Robot stirring system with replaceable stirrer and stirring method

Abstract

The invention discloses a robot stirring system capable of replacing stirrers and a stirring method. The stirring method comprises the following steps: S1, setting a stirrer replacement sequence by a control module; s2, the manipulator moves or rotates to a corresponding stirrer storage position according to an instruction of the control module and obtains a stirrer; s3, the mechanical arm moves the stirrer into the container, the stirrer stirs the medium in the container, and stirring parameters are collected through the sensor assembly in the stirring process; s4, after the stirring parameters are acquired, the stirrer is put back to the original position by the manipulator; s5, the manipulator obtains the next stirrer according to the replacement sequence, and the steps S3-S4 are repeated; and S6, the stirring parameters and the current medium are matched, a matched stirrer is selected, and the mechanical arm finally stirs the medium through the obtained matched stirrer. According to the scheme, the stirrer matched with the current to-be-stirred medium can be found more accurately, automation can be improved, and efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the field of stirring, and in particular to a robot stirring system with a replaceable stirrer and a stirring method. Background Art

[0002] Mixing is a common and crucial process in numerous industrial fields, including chemical, pharmaceutical, food, and materials processing, as well as in laboratory settings. Agitators interact with media to achieve functions such as mixing, dispersing, and accelerating reactions. Different media, such as liquids, colloids, suspensions, and pastes, exhibit significant differences in their physical properties (viscosity, density, and particle size) and chemical properties, necessitating different agitator types (e.g., paddle, turbine, anchor, and screw), dimensions, and speed. Traditional agitators require operators to manually select the appropriate agitator based on experience and the media's general characteristics, and then manually replace the agitator. This manual agitator replacement method suffers from the following drawbacks: 1. It is inefficient, requiring operators to try different agitators one by one. Each replacement requires downtime, disassembly of the old agitator, and installation of a new one, a process that consumes considerable time and effort. Frequent agitator replacement can significantly impact production or experimental progress. 2. The matching degree between the agitator and the current medium is difficult to determine accurately, which depends entirely on the operator's experience and subjective judgment. This may result in the selected agitator not being the most suitable, thus affecting the stirring effect, such as uneven mixing, inadequate reaction, increased energy consumption, etc., and may even have an adverse effect on the properties of the medium. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of the present invention is to provide a robotic stirring system and stirring method with a replaceable stirrer, which can more accurately find the stirrer that matches the current medium to be stirred, and can improve automation and increase efficiency.

[0004] To achieve the above object, the present invention provides the following technical solution: A robot stirring method with a replaceable stirrer, comprising the following steps: S1. The control module sets the order for replacing the agitators; S2. The manipulator moves or rotates to the corresponding agitator storage position and obtains the agitator according to the control module instruction; S3. The manipulator moves the stirrer into the container, and the stirrer stirs the medium in the container. During the stirring process, the stirring parameters are collected by the sensor component; S4. After the stirring parameters are collected, the robot returns the stirrer to its original position; S5. The robot obtains the next stirrer in the replacement order and repeats steps S3-S4; S6. Match the stirring parameters with the current medium and select a matching stirrer. The robot will obtain the matching stirrer to perform final stirring on the medium.

[0005] As a further improvement of the present invention, the stirring parameters include one or more of conductivity, dissolved oxygen, pH, and turbidity.

[0006] As a further improvement of the present invention, S1 further sets the adaptive stirring parameter or the adaptive stirring parameter range of the current medium.

[0007] As a further improvement of the present invention, S5 is repeated until the collected stirring parameters meet the adapted stirring parameters or the adapted stirring parameter range of the current medium.

[0008] As a further improvement of the present invention, S5 is repeated until all the set agitators are replaced.

[0009] A robot stirring system with replaceable stirrer, comprising A container for containing the medium to be stirred; A plurality of agitators are respectively arranged at different positions and used to agitate the medium in the container; A control module is used to set the replacement order of the stirrers and send instructions; a manipulator, in communication with the control module, configured to operate according to instructions from the control module, capable of moving or rotating to a corresponding agitator storage position, obtaining the agitator, inserting the agitator into the container to agitate the medium, and returning the agitator to its original position; The sensor component is in communication with the control module and is used to collect stirring parameters during the stirring process, wherein the stirring parameters include at least one or more of conductivity, dissolved oxygen, pH, and turbidity.

[0010] As a further improvement of the present invention, the control module has a storage unit for recording the stirrer number and the corresponding stirring parameters collected by the sensor assembly.

[0011] As a further improvement of the present invention, the manipulator includes a gripping device for gripping and releasing the agitator.

[0012] As a further improvement of the present invention, the grabbing device includes a clamping mechanism or a magnetic attraction mechanism; and the agitator is grabbed and released by the clamping mechanism or the magnetic attraction mechanism.

[0013] A robotic stirring system with a replaceable stirrer is characterized in that the robotic stirring system is executed according to the robotic stirring method with a replaceable stirrer described in any one of the above-mentioned improved solutions.

[0014] The beneficial effects of the present invention are that it realizes the automatic replacement of the agitator, improves the replacement efficiency, and avoids the tedious process of manual replacement; by collecting the stirring parameters through the sensor component and matching them with the medium, it can accurately determine the agitator that matches the current medium, thereby improving the stirring effect. DETAILED DESCRIPTION

[0015] A robot stirring method with a replaceable stirrer comprises the following steps S1. The control module sets the order for replacing the agitators; S2. The manipulator moves or rotates to the corresponding agitator storage position and obtains the agitator according to the control module instruction; S3. The manipulator moves the stirrer into the container, and the stirrer stirs the medium in the container. During the stirring process, the stirring parameters are collected by the sensor component; S4. After the stirring parameters are collected, the robot returns the stirrer to its original position; S5. The robot obtains the next stirrer in the replacement order and repeats steps S3-S4; S6. Match the stirring parameters with the current medium and select a matching stirrer. The robot will obtain the matching stirrer to perform final stirring on the medium.

[0016] The control module, serving as the system's core, can utilize a PLC or industrial computer. The order in which the agitators are replaced can be set via a pre-set program or human-machine interface. This order can be pre-arranged based on agitator type, size, and other parameters. The robot arm is connected to the control module via wired or wireless communication, such as RS485 or Wi-Fi or Bluetooth. Upon receiving commands from the control module, the robot arm, through its drive mechanism (such as a multi-axis servo motor-driven robot arm), moves or rotates to the agitator storage location. Agitator storage can be located in a dedicated tool rack or storage cabinet, with each agitator assigned a unique storage location code.

[0017] The manipulator can obtain the agitator through a gripping device, move it to the top of the container, and insert the agitator into the container. The container is used to hold the medium to be stirred, and a common stirring tank can be used.

[0018] During the stirring process, the sensor assembly collects stirring parameters in real time. This assembly includes various sensors installed within the container or on the stirrer, such as conductivity, dissolved oxygen, pH, and turbidity sensors. These sensors connect to the control module via signal transmission lines or wireless modules, transmitting the collected data. After stirring is complete, the robot returns the stirrer to its original position to prevent contamination or damage.

[0019] After all set agitator tests are completed, the control module matches the collected stirring parameters corresponding to each agitator with the characteristics of the current medium through matching. The preferred matching method is to set the stirring parameters or stirring parameter range corresponding to the current medium in advance in step S1. The agitator that matches the stirring parameters closest to the specified stirring parameters is marked as the best matching agitator. If there are multiple matching agitators, the optimal agitator is determined based on the smallest deviation in the set parameters.

[0020] This solution uses automated agitator replacement and parameter acquisition and matching, requiring only pre-settings and no manual intervention during the process, greatly improving the efficiency of mixing operations and reducing downtime and labor costs. At the same time, the parameter-based matching method avoids the subjectivity of manual experience, ensuring that the selected agitator is highly matched to the medium, thereby improving mixing quality.

[0021] In step S5, the number of times steps S3-S4 are repeated can be the following two ways: 1. S5 is repeated until the collected stirring parameters meet the adaptation stirring parameters or the adaptation stirring parameter range of the current medium. In this solution, the control module controls the robot to repeatedly replace the agitator and perform stirring tests in step S5 until the collected stirring parameters meet the set adaptation parameters or range. Specifically, when a certain agitator is stirring, after the parameters collected by the sensor component enter the adaptation range, the control module determines that the agitator is a matching agitator, terminates the subsequent replacement test, and directly enters step S6 for final stirring; if all the set agitators are tested and still no parameters meet the adaptation requirements, an alarm may be issued to prompt the operator to replace other types of agitators or adjust the adaptation parameters. Adaptive selection of agitators is achieved without the need to pre-test all agitators, further improving efficiency, especially when there are a large number of agitators.

[0022] 2. S5 is repeated until all the set agitators are replaced. In this solution, the control module controls the manipulator to test all the set agitators in turn according to the set replacement order. Regardless of whether the adaptation parameters are met, after all agitators are tested, in step S6, the degree of matching between the stirring parameters corresponding to each agitator and the adaptation parameters is compared, and the agitator with the highest matching degree is selected for final stirring. This method is suitable for scenarios with extremely high requirements for stirring effects or a narrow range of adaptation parameters, ensuring that the optimal solution is selected from all possible agitators. By traversing all set agitators, the comprehensiveness and reliability of the selection results are ensured, especially in stirring scenarios with a lack of historical data or new media.

[0023] The above description is a stirring method. The stirring system is described in detail below: A robot stirring system with replaceable stirrer, comprising A container for containing the medium to be stirred; A plurality of agitators are respectively arranged at different positions and used to agitate the medium in the container; A control module is used to set the replacement order of the stirrers and send instructions; The manipulator is in communication with the control module and is used to work according to the instructions of the control module, and can move or rotate to the corresponding agitator storage position, obtain the agitator, insert it into the container to stir the medium, and return the agitator to its original position; The sensor component is in communication with the control module and is used to collect stirring parameters during the stirring process. The stirring parameters include at least one or more of conductivity, dissolved oxygen, pH, and turbidity.

[0024] The system's hardware architecture includes a container, agitator, control module, robotic arm, and sensor assembly. The container is selected based on the application scenario. Several agitators are placed on a dedicated storage rack (e.g., a rack for hanging agitators). Position codes can be set on the rack to allow the robotic arm to determine the agitator's position. A gripping device is installed at the end of the robotic arm. The sensor assembly selects the appropriate sensor based on the type of agitation parameters being collected and is installed inside the container or on the agitator.

[0025] During operation, the control module sets the order for replacing the agitators and sends instructions to the robot. The robot moves to the designated position to obtain the agitator, places it in the container for stirring, and the sensor component collects parameters and transmits them to the control module. After the test is completed, the robot puts the agitator back in place and repeats the above process until all tests are completed or the parameter conditions are met. Finally, the matching agitator is selected for final stirring.

[0026] The connection relationship between the various components is as follows: the control module is connected to the robot's drive controller through a signal line or wireless signal to control the robot's movement; the sensor assembly is connected to the input end of the control module through a signal line or wireless module; the agitator storage rack is adapted to the robot's motion trajectory to ensure that the robot can accurately reach the storage location of each agitator.

[0027] The system realizes full automation of agitator replacement and stirring parameter collection. Compared with traditional manual operation, it can improve the efficiency of agitator replacement. At the same time, through multi-parameter collection and matching, the stirring effect is improved.

[0028] Preferably, the control module has a storage unit for recording the stirrer number and the corresponding stirring parameters collected by the sensor assembly.

[0029] The storage unit can be a built-in data storage space of the control module or an external storage module. The storage unit can not only be used to store the current preset parameters, but also provide storage of historical data. For example, the medium matched to the optimal agitator type and size can be stored, and the same medium can be quickly grabbed by the corresponding agitator for stirring in the future.

[0030] As an optional embodiment, the gripping device includes a clamping mechanism or a magnetic mechanism; and the agitator is gripped and released by the clamping mechanism or the magnetic mechanism.

[0031] The clamping mechanism can adopt a pneumatically controlled three-jaw or higher solution. The end edge of the agitator has an edge for the clamping claw to grasp. It is best to have a groove for the clamping claw to embed on the edge, so that the clamping claw can embed and clamp the agitator while fixing the agitator. The agitator shaft on the agitator can be coaxially connected to the end of the manipulator, for example, by means of end face splines, and the agitator shaft can be driven by the driving component of the manipulator end. Of course, the agitator can also be independently driven, with an independent drive module to drive its rotation.

[0032] The magnetic attraction mechanism needs to be matched with an electromagnet to attract the stirrer through strong magnetic action. It is best if the magnetic attraction mechanism can cooperate with the end of the stirrer to achieve circumferential fixation. After magnetic attraction, the circumferential fixation prevents the stirrer from getting out of control (the circumferential fixation does not mean that the stirring shaft inside the stirrer cannot rotate, but rather fixes the outer shell). Of course, the above-mentioned clamping mechanism and magnetic attraction mechanism itself can be part of the driving component on the end of the manipulator. The driving component can rotate to drive the agitator to rotate, and the clamping mechanism and magnetic attraction mechanism itself can rotate with the driving component, and then drive the agitator to rotate. The rotation refers to the clamping mechanism and the magnetic attraction mechanism directly fixing the agitator shaft and driving the agitator shaft to rotate.

[0033] The stirring system introduced above is mainly a hardware configuration part, and no requirements are made for its hardware configuration part below, namely: a robotic stirring system with a replaceable stirrer, which is executed according to the aforementioned robotic stirring method with a replaceable stirrer.

[0034] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiment. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A robotic stirring method with a replaceable stirrer, characterized in that: Includes the following steps S1. The control module sets the order for replacing the agitators; S2. The manipulator moves or rotates to the corresponding agitator storage position and obtains the agitator according to the control module instruction; S3. The manipulator moves the stirrer into the container, and the stirrer stirs the medium in the container. During the stirring process, the stirring parameters are collected by the sensor assembly; S4. After the stirring parameters are collected, the robot returns the stirrer to its original position; S5. The robot obtains the next stirrer in the replacement order and repeats steps S3-S4; S6. Match the stirring parameters with the current medium and select a matching stirrer. The robot will obtain the matching stirrer to perform final stirring on the medium.

2. The robot stirring method with a replaceable stirrer according to claim 1, characterized in that: The stirring parameters include one or more of conductivity, dissolved oxygen, pH, and turbidity.

3. The robotic stirring method with a replaceable stirrer according to claim 1, characterized in that: In S1 , the adaptive stirring parameters or the adaptive stirring parameter range of the current medium are also set.

4. The robotic stirring method with a replaceable stirrer according to claim 3, characterized in that: S5 is repeated until the collected stirring parameters meet the adapted stirring parameters or the adapted stirring parameter range of the current medium.

5. The robotic stirring method with a replaceable stirrer according to claim 3, characterized in that: S5 is repeated until all the set stirrers are replaced.

6. A robotic stirring system with a replaceable stirrer, characterized in that: include A container for containing the medium to be stirred; A plurality of agitators are respectively arranged at different positions and used to agitate the medium in the container; A control module is used to set the replacement order of the stirrers and send instructions; a manipulator, in communication with the control module, configured to operate according to instructions from the control module, capable of moving or rotating to a corresponding agitator storage position, obtaining the agitator, inserting the agitator into the container to agitate the medium, and returning the agitator to its original position; The sensor component is in communication with the control module and is used to collect stirring parameters during the stirring process, wherein the stirring parameters include at least one or more of conductivity, dissolved oxygen, pH, and turbidity.

7. The robotic stirring system with replaceable stirrers according to claim 6, characterized in that: The control module has a storage unit for recording the stirrer number and the corresponding stirring parameters collected by the sensor assembly.

8. The robotic stirring system with replaceable stirrers according to claim 7, characterized in that: The manipulator comprises a gripping device for gripping and releasing the stirrer.

9. The robotic stirring system with replaceable stirrers according to claim 8, characterized in that: The grabbing device comprises a clamping mechanism or a magnetic attraction mechanism; and the agitator is grabbed and released by the clamping mechanism or the magnetic attraction mechanism.

10. A robotic stirring system with a replaceable stirrer, characterized in that: The robotic stirring system is implemented according to the robotic stirring method with a replaceable stirrer according to any one of claims 1 to 5.