Vacuum breaking prevention method for flammable and explosive fluid vacuum pouring hopper

Abstract

The invention discloses a vacuum breaking prevention method for a flammable and explosive fluid vacuum pouring hopper, and relates to the field of flammable and explosive fluid vacuum pouring. The problems that in the vacuum pouring process of a traditional robot system, residual fluid on the wall face of the hopper cannot be scraped in real time according to the height condition of flammable and explosive fluid in the hopper, and the vacuum breaking prevention task of the vacuum pouring hopper is difficult to complete are solved. According to the strategy for preventing vacuum breaking of the hopper in the flammable and explosive fluid vacuum pouring process based on the liquid level height, the hopper is divided into three areas and corresponds to three scraping modes, the liquid level height of the flammable and explosive fluid in the hopper is monitored in real time, and according to the liquid level height, a material shovel is controlled to conduct scraping action in the corresponding areas of the hopper in the corresponding posture; the scraping frequency in the fluid vacuum pouring process is reduced, the efficiency of a vacuum breaking prevention task is improved, different scraping postures are used in different areas, the material shovel is tightly attached to the inner wall of the hopper, and the fluid residual quantity on the inner wall of the hopper is reduced. The vacuum pouring device is mainly applied to vacuum pouring tasks.

Description

Technical Field

[0001] The present invention relates to the field of vacuum pouring of flammable and explosive fluids, and specifically to a method for preventing vacuum breakage of a hopper for vacuum pouring flammable and explosive fluids. Background Art

[0002] Currently, traditional industrial robots have been widely used in various fields such as manufacturing, assembly, and logistics. However, limited by pre-programmed actions and working environments, they can only perform fixed tasks under specific conditions, and the automation and intelligence capabilities of robots to execute tasks are relatively weak. In the task of vacuum pouring flammable and explosive complex fluids, the flammable and explosive fluids in the hopper gradually decrease as the pouring process progresses. In order to prevent the fluid in the center of the hopper from pouring too fast, causing air to enter the pouring cartridge and destroying the vacuum environment of the cartridge, it is necessary to scrape the fluid on the hopper wall to the center of the hopper during the pouring process to slow down the pouring speed of the center fluid and avoid vacuum breakage of the hopper. And the flammable and explosive fluid is a highly viscous flammable and explosive substance, and generally mechanical scraping is required.

[0003] In the vacuum pouring task, different cartridges usually require pouring different amounts of flammable and explosive fluids. According to the requirements of the pouring task, the shape and position of the hopper are sometimes different. Such diverse working conditions and unstructured working environments make it impossible for traditional offline programming or online teaching robot systems to perform real-time scraping operations on the fluid on the hopper wall according to the height of the fluid in the hopper during the vacuum pouring process, and it is difficult to complete the task of preventing vacuum breakage of the vacuum pouring hopper. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that in the process of vacuum pouring by a traditional robot system, it is impossible to perform real-time scraping operations on the residual fluid on the hopper wall according to the height of the flammable and explosive fluid in the hopper, and it is difficult to complete the task of preventing vacuum breakage of the vacuum pouring hopper, and provides a method for preventing vacuum breakage of a hopper for vacuum pouring flammable and explosive fluids.

[0005] A method for preventing vacuum breakage of a hopper for vacuum pouring flammable and explosive fluids, the method comprising:

[0006] Dividing the funnel-shaped hopper into three regions from top to bottom, namely a straight cylinder region, a transition region, and a conical gradual change region;

[0007] During the vacuum pouring task process, the vision system real-time monitors the height H of the liquid surface center point of the flammable and explosive fluid in the hopper 2 and the upper edge height H of the residual flammable and explosive fluid on the hopper wall 1 , and according to the relationship between the heights of the two and the upper and lower boundary heights of the hopper transition region, controls the robotic arm to drive the scraper to move to the wall surface of the corresponding region of the hopper, and controls the scraping posture and scraping method of the scraper, so that the scraper performs scraping operations along the circumferential direction of the hopper wall until the height H of the liquid surface center point of the flammable and explosive fluid2 Lowered to a preset height to prevent the hopper from breaking vacuum during the vacuum casting task; among them,

[0008] The scraping method corresponding to the straight cylinder area is: the scraper performs one scraping action, and in the horizontal direction, the scraper moves one week along the circumferential direction of the hopper wall;

[0009] The scraping method corresponding to the transition area is: the scraper performs multiple scraping actions, and each scraping action is for the scraper to scrape along the extension direction from top to bottom of the hopper wall, and the scraping action is repeated until the scraper moves one week along the circumferential direction of the hopper wall;

[0010] The scraping method corresponding to the tapered gradient area is: the scraper performs one scraping action, and in the horizontal direction, the scraper moves one week along the circumferential direction of the hopper wall.

[0011] Preferably, when both H 2 ≥H t and H 1 -H 2 ≥ L are satisfied, control the scraper to perform scraping operation in the straight cylinder area, so that H 1 -H 2 approaches 0;

[0012] When both H 1 >H b and H 2 ≤H b are satisfied, control the scraper to perform scraping operation in the transition area;

[0013] When both H 1 ≤H b and H 1 -H 2 ≥-Lcosα′ are satisfied, control the scraper to perform scraping operation in the tapered gradient area, so that H 1 -H 2 approaches 0;

[0014] Among them, L is the width of the scraper, α′ is the bending angle of the hopper transition area, H t is the height of the upper boundary of the transition area, and H b is the height of the lower boundary of the transition area.

[0015] Preferably, when the scraper performs scraping operation in the straight cylinder area, the scraping posture is that the scraper contacts the hopper wall along the circumferential direction of the hopper and inclines towards the wall surface in the circumferential direction, and the value range of the angle α between the scraper and the tangent plane of the wall surface is 35°≤α≤45°.

[0016] Preferably, when the scraper of the transition zone performs the scraping operation, the scraping posture is that the scraper contacts the hopper wall along the axial direction of the hopper and inclines towards the wall surface in the axial direction. The value range of the angle α between the scraper and the tangent plane of the wall surface is 35° ≤ α ≤ 45°.

[0017] Preferably, when the scraper of the conical gradient zone performs the scraping operation, the scraping posture is that the scraper contacts the hopper wall along the circumferential direction of the hopper and inclines towards the wall surface in the circumferential direction. The value range of the angle α between the scraper and the tangent plane of the wall surface is 35° ≤ α ≤ 45°.

[0018] Preferably, the optimal value of α is 40°.

[0019] A computer-readable storage device stores a computer program, and when the computer program is executed, it implements the method for preventing vacuum breakage of the hopper for vacuum casting of flammable and explosive fluids.

[0020] A computer program product includes a computer program, and when the computer program is executed by a processor, it implements the method for preventing vacuum breakage of the hopper for vacuum casting of flammable and explosive fluids.

[0021] Advantages of the present invention:

[0022] The present invention establishes a strategy for preventing vacuum breakage of the hopper during the vacuum casting process of flammable and explosive fluids based on the liquid level height. The present invention considers the influence of different pouring amounts of flammable and explosive fluids and the irregular shape of the hopper on the scraping posture and actions of the robotic arm. The hopper is divided into three regions and corresponding three scraping methods. At the same time, the liquid level height of the fluid in the hopper is monitored in real time by vision, and based on this, the robotic arm is controlled to hold the scraper to perform scraping actions in the corresponding region of the hopper in the corresponding posture, reducing the number of scraping times during the fluid vacuum casting process, improving the efficiency of the vacuum breakage prevention task. At the same time, different scraping postures are used in different hopper regions, making the scraper closely fit the inner wall of the hopper, reducing the residual amount of fluid on the inner wall of the hopper, improving economic and environmental benefits, and having a certain inspiration and optimization effect on cleaning the residual fluid in the hopper to prevent vacuum breakage in the actual vacuum casting task. Description of the Drawings

[0023] Figure 1 It is a schematic diagram of the pouring of flammable and explosive fluids in a funnel-shaped hopper;

[0024] Figure 2 It is a diagram of the relative position relationship between the scraper and the wall surface during the scraping process corresponding to the straight cylinder zone;

[0025] Figure 3 It is a diagram of the relative position relationship between the scraper and the wall surface during the scraping process corresponding to the transition zone;

[0026] Figure 4It is a diagram showing the relative position relationship between the material shovel and the wall surface during the scraping process corresponding to the conical gradient area. Detailed implementation manners

[0027] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0028] It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments may be combined with each other.

[0029] Detailed implementation manner 1. In combination with Figure 1 Explaining this implementation manner, the method for preventing vacuum breakage of the inflammable and explosive fluid vacuum casting hopper described in this implementation manner includes:

[0030] The funnel-shaped hopper is divided into three regions from top to bottom, namely the straight cylinder region, the transition region, and the conical gradient region;

[0031] During the vacuum casting task process, the vision system real-time monitors the height H of the liquid level center point of the inflammable and explosive fluid in the hopper 2 and the upper edge height H of the remaining inflammable and explosive fluid on the hopper wall surface 1 . According to the relationship between the heights of the two and the upper and lower boundary heights of the hopper transition region, the robotic arm is controlled to drive the material shovel to move to the wall surface of the corresponding region of the hopper, and the scraping posture and scraping method of the material shovel are controlled, so that the material shovel performs scraping operations along the circumferential direction of the hopper wall surface until the height H of the liquid level center point of the inflammable and explosive fluid 2 is reduced to a preset height, realizing the prevention of vacuum breakage of the hopper during the vacuum casting task; among them,

[0032] The scraping method corresponding to the straight cylinder region is: the material shovel performs one scraping action, and in the horizontal direction, the material shovel moves one week along the circumferential direction of the hopper wall surface;

[0033] The scraping method corresponding to the transition region is: the material shovel performs multiple scraping actions, and each scraping action is that the material shovel scrapes along the extension direction from top to bottom of the hopper wall surface, and the scraping action is repeated until the material shovel moves one week along the circumferential direction of the hopper wall surface;

[0034] The scraping method corresponding to the conical gradient region is: the material shovel performs one scraping action, and in the horizontal direction, the material shovel moves one week along the circumferential direction of the hopper wall surface.

[0035] In specific applications, the inflammable and explosive fluid is a highly viscous inflammable and explosive paste-like substance.

[0036] In this embodiment, a method for preventing vacuum breakage of a hopper for pouring flammable and explosive fluids is provided, and a strategy for achieving vacuum breakage of the hopper during the pouring process of flammable and explosive fluids based on the liquid level height is established. Specifically, the influence of different pouring amounts of flammable and explosive fluids and the irregular shape of the hopper on the scraping posture and actions of the robotic arm is considered. The hopper is divided into three regions and corresponding three scraping methods are adopted. At the same time, the liquid level height of the fluid in the hopper is monitored in real time by vision, and based on this, the robotic arm is controlled to hold the scraper to perform scraping actions in the corresponding regions of the hopper, reducing the number of scraping times during the fluid vacuum pouring process, improving the efficiency of the vacuum breakage prevention task. At the same time, different scraping postures are used in different hopper regions, making the scraper closely fit the inner wall of the hopper, reducing the residual amount of fluid on the inner wall of the hopper, and improving economic and environmental benefits, which has certain inspiration and optimization effects on cleaning the residual fluid in the hopper and preventing vacuum breakage of the hopper in the actual vacuum pouring task.

[0037] Based on the application of vision technology to the robot system where the robotic arm is located, the present invention can enable the robot system to more accurately perceive environmental information and target states, improving the automation and intelligence levels of the robot in industrial production. Specifically, the camera is used to identify the target characteristic parameters, and data such as the target position and shape are sent to the robot, facilitating the robot to better understand the task information and improving the task planning and generalization capabilities of the robot, which is good at solving unstructured complex tasks similar to preventing vacuum breakage of the vacuum pouring hopper.

[0038] Furthermore, the conditions for performing scraping operations in the corresponding regions are given, specifically as follows:

[0039] When both H 2 ≥H t and H 1 -H 2 ≥ L are satisfied, control the scraper to perform scraping operations in the straight cylinder area, making H 1 -H 2 approach 0;

[0040] When both H 1 >H b and H 2 ≤H b are satisfied, control the scraper to perform scraping operations in the transition area;

[0041] When both H 1 ≤H b and H 1 -H 2 ≥-Lcosα′ are satisfied, control the scraper to perform scraping operations in the tapered gradual change area, making H 1 -H 2 approach 0;

[0042] Among them, L is the width of the scraper, α′ is the bending angle of the hopper transition zone, and H t is the height of the upper boundary of the transition zone, and H b is the height of the lower boundary of the transition zone.

[0043] Among them, L is the width of the scraper, α′ is the bending angle of the hopper transition zone, and H t is the height of the upper boundary of the transition zone, and H b is the height of the lower boundary of the transition zone.

[0044] Principle analysis: After the fluid vacuum casting starts, the fluid first passes through the straight barrel area of the hopper. When the liquid level difference of the hopper fluid exceeds the width of the scraper, that is, H 1 -H 2 ≥ L, the robotic arm controls the scraper to perform scraping operation in the straight barrel area. The scraper rotates one week to scrape off the residual flammable and explosive fluid on the hopper wall surface to make the liquid level difference tend to zero. After that, whenever H 1 -H 2 ≥ L, repeat the above scraping operation to clean the residual fluid on the straight barrel area wall surface; when the central fluid level is lower than the upper boundary of the hopper transition zone, that is, H 2 ≤H t , the fluid enters the hopper transition zone. When the central fluid level of the hopper is lower than the lower boundary of the transition zone, that is, H 2 ≤H b and H 1 >H b , the robotic arm controls the scraper to perform scraping operation in the transition zone. The end of the scraper closely adheres to the bent wall surface of the hopper and scrapes off the residual fluid from top to bottom and repeats this action one week along the circumference of the hopper to clean the residual fluid in the transition zone; when the upper edge of the residual fluid on the hopper wall surface is lower than the lower boundary of the transition zone, that is, H 1 ≤H b , the fluid enters the conical gradual change zone of the hopper. When the liquid level difference of the hopper fluid exceeds the projected height of the scraper on the conical wall surface in the vertical plane, that is, H 1 -H 2 ≥ -Lcosα′, the robotic arm controls the scraper to perform scraping operation in the transition zone. The end of the scraper fits the conical wall surface and scrapes the material along the circumference for one week to make the liquid level difference tend to zero. After that, whenever H 1 -H 2 ≥ -Lcosα′, repeat the above scraping operation until the central fluid level height of the hopper drops to the preset position, and the anti-break vacuum task of the hopper is completed.

[0045] See Figure 2 , furthermore, when the scraper performs scraping operation in the straight barrel area, the scraping posture is that the scraper contacts the hopper wall surface along the circumference of the hopper and inclines towards the wall surface in the circumferential direction. The value range of the angle α between the scraper and the tangent plane of the wall surface is 35° ≤ α ≤ 45°, and the optimal value of α is 40°.

[0046] The scraping posture of the straight barrel area material shovel given in this preferred embodiment. Each time the robotic arm holds the material shovel for scraping operation in this scraping method, it can scrape off the fluid with a height of L remaining on the hopper wall surface in one go, greatly improving the scraping efficiency. Compared with other posture scrapings, fewer scraping times are required to scrape off the same fluid. At the same time, fewer joints need to be controlled when the robotic arm holds the material shovel to perform circular motion along the circumferential direction of the hopper, reducing the probability of collision and friction between the robotic arm and the inner wall of the hopper, and improving the safety of the anti-breaking vacuum task.

[0047] See Figure 3 , Further, when the material shovel performs scraping operation in the transition area, the scraping posture is that the material shovel contacts the hopper wall surface along the axial direction of the hopper and inclines towards the wall surface in the axial direction. The value range of the angle α between the tangent plane of the material shovel and the wall surface is 35° ≤ α ≤ 45°, and the optimal value of α is 40°.

[0048] The scraping posture of the transition area material shovel given in this preferred embodiment. This scraping method can adapt to various funnel-shaped hoppers, and the material shovel closely fits the curved surface of the hopper. Compared with other posture scrapings, the material shovel can better clean the residual fluid at the bending part of the hopper, improving the economic and environmental benefits of the anti-breaking vacuum task.

[0049] See Figure 4 , Further, when the material shovel performs scraping operation in the tapered gradient area, the scraping posture is that the material shovel contacts the hopper wall surface along the circumferential direction of the hopper and inclines towards the wall surface in the circumferential direction. The value range of the angle α between the tangent plane of the material shovel and the wall surface is, and the optimal value of α is 40°.

[0050] This preferred embodiment gives the scraping posture of the tapered gradient area material shovel. The end of the material shovel in this scraping method is parallel to the tapered wall surface. When the robotic arm holds the material shovel for one scraping operation, it can scrape off the residual fluid with a height of -Lcosα' on the wall surface for one week, making the best use of the material shovel. Compared with other posture scrapings, the scraping efficiency is improved.

[0051] Specific Embodiment 2. A computer-readable storage device described in this embodiment. The storage device stores a computer program, and when the computer program is executed, it implements the anti-breaking vacuum method for the flammable and explosive fluid vacuum casting hopper as described in Specific Embodiment 1.

[0052] Specific Embodiment 3. A computer program product described in this embodiment, including a computer program, which implements the anti-breaking vacuum method for the flammable and explosive fluid vacuum casting hopper as described in Specific Embodiment 1 when executed by a processor.

[0053] Although the present invention has been described herein with reference to particular embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Accordingly, it should be understood that numerous modifications may be made to the exemplary embodiments, and other arrangements may be devised, without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with separate embodiments may be used in other described embodiments.

Claims

1. A method for preventing vacuum from breaking in a vacuum pouring hopper for flammable and explosive fluids, characterized in that: The method includes: The funnel-shaped hopper is divided into three areas from top to bottom, namely the straight barrel area, the transition area and the tapered gradient area; During the vacuum pouring task, the visual system monitors the height H2 of the center point of the liquid surface of the inflammable and explosive fluid in the hopper and the height H1 of the upper edge of the residual inflammable and explosive fluid on the wall of the hopper in real time. According to the relationship between the heights of the two and the heights of the upper and lower boundaries of the transition zone of the hopper, the robotic arm is controlled to drive the shovel to move to the wall of the corresponding area of ​​the hopper, and the scraping posture and scraping method of the shovel are controlled to make the shovel scrape along the circumference of the hopper wall until the height H2 of the center point of the liquid surface of the inflammable and explosive fluid is reduced to the preset height, so as to prevent the hopper from breaking the vacuum during the vacuum pouring task; wherein, The scraping method corresponding to the straight barrel area is: the shovel performs one scraping action, and the shovel moves one circle along the circumference of the hopper wall in the horizontal direction; The scraping method corresponding to the transition zone is: the shovel performs multiple scraping actions, and each scraping action is that the shovel scrapes along the hopper wall from top to bottom, and the scraping action is repeated until the shovel moves along the hopper wall for one circle; The scraping method corresponding to the tapered gradient zone is: the shovel performs one scraping action, and the shovel moves one circle along the circumference of the hopper wall in the horizontal direction.

2. The method for preventing vacuum breaking of a vacuum pouring hopper for inflammable and explosive fluids according to claim 1, characterized in that: When H2≥H t , when H1-H2≥ L, control the shovel to scrape the material in the straight barrel area so that H1-H2 approaches 0; When H1>H b 、H2≤H b When the material shovel is controlled, it performs scraping operation in the transition area; When H1≤H b , when H1-H2≥-Lcosα′, control the shovel to perform scraping operation in the tapered gradient area to make H1-H2 approach 0; Where L is the width of the shovel, α′ is the bending angle of the hopper transition zone, and H t is the height of the upper boundary of the transition zone, H b is the height of the lower boundary of the transition zone.

3. The method for preventing vacuum breaking of a vacuum pouring hopper for flammable and explosive fluids according to claim 1, characterized in that: When the shovel is scraping in the straight barrel area, the scraping posture is that the shovel is in contact with the hopper wall along the hopper circumference and inclined toward the wall in the circumferential direction. The angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°.

4. The method for preventing vacuum breaking of a vacuum pouring hopper for inflammable and explosive fluids according to claim 1, characterized in that: When the shovel performs scraping operation in the transition zone, the scraping posture is that the shovel contacts the hopper wall along the hopper axis and tilts toward the wall in the axial direction. The angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°.

5. The method for preventing vacuum breaking of a vacuum pouring hopper for inflammable and explosive fluids according to claim 1, characterized in that: When the shovel performs scraping operation in the conical gradient area, the scraping posture is that the shovel contacts the hopper wall along the hopper circumference and tilts toward the wall in the circumferential direction. The angle α between the shovel and the tangent plane of the wall is in the range of 35°≤α≤45°.

6. The method for preventing vacuum breaking of a vacuum pouring hopper for inflammable and explosive fluids according to claim 3, 4 or 5, characterized in that: The optimal value of α is 40°.

7. A computer-readable storage device storing a computer program, characterized in that: When the computer program is executed, the method for preventing vacuum breaking of a vacuum pouring hopper for flammable and explosive fluids as claimed in any one of claims 1 to 5 is implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method for preventing vacuum breaking of a vacuum pouring hopper for inflammable and explosive fluids as claimed in any one of claims 1 to 5 is implemented.

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