acid value meter, and the electric claw clamps and takes out the acid value cup, and the collaborative robot arm Z axis rises and rotates to the turntable position, the collaborative robot arm Z axis descends to the turntable position, and the electric claw releases to put the tested acid value cup back.

9. The automatic detection system for acid value of insulating oil based on a robotic arm according to claim 8, characterized in that: The PLC pulse signal of the central control system controls the X-axis servo motor of the collaborative robot arm to rotate 360 ​​degrees, which is used for taking and placing samples between the acid value cup turntable and the acid value meter.

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