Movable robot for automatically weighing gas cylinder and weighing method

Abstract

The invention discloses a movable robot for automatically weighing a gas cylinder and a weighing method. The movable robot comprises a robot body, a rotating base, a robot base, driving wheels, a steering driving device, a first six-axis mechanical arm and a second six-axis mechanical arm. The two sides of the robot body are connected with the first six-axis mechanical arm and the second six-axis mechanical arm correspondingly. The first six-axis mechanical arm is connected with the first clamping jaw through the first force transmission device and used for clamping a gas cylinder cover on the top of a gas cylinder. The second six-axis mechanical arm is connected with a second clamping jaw through a second force sensor and is used for clamping the bottle body part of the gas bottle; and a controller and a visual identification module are arranged in the robot body. The gas cylinder is slowly lifted or put down through the mechanical arm at a constant speed, the phenomenon that the gas cylinder is prone to collision and manual visual inspection is reduced, the accuracy of the weighing result is improved, and meanwhile the safety coefficient is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of standard gas weighing, and specifically refers to a movable robot and a weighing method for automatically weighing a gas cylinder. Background Art

[0002] Gas standard substances can be used as measurement standards to verify, calibrate or proofread instruments and equipment, and can also be used as comparison standards to assess equipment, etc., and are widely used. When developing gas standard substances, the weighing method is usually used to prepare gas standard substances. Accurately weighing the mass of the gas added to the gas cylinder has a significant impact on obtaining accurate gas concentration determination results. During the preparation process, it is necessary to determine the mass of the added gas component. The added mass is determined by weighing the difference between the mass before and after the addition of the gas cylinder. During the development of gas standard substances, when the concentration range of each gas standard substance does not exceed 10%, at least 2 or more gas standards of concentration need to be prepared, and at least 4 bottles of gas standards are prepared for each gas standard. Each bottle of gas standard is weighed at least 3 times before and after adding a component until the weighing is stable. In order to accurately weigh the mass of the added component, a gas cylinder with a similar model, specification and mass to the sample gas cylinder is selected as a reference bottle. The reference bottle and the sample bottle are weighed alternately before and after the mass of the component is filled. Therefore, when preparing gas standards during the development of gas standards, a large amount of mass of the filled gas cylinder needs to be weighed.

[0003] Existing gas cylinder weighing mainly adopts manual weighing, because the gas cylinder body is heavy, and adding a component requires weighing the mass before and after adding the gas cylinder, and the mass before and after needs to be weighed alternately for the reference bottle and the sample bottle, and at least three consecutive measurements are made until the weighing is stable. Frequent manual weighing is performed multiple times. First, there is a phenomenon of knocking when weighing the gas cylinder manually, and the force of placing the gas cylinder on the electronic balance also has a certain influence on the electronic balance, which ultimately affects the weighing result, increases the risk factor, and poses a safety hazard; second, when weighing the gas cylinder manually, placing the gas cylinder at different positions on the balance will affect the repeatability of the weighing, and the change of human body temperature can easily cause air flow and affect the stability of the balance, resulting in a long weighing time and low weighing efficiency; third, after filling a large amount of gas into the gas cylinder, the temperature of the gas cylinder will rise, causing the gas cylinder temperature to be greater than the room temperature. If the weighing is performed directly, the accuracy of the weighing result will be reduced.

[0004] Chinese utility model patent 202321513459.2 discloses a device for automatic cross-weighing of gas cylinders. The device automatically alternates gas cylinders to obtain accurate gas cylinder weighing. The entire weighing process does not require human involvement, and human interference in the weighing process can be eliminated. However, the gas cylinders need to be placed on the device manually, and after the weighing is completed, the gas cylinders need to be removed from the device manually. The weighed gas cylinders cannot be sent to the gas distribution device, and the weighing indication cannot be automatically read. Summary of the invention

[0005] One of the technical problems to be solved by the present invention is to provide a movable robot for automatically weighing gas cylinders.

[0006] The second technical problem to be solved by the present invention is to provide a weighing method using a movable robot for automatically weighing gas cylinders.

[0007] The present invention is achieved in that:

[0008] A movable robot for automatically weighing gas cylinders, comprising: a robot body, a rotating base, a robot base, a driving wheel, a steering drive device, a first six-axis robot arm and a second six-axis robot arm;

[0009] The bottom of the robot body is connected to the rotating base, the bottom of the rotating base is connected to the robot base, a plurality of driving wheels are arranged at the bottom of the robot base, and a plurality of steering drive devices connected to the driving wheels are arranged above the robot base;

[0010] The first six-axis robotic arm and the second six-axis robotic arm are respectively connected to two sides of the robot body;

[0011] The first six-axis robot arm is connected to the first gripper via the first force sensor, and is used to grip the gas cylinder cover on the top of the gas cylinder;

[0012] The second six-axis robot arm is connected to the second gripper via a second force sensor, and is used to grip the body of the gas cylinder;

[0013] A controller and a visual recognition module are provided in the robot body, and the controller is respectively connected to the visual recognition module, the steering drive device, the first six-axis robotic arm, the second six-axis robotic arm, the first force sensor, the first gripper, the second six-axis robotic arm, the second force sensor and the second gripper;

[0014] The first clamping jaw and the second clamping jaw are both wrapped with soft materials;

[0015] The second gripper is provided with a first temperature sensor for measuring the temperature of the gas cylinder; the robot body is provided with a second temperature sensor for measuring the room temperature;

[0016] The first six-axis robot arm is also equipped with a cooling device for cooling the gas cylinder.

[0017] Furthermore, the cooling device includes: an air pump, a pair of air pipes, and two groups of ventilation pipes; the air pump is installed inside the robot body and connected to the controller, one end of the pair of air pipes is connected to the air pump, and the other end passes through both sides of the first six-axis robot arm and is respectively connected to a group of ventilation pipes, and the two groups of ventilation pipes are respectively fixed on the two outer sides of the first clamp.

[0018] A weighing method using a movable robot for automatically weighing gas cylinders as described above comprises the following steps:

[0019] Step S1: The visual recognition module recognizes the positions of the gas cylinder and the electronic balance, and the steering drive device drives the driving wheels to move in front of the gas cylinder and the electronic balance;

[0020] Step S2: The rotating base rotates the robot body to a suitable position, and the visual recognition module accurately locates the position of the gas cylinder cover; the first six-axis robotic arm grabs the gas cylinder cover, and the second six-axis robotic arm grabs the gas cylinder body;

[0021] Step S3: The first temperature sensor detects the temperature of the gas cylinder, and the second temperature sensor detects the indoor temperature;

[0022] Step S4: Determine whether the temperature of the gas cylinder is greater than the set room temperature range. If yes, start the cooling device and return to step S3. If no, proceed to step S5.

[0023] Step S5: The visual recognition module accurately locates the position of the electronic balance, and the first six-axis robotic arm and the second six-axis robotic arm slowly and evenly place the gas cylinder at the center of the electronic balance and then release it, weigh it, and record the indicated value, completing one weighing;

[0024] Step S6: After the weighing is completed, the first six-axis robotic arm and the second six-axis robotic arm slowly and evenly remove the gas cylinder from the electronic balance;

[0025] Step S7: Weigh the gas cylinder sample in the same way, record the indicated value, and the weighing is completed.

[0026] Furthermore, it also includes: repeating steps S5 to S7 more than three times, and the indicated value deviation is less than the set value for three consecutive times, which is the final measured value.

[0027] The advantages of the present invention are:

[0028] 1. The robotic arm can lift or lower the gas cylinder slowly and evenly by precisely controlling the angles of each joint, reducing the risk of collision and manual inspection. The visual recognition module can accurately identify the center position of the balance, reduce the error caused by the balance's eccentric load, improve the accuracy of the weighing results, and increase the safety factor.

[0029] 2. There is no human involvement in the weighing process, which can eliminate human interference in the weighing process. For example, changes in human body temperature can easily cause air flow and affect the stability of the balance, resulting in long weighing time and low weighing efficiency, thereby improving the weighing work efficiency, and can realize automatic reading of weighing results, saving personnel costs.

[0030] 3. The gas cylinder can be taken and delivered to the required location before and after weighing, which improves the work efficiency of gas standard material preparation.

[0031] 4. It can measure the temperature of gas cylinders and quickly cool them down, thus improving the accuracy and efficiency of gas cylinder weighing. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0033] Figure 1 It is a schematic diagram of the three-dimensional structure of the robot of the present invention.

[0034] Figure 2 yes Figure 1 main view.

[0035] Figure 3 It is a schematic diagram of the controller flow of the present invention. DETAILED DESCRIPTION

[0036] like Figure 1 and Figure 2 As shown, a movable robot for automatically weighing gas cylinders comprises: a robot body 1, a rotating base 2, a robot base 3, a driving wheel 4, a steering drive device 5, a first six-axis robot arm 6 and a second six-axis robot arm 7;

[0037] The bottom of the robot body 1 is connected to the rotating base 2, the bottom of the rotating base 2 is connected to the robot base 3, a plurality of driving wheels 4 are arranged at the bottom of the robot base 3, and a plurality of steering drive devices 5 connected to the driving wheels 4 are arranged above the robot base 3;

[0038] The two sides of the robot body 1 are respectively connected to a first six-axis robotic arm 6 and a second six-axis robotic arm 7;

[0039] The first six-axis robot arm 6 is connected to the first clamping claw 9 through the first force sensor 8, and is used to clamp the gas cylinder cover 101 on the top of the gas cylinder 100;

[0040] The second six-axis robot arm 7 is connected to the second clamping claw 11 through the second force sensor 10, and is used to clamp the body of the gas cylinder 100;

[0041] A controller (not shown), an air pump (not shown) and a visual recognition module 12 are arranged in the robot body 1. The controller is respectively connected to the visual recognition module 12, the steering drive device 5, the first six-axis mechanical arm 6, the second six-axis mechanical arm 7, the first force sensor 8, the first gripper 9, the second six-axis mechanical arm 7, the second force sensor 10 and the second gripper 11. The first gripper 9 and the second gripper 11 are both wrapped with soft materials to prevent scratching of the gas cylinder.

[0042] After the gas cylinder is filled with gas, the temperature of the gas cylinder rises. Weighing the gas cylinder at this time will affect the weighing result and cause the prepared concentration to fail to reach the expected target. Therefore, a first temperature sensor 13 is installed on the second clamp 11 of the present invention to measure the temperature of the gas cylinder 100; a second temperature sensor 14 is installed on the robot body 1 to measure the room temperature. If the temperature of the gas cylinder 100 is higher than the room temperature, no weighing is performed. A cooling device is installed on the robot body 1 to cool the gas cylinder 100. When it is measured that the temperature of the gas cylinder 100 is higher than the room temperature, the cooling device is turned on to cool the gas cylinder 100, and when the temperature drops to the room temperature, weighing begins.

[0043] The cooling device in this embodiment includes: an air pump (not shown), a pair of air pipes 15, and two groups of ventilation pipes 16; the air pump is installed inside the robot body and connected to the controller, one end of the pair of air pipes 15 is connected to the air pump, and the other end passes through the two sides of the first six-axis robot arm 7 and is respectively connected to a group of ventilation pipes 16, and the two groups of ventilation pipes 16 are respectively fixed on the two outer sides of the first clamp 9.

[0044] Figure 3 It is a schematic diagram of the controller flow of the present invention.

[0045] The specific steps of the weighing method are as follows:

[0046] Step S1: the visual recognition module 12 recognizes the positions of the gas cylinder 100 and the electronic balance (not shown), and the steering drive device 5 drives the driving wheel 4 to move in front of the gas cylinder 100 and the electronic balance;

[0047] Step S2: The rotating base 2 rotates the robot body 1 to a suitable position, and the visual recognition module 12 accurately locates the position of the gas cylinder cover 101; the first six-axis robot arm 6 grabs the gas cylinder cover 101, and the second six-axis robot arm grabs the body of the gas cylinder 100;

[0048] Step S3: the first temperature sensor 13 detects the temperature of the gas cylinder, and the second temperature sensor 14 detects the indoor temperature;

[0049] Step S4: Determine whether the temperature of the gas cylinder is greater than the set room temperature range. If yes, start the gas pump and return to step S3. If no, proceed to step S5.

[0050] Step S5: the visual recognition module 12 accurately locates the position of the electronic balance, the first six-axis robotic arm 6 and the second six-axis robotic arm 7 slowly and evenly place the gas cylinder at the center of the electronic balance and then release it, weigh it, record the indicated value, and complete one weighing;

[0051] Step S6: After weighing is completed, the first six-axis robotic arm 6 and the second six-axis robotic arm 7 slowly and evenly remove the gas cylinder from the electronic balance.

[0052] Step S7: Weigh the gas cylinder sample in the same way, record the indicated value, and the weighing is completed.

[0053] Repeat steps S5 to S7 for more than three times. If the indication deviation is less than 10 mg for three consecutive times (this value can be set according to the actual weighing situation), it is the final measured value.

[0054] The mechanical arm of the present invention can lift or put down the gas cylinder slowly and uniformly by accurately controlling the angles of each joint, thereby reducing the possibility of collision and human visual inspection of the gas cylinder. The visual recognition module can accurately identify the center position of the balance, reduce the error caused by the balance overload, improve the accuracy of the weighing result, and improve the safety factor. There is no human involvement in the weighing process, and human interference in the weighing process can be eliminated. For example, changes in human body temperature can easily cause air flow and other factors that affect the stability of the balance, resulting in a long weighing time and low weighing efficiency, thereby improving the weighing work efficiency, and can realize automatic reading of weighing results, saving personnel costs. The gas cylinder can be taken and delivered to the location where it needs to be delivered before and after weighing, thereby improving the work efficiency of preparing gas standard substances. The temperature of the gas cylinder can be measured, and the gas cylinder can be quickly cooled down, thereby improving the accuracy and weighing efficiency of the gas cylinder weighing.

[0055] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. A movable robot for automatically weighing gas cylinders, characterized in that: include: A robot body, a rotating base, a robot base, a driving wheel, a steering drive device, a first six-axis robot arm and a second six-axis robot arm; The bottom of the robot body is connected to the rotating base, the bottom of the rotating base is connected to the robot base, a plurality of driving wheels are arranged at the bottom of the robot base, and a plurality of steering drive devices connected to the driving wheels are arranged above the robot base; The first six-axis robotic arm and the second six-axis robotic arm are respectively connected to two sides of the robot body; The first six-axis robot arm is connected to the first gripper via the first force sensor, and is used to grip the gas cylinder cover on the top of the gas cylinder; The second six-axis robot arm is connected to the second gripper via a second force sensor, and is used to grip the body of the gas cylinder; A controller and a visual recognition module are provided in the robot body, and the controller is respectively connected to the visual recognition module, the steering drive device, the first six-axis robotic arm, the second six-axis robotic arm, the first force sensor, the first gripper, the second six-axis robotic arm, the second force sensor and the second gripper; The first clamping jaw and the second clamping jaw are both wrapped with soft materials; The second gripper is provided with a first temperature sensor for measuring the temperature of the gas cylinder; the robot body is provided with a second temperature sensor for measuring the room temperature; The first six-axis robot arm is also equipped with a cooling device for cooling the gas cylinder.

2. A weighing method for a movable robot for automatically weighing gas cylinders as claimed in claim 1, characterized in that: The cooling device includes: an air pump, a pair of air pipes, and two groups of ventilation pipes; the air pump is installed inside the robot body and connected to the controller, one end of the pair of air pipes is connected to the air pump, and the other end passes through the two sides of the first six-axis robot arm and is respectively connected to a group of ventilation pipes, and the two groups of ventilation pipes are respectively fixed on the two outer sides of the first clamp.

3. A weighing method using a movable robot for automatically weighing gas cylinders as claimed in claim 1 or 2, characterized in that: The steps include: Step S1: The visual recognition module recognizes the positions of the gas cylinder and the electronic balance, and the steering drive device drives the driving wheels to move in front of the gas cylinder and the electronic balance; Step S2: The rotating base rotates the robot body to a suitable position, and the visual recognition module accurately locates the position of the gas cylinder cover; the first six-axis robotic arm grabs the gas cylinder cover, and the second six-axis robotic arm grabs the gas cylinder body; Step S3: The first temperature sensor detects the temperature of the gas cylinder, and the second temperature sensor detects the indoor temperature; Step S4: Determine whether the temperature of the gas cylinder is greater than the set room temperature range. If yes, start the cooling device and return to step S3. If no, proceed to step S5. Step S5: The visual recognition module accurately locates the position of the electronic balance, and the first six-axis robotic arm and the second six-axis robotic arm slowly and evenly place the gas cylinder at the center of the electronic balance and then release it, weigh it, and record the indicated value, completing one weighing; Step S6: After the weighing is completed, the first six-axis robotic arm and the second six-axis robotic arm slowly and evenly remove the gas cylinder from the electronic balance; Step S7: Weigh the gas cylinder sample in the same way, record the indicated value, and the weighing is completed.

4. A weighing method of a movable robot for automatically weighing gas cylinders as claimed in claim 3, characterized in that: Also includes: Repeat steps S5 to S7 for more than three times. If the displayed value deviation is less than the set value for three consecutive times, it is the final measured value.

Images