Fine chemical automatic solid feeding robot and use method

Abstract

The technical scheme discloses a kind of fine chemical automatic solid feeding robot and use method.The solid feeding robot is cooperated by transfer device, storage device, connecting device, control mechanism, can realize cross-scene accurate operation, dynamic parameter optimization and whole-process intelligent management and control, significantly improve material processing efficiency and production safety level.The automatic feeding equipment is automated, intelligent, can realize unmanned workshop.The technical problem solved by the technical scheme is: how to make feeding robot accurate operation, dynamic parameter optimization and whole-process intelligent management and control, significantly improve material processing efficiency and production safety level.

Description

Technical Field

[0001] This invention relates to automation and intelligent equipment in fine chemical production workshops, and more specifically to an automatic feeding robot for fine chemicals and its usage method. Background Technology

[0002] Automated solid feed is a crucial step in improving production efficiency and ensuring safe production in industries such as chemical and pharmaceutical manufacturing.

[0003] In the fine chemical, pharmaceutical, coating, and rubber manufacturing industries, small-batch, multi-point, intermittent feeding of solid powders is a common and important process. However, solid powders present problems during transportation and feeding, such as easy dust generation, poor flowability, difficulties in pipeline transportation, and strong environmental pollution.

[0004] Zhao Zhiming (Zhejiang Chemical Industry, 2007, 38(07), 28-29) disclosed a small-batch feeding device for solid powders. The device includes a cone-shaped feeding and unloading head for manual feeding, an exhaust hood and dust collector, a silo, an expansion joint, a discharge valve and an air feeding device. The device has been successfully applied in the feeding of powder pigments in some ink and paint production plants, but it still does not realize the function of multi-point and automated feeding. It has bottlenecks such as insufficient environmental adaptability, low metering accuracy and lack of intelligent interaction. Summary of the Invention

[0005] The purpose of this invention is to provide an automated solid material feeding robot for fine chemicals. The technical problem it addresses is how to enable the feeding robot to operate precisely, optimize dynamic parameters, and achieve intelligent control throughout the entire process, significantly improving material handling efficiency and production safety. This automated feeding equipment provides core equipment support for the construction of automated, intelligent, and unmanned workshops, promoting the transformation of modern manufacturing systems towards a new paradigm of high efficiency, flexibility, and safety. It also injects new momentum into building a collaborative, risk-controllable industrial ecosystem for intelligent manufacturing.

[0006] An automated solid feeding robot for a fine chemical reaction vessel is designed with the following features:

[0007] A transfer device is used to move material storage devices to a designated location on a connecting device.

[0008] Storage devices used for storing materials;

[0009] A connecting device for material flow between a material storage device and a reaction vessel;

[0010] The control mechanism is used to interface with the existing chemical plant production system. As a central processing system, it processes control signals and performs command control of the entire system. It controls the transfer device, connection device, and reaction vessel respectively, and completes the conveying, connection, and feeding respectively. It receives production requirements, performs route planning, controls and monitors the entire feeding process, and wirelessly controls the entire feeding process.

[0011] The connecting device includes a feeding cylinder, a discharging mechanism, a locking mechanism, a lifting mechanism, and a weighing detection unit. The discharging mechanism drives the discharging valve inside a storage device to open and close, thereby completing the unloading. The feeding cylinder is located directly below the unloading of the storage device. The locking mechanism drives the storage device to a set position to align the feeding cylinder with the storage device, ensuring internal connection and side sealing between the feeding cylinder and the storage device. The lifting mechanism drives the feeding cylinder to rise and fall, sealing the feeding cylinder and the storage device for assembly or separation. The weighing detection unit measures the weight of the storage device in real time.

[0012] The transfer device is a remote-controlled forklift or an automated guided vehicle (AGV) forklift; the storage device is a solid material silo with lifting and positioning points or a mobile liquid transfer tank silo.

[0013] The solid material silo is equipped with a solid agitator; the solid material silo is equipped with an automatic unloading valve, which is a butterfly valve, ball valve or gate valve, and a sensing sensor that communicates with the temperature and pressure sensors inside the reactor; the outer wall of the solid material silo is equipped with a vibrator, which is a pneumatic hammer or ultrasonic vibrator.

[0014] The locking mechanism includes a hook cylinder, a reciprocating hook, and positioning shafts. The reciprocating hook is fixed on the hook cylinder and drives the hopper to move to a set position. The positioning shafts are symmetrically arranged, and each positioning shaft has a V-groove. The V-groove centers and limits the positioning slide of the hopper, ensuring that the assembly error between the unloading head and the feeding cylinder of the hopper meets the requirement of mutual sealing. There are four positioning shafts, which are arranged in a front-to-back alignment.

[0015] The unloading mechanism includes a rotary cylinder, a rotary rod, and a rotary hook. The rotary cylinder rotates the rotary hook via the rotary rod. The hopper has a linkage shaft and an embedded block. The rotary hook drives the linkage shaft to rotate via the embedded block. This linkage shaft is linked to the discharge valve inside the hopper. The shape of the discharge valve corresponds to the shape of the hopper's discharge channel to complete the discharge and closing operations of the hopper. The rotary cylinder is driven to move back and forth by a forward-pushing cylinder. The rotary hook has a groove-shaped structure, and the position where the embedded block engages with the rotary hook has an inclined surface.

[0016] The lifting mechanism includes a lifting drive motor, a connecting rod synchronous rotating seat, a lifting adjustment seat, and a lifting table. The lifting drive motor drives the lifting table to move up and down through the connecting rod synchronous rotating seat and the lifting adjustment seat. The silo is placed on the lifting table. There are multiple connecting rod synchronous rotating seats, one of which is assembled with the lifting drive motor, and this connecting rod synchronous rotating seat drives the other connecting rod synchronous rotating seats to act, thereby linking the lifting adjustment seat. The lifting adjustment seat has a screw rod to drive the lifting of the lifting table. There are three connecting rod synchronous rotating seats, and the middle connecting rod synchronous rotating seat is assembled with the lifting drive motor. This middle connecting rod synchronous rotating seat drives the coaxial rotation of the other two connecting rod synchronous rotating seats. The above coaxial drives the longitudinal rotation of the screw rod of the lifting adjustment seat. There is also a coaxial between the two lifting adjustment seats, so that the two lifting adjustment seats together drive the lifting table to move up and down.

[0017] The connecting device is in an overall shape of "匚". There is a lifting variable-frequency explosion-proof mixer at the top of the connecting device, which is magnetically connected or mechanically connected to the solid stirrer in the storage device.

[0018] The connecting device is provided with a positioning sensor, which is one or a combination of a lidar, a vision sensor, an infrared sensor or a ultrasonic sensor. The above positioning sensor cooperates with the positioning shaft of the connecting device and the lifting adjustment seat to accurately position the docking of the feeding port and the receiving port. The connecting device is provided with a material feeding end perception sensor, which is one or a combination of a gravity sensor, a ultrasonic sensor or a photoelectric sensor.

[0019] A method for using a fine chemical automatic solid feeding robot includes the following steps:

[0020] 1. Inspection before system startup:

[0021] The battery power of the AGV forklift > 80%, the navigation sensor is unobstructed, the mechanical arm fixture is not loose, and the function of the barcode scanner is normal;

[0022] The RFID tag is consistent with the system information and the seal is intact;

[0023] 2. After the material outbound instruction is issued, the AGV forklift automatically plans the path to the warehouse stock preparation area after receiving the instruction;

[0024] 3. The silo is loaded. The AGV forklift scans the code to confirm the silo, lifts the silo, and the system compares the material batch number and expiration date. When abnormal, a red light alarm is triggered;

[0025] 4. During the transportation process, the AGV forklift travels along the preset path, the obstacle avoidance radar is turned on, the speed ≤ 1m / s, and the control mechanism monitors the position and status of the AGV forklift in real time;

[0026] 5. Reactor docking:

[0027] 5.1 Initial state: The lifting platform is in the lowest position and the reciprocating hook is in the extended state;

[0028] 5.2 The AGV forklift moves the hopper to the top of the connecting device. The AGV forklift reaches the designated coordinates with a positioning accuracy of ±10mm. At the same time, it sends a ready signal, and the connecting device is activated.

[0029] 5.3 The AGV forklift lowers the hopper to a position 15-20cm from the lifting platform;

[0030] 5.4. Raise the lifting platform 20cm to its highest point to lift the hopper;

[0031] 5.5. The AGV forklift returns;

[0032] 5.6 The reciprocating hook pulls back to position the hopper forward and backward;

[0033] 5.7 The lifting platform lowers the material hopper by 20cm to the lowest point, so that the material hopper and the feed cylinder are connected. During the connection, the pneumatic sealing ring of the material hopper and the feed cylinder is pressurized to 0.4-0.6MPa, and nitrogen and air treatment are performed at the same time.

[0034] 6. Automatic feeding:

[0035] Screw conveyor / gravity feeding starts, weighing and detection unit close-loop control, automatically stops feeding when feeding error is ≤1%.

[0036] The AGV forklift receives the completion signal and executes the interface separation program;

[0037] 7. Return trip and charging:

[0038] The AGV forklift returns to the standby area with the hopper, and automatically connects for wireless charging when the battery level is less than 30%.

[0039] The gravity feeding step includes:

[0040] 6.1 The unloading valve of the unloading head inside the silo is driven by the unloading mechanism to prepare for unloading;

[0041] 6.2. Open the discharge valve to release the material;

[0042] 6.3 After material discharge is completed, the discharge valve is closed;

[0043] The steps of the interface separation procedure include:

[0044] 6.4 The lifting platform raises the material hopper by 20cm;

[0045] 6.5 AGV forklifts hold the material hopper;

[0046] 6.6. The reciprocating hook extends;

[0047] 6.7. The lifting platform is lowered to its lowest position.

[0048] The beneficial effects of this invention are: through the coordinated operation of the transfer device, storage device, connection device, and control mechanism, precise cross-scenario operation, dynamic parameter optimization, and intelligent full-process management can be achieved, significantly improving material handling efficiency and production safety levels. This automated feeding equipment is automated and intelligent, enabling unmanned workshops. Attached Figure Description

[0049] Figure 1 This is a schematic diagram illustrating the interaction between an automated solid feeding robot for fine chemicals and a reaction vessel.

[0050] Figure 2 This is a schematic diagram of the connection module of an automatic feeding device;

[0051] Figure 3 This is a schematic diagram of the connection module of an automatic feeding device from another angle;

[0052] Figure 4 This is a schematic diagram of the connection module of an automatic feeding device from the third angle;

[0053] Figure 5 yes Figure 4 A magnified view of a section at point A in the middle;

[0054] Figure 6 This is a side front view of the connection module of an automatic feeding device;

[0055] Figure 7 This is a front view of the connection module of an automatic feeding device;

[0056] Figure 8 This is a top view of the connection module of an automatic feeding device;

[0057] Figure 9 This is a schematic diagram of the silo;

[0058] Figure 10 This is a schematic diagram of the silo from another angle;

[0059] Figure 11 This is a schematic diagram of the hopper being installed on the connecting module;

[0060] Figure 12 This is a schematic diagram from another angle showing the hopper installed on the connecting module;

[0061] Figure 13 This is a schematic diagram of the embedded block;

[0062] In the picture

[0063] 1. Feed cylinder;

[0064] 2. Unloading mechanism; 21. Rotary cylinder; 22. Rotary rod; 23. Rotary hook; 24. Front push cylinder;

[0065] 3. Locking mechanism; 31. Hook cylinder; 32. Reciprocating hook; 33. Positioning shaft;

[0066] 4. Lifting mechanism; 41. Lifting drive motor; 42. Lifting adjustment seat; 43. Linkage synchronous rotating seat; 44. Lifting platform; 45. Coupling;

[0067] 5. Weighing and detection unit;

[0068] 6. Solid material bin; 61. Linkage shaft; 62. Embedded block; 63. Positioning slide bar; 64. Discharge head; 641. Discharge valve;

[0069] 71. Fixing ear; 72. Fixing bracket; 73. Fixing platform;

[0070] 81. Transfer device; 82. Storage device; 83. Connection device; 84. Reactor. Detailed Implementation

[0071] Please refer to Figures 1 to 13 The figure shows an automated solid feeding robot for a fine chemical reactor. The installation process includes a transfer device 81, a storage device 82, a connecting device 83, and a control device. The transfer device 81 transports the storage device 82 to the designated position on the connecting device 83. The storage device 82 stores materials. The connecting device 83 facilitates material flow between the storage device 82 and the reactor 84. The control device interfaces with the existing chemical plant production system, acting as a central processing system to process control signals and perform overall system command control. It controls the transfer device 81, the connecting device 83, and the reactor 84, respectively completing the conveying, connecting, and feeding processes. It receives production demands, plans routes, and controls and monitors the entire feeding process wirelessly. In practical applications, the above mechanisms can be further optimized, or additional mechanisms can be added to continuously improve the robot's performance. Alternatively, existing mechanisms with similar functions can be used to replace the aforementioned mechanisms.

[0072] Since the transfer device 81 needs to move the relatively heavy solid material bin 6, it can use existing equipment such as a remote-controlled forklift or an automated guided vehicle (AGV) forklift. The figure shows an AGV forklift, which will be referred to as an AGV forklift from now on. The advantage of an AGV forklift is its ability to move relatively heavy solid material bins 6. However, its handling accuracy is limited by technology, such as navigation precision, and can only reach the centimeter level. Since the assembly between the solid material bin 6 and the feed cylinder 1 needs to reach the millimeter level to achieve a good seal, a matching connecting device 83 is required to ensure precise docking between the solid material bin 6 and the reaction vessel 84.

[0073] The main body of the storage device 82 adopts a solid material silo 6 with a lifting and positioning point or a mobile liquid transfer tank. The figure shows a solid material silo 6, which is equipped with a solid agitator. For easy discharge, an automated discharge valve can be designed in the solid material silo 6, in the form of a butterfly valve, ball valve, or gate valve 641. The figure shows a circular gate valve. When the gate valve rotates, it opens the discharge channel of the solid material silo 6; when it closes, it closes the discharge channel. The solid material silo 6 can also be equipped with a sensing sensor that detects the feeding endpoint, allowing real-time monitoring to ensure the placement is within the set position. It can also be equipped with a sensing sensor that communicates with the temperature and pressure sensors inside the reactor 84. To facilitate discharge and prevent material accumulation in the solid material silo 6, a vibrator can be installed on the outer wall of the solid material silo 6, such as an air hammer or ultrasonic vibrator. The solid agitator, sensors, and vibrators are all existing components and are therefore not shown in the figure.

[0074] The connecting device 83 is designed with a feeding cylinder 1, a discharge mechanism 2, a locking mechanism 3, a lifting mechanism 4, and a weighing detection unit 5. The feeding cylinder 1 is located directly below the solid material silo 6 and is used for docking the storage device 82 with the reactor 84. The discharge mechanism 2 is used to drive the discharge valve 641 inside the solid material silo 6 to open and close to complete the discharge. The locking mechanism 3 is used to drive the solid material silo 6 to a set position so that the feeding cylinder 1 is aligned with the silo to ensure that the feeding cylinder 1 and the solid material silo 6 are connected internally and sealed on the side. The lifting mechanism 4 is used to drive the feeding cylinder 1 to rise and fall so that the feeding cylinder 1 and the solid material silo 6 are sealed together or separated. The weighing detection unit 5 is used to monitor the weight of the storage device 82 in real time.

[0075] The feeding cylinder 1 is mainly used to guide the material from the solid material bin 6 into the reactor 84. The unloading mechanism 2 is mainly used to open and close the movable unloading valve 641 or valve plate in the solid material bin 6 to complete the unloading. The locking mechanism 3 is mainly used to position the solid material bin 6, that is, to move the solid material bin 6 to the set position so that the feeding cylinder 1 is aligned with the solid material bin 6, ensuring internal connection and side sealing between the feeding cylinder 1 and the solid material bin 6, optimizing the assembly deviation between the solid material bin 6 and the reactor 84, and ensuring the sealed assembly between the solid material bin 6 and the reactor 84. The lifting mechanism 4 is used to lift the solid material bin 6 to facilitate the docking of the solid material bin 6 and the reactor 84. The weighing detection unit 5 is used to monitor the weight of the solid material bin 6 in real time and detect the amount of material entering the reactor 84 from the solid material bin 6. In practical applications, the above components can be further optimized, other components can be added, or existing components with the same function can be used to replace the above components.

[0076] The feed cylinder 1 in the figure is a hollow cylindrical structure and is located directly below the solid material silo 6. It has fixing ears 71 installed on its two side walls. The fixing ears 71 are fixed on the fixing frame 72, which is installed on a fixing platform 73. In this way, the feed cylinder 1 can be stably connected to the reactor 84 and the solid material silo 6.

[0077] The solid material silo 6 in the figure is composed of a conical barrel and a frame, as shown in the figure. The bottom of the conical barrel has a hollow discharge head 64 structure, directly below which is the feed cylinder 1 for easy material discharge. The outer surface of the upper discharge head 64 has a linkage shaft 61 and an embedded block 62 structure. Inside the discharge head 64 is a circular discharge valve 641. When the embedded block 62 is rotated by the rotating hook 23, it can drive the discharge valve 641 to rotate via the linkage shaft 61. The shape of the discharge valve 641 corresponds to the shape of the discharge channel of the solid material silo 6, thus completing the material discharge and closing operations of the solid material silo 6. That is, the discharge valve 641 closes the discharge channel when in a horizontal position, and opens the discharge channel when rotated. The bottom of the frame has a positioning slide rod 63, which facilitates placement on the positioning shaft 33 of the locking mechanism 3.

[0078] The unloading mechanism 2 in the figure is designed with a rotary cylinder 21, a rotary rod 22, and a rotary hook 23. The rotary cylinder 21 uses a angular stroke cylinder as its main component, which drives the rotary rod 22 to rotate at a certain angle, such as 45 or 90 degrees. The rotary rod 22 is a straight rod structure, which transmits the rotation of the rotary cylinder 21 to the rotary hook 23. The rotary hook 23 has a U-shaped groove structure, thus forming an embedded fit with the embedding block 62 of the unloading head 64 on the solid material bin 6, achieving synchronous rotation of the embedding block 62. To achieve better embedding, the embedding block 62 can be designed with a double-sided inclined surface structure at the position where it mates with the rotary hook 23. In practical applications, the rotary hook 23 can be movably assembled with the rotary rod 22, thus adapting to solid material bins 6 of different specifications. The rotary cylinder 21 is driven back and forth by a front-push cylinder 24 via a traditional slide rail assembly.

[0079] The locking mechanism 3 in the diagram includes a hook cylinder 31, a reciprocating hook 32, and a positioning shaft 33. There are two hook cylinders 31 and two reciprocating hooks 32, arranged on the left and right sides. There are four positioning shafts 33, arranged symmetrically front and back. The hook cylinder 31 uses a conventional forward-pushing cylinder structure. The reciprocating hook 32 uses an inverted L-shaped structure, so that when the solid material bin 6 is placed on the positioning shaft 33, the solid material bin 6 is pulled inwards and moved to the set position. Each positioning shaft 33 has a V-groove. Correspondingly, the positioning slide rod 63 at the bottom of the solid material bin 6 is a straight rod structure. When the positioning slide rod 63 falls into the V-shaped groove, it can center the positioning slide rod 63. Centering means that when the solid material bin 6 is slightly deviated to the left or right, the V-shaped groove will correct its position due to the characteristics of the V shape, so that the axis of the solid material bin 6 is aligned with the axis of the feed cylinder 1 or has only a small deviation. This ensures that the assembly error of the unloading head 64 on the solid material bin 6 and the feed cylinder 1 meets the requirements of mutual sealing.

[0080] The lifting mechanism 4 in the figure drives the feed cylinder 1 to rise and fall, so that the feed cylinder 1 can be sealed and assembled or separated from the solid material bin 6. The lifting mechanism 4 is designed with a lifting drive motor 41, a connecting rod synchronous rotating seat 43, a lifting adjustment seat 42, and a lifting platform 44. The lifting drive motor 41 is used to drive one of the couplings 45 of the connecting rod synchronous rotating seat 43 to rotate, thereby driving the internal components of the lifting adjustment seat 42 to rotate. The lifting adjustment seat 42 can drive the lifting platform 44 to perform lifting and lowering actions. The lifting platform 44 is used to support the solid material bin 6. A single lifting drive motor 41 is used, as shown in the figure. The motor's rotating shaft rotates synchronously with a coupling 45 of the connecting rod synchronous rotating seat 43. The specific structure of each connecting rod synchronous rotating seat 43 can be seen in the figure. This connecting rod synchronous rotating seat 43 is an existing component, with a coupling 45 on each of its three sides. Each coupling 45 is driven by meshing bevel gears with the other couplings 45. That is, the rotation of one coupling 45 can synchronously drive the other two couplings 45 to rotate. The figure shows three connecting rod synchronous rotating seats 43. One connecting rod synchronous rotating seat 43 is matched with one lifting drive motor 41. This connecting rod synchronous rotating seat 43 is also matched with the remaining two connecting rod synchronous rotating seats 43, so that the lifting drive motor 41 drives the couplings 45 on the other two connecting rod synchronous rotating seats 43 to rotate synchronously through this connecting rod synchronous rotating seat 43. The lifting adjustment seat 42 also has an existing structure, with four seats arranged symmetrically front and back like the positioning shaft 33. Adjacent lifting adjustment seats 42 are connected by couplings 45 to achieve synchronous rotation. Connecting components such as couplings are also provided between the lifting adjustment seat 42 and the connecting rod synchronous rotating seat 43, thus enabling the connecting rod synchronous rotating seat 43 to drive the movement of components within the lifting adjustment seat 42. The lifting adjustment seat 42 also employs a meshing bevel gear structure with a longitudinally arranged screw structure. This screw can be driven by the coupling 45 to perform lifting actions, which in turn drive the lifting platform 44 to perform lifting actions. To monitor the weight change of the solid material bin 6 on the lifting platform 44, a weighing detection unit 5 can be installed between each lifting adjustment seat 42 and the lifting platform 44. The connections between the connecting rod synchronous rotating seat 43 and the lifting adjustment seat 42, between the connecting rod synchronous rotating seat 43 and the connecting rod synchronous rotating seat 43, and between the lifting adjustment seats 42 can all be made in the existing manner; therefore, the specific connection structures are omitted in the figure.

[0081] In practical applications, the above-mentioned connecting device 83 can be integrally designed into a "C" shape, so that a lifting variable-frequency explosion-proof mixer can be installed on the top, which is magnetically or mechanically connected to the solid agitator in the storage device 82, so as to realize the stirring of materials. The above-mentioned mixer is a conventional component, and its installation position and configuration with other components can refer to the prior art, so it is not shown in the figure. In addition, the connecting device 83 can be configured with multiple types of sensors, such as a designed positioning sensor, which can be one or a combination of lidar, vision sensor, infrared sensor or ultrasonic sensor. The above-mentioned positioning sensor can cooperate with the positioning shaft and the lifting adjustment seat to accurately position the docking of the feeding port of the silo and the receiving port of the feeding tube; in addition, a sensing sensor for the end point of material feeding, that is, the end point position of the silo placement, can also be designed. The material feeding end point sensing sensor is one or a combination of a gravity sensor, an ultrasonic sensor or a photoelectric sensor; this ensures the accuracy of the end point position of the silo placement. The above-mentioned sensors are all existing components, and the cooperation method with other components can also refer to the existing method, so the above-mentioned sensors are not shown in the figure.

[0082] The usage method of the above-mentioned fine chemical automatic solid feeding robot includes the following steps:

[0083] 1. Inspection before system startup:

[0084] The battery power of the AGV forklift > 80%, the navigation sensor is unobstructed, the robotic arm fixture is not loose, and the barcode scanner function is normal;

[0085] The RFID tag of the silo is consistent with the system information and the seal is intact;

[0086] 2. After the material outbound instruction is issued, the AGV forklift automatically plans the path to the warehouse stock preparation area after receiving the instruction;

[0087] 3. The silo is loaded. The AGV forklift scans the silo for confirmation, lifts the silo, and the system compares the material batch number and validity period. When abnormal, a red light alarm is triggered;

[0088] 4. During transportation, the AGV forklift travels along the preset path, the obstacle avoidance radar is turned on, the speed ≤ 1 m / s, and the control device monitors the position and status of the AGV forklift in real time;

[0089] 5. Docking with the reactor 84:

[0090] 5.1. Initial state: The lifting platform is in the lowest position and the reciprocating hook is in the extended state;

[0091] 5.2 The AGV forklift transfers the hopper to the top of the connecting device 83. The AGV forklift reaches the designated coordinates with a positioning accuracy of ±10mm and sends a ready signal. The connecting device 83 then activates. The determination of whether the designated coordinates have been reached can be achieved by installing a position sensor, such as a proximity switch, on the connecting device 83. When the switch is touched, the AGV forklift communicates the corresponding information to the system. The following position determinations can all be achieved using a combination of sensors and communication.

[0092] 5.3 The AGV forklift lowers the hopper to a position 15-20cm from the lifting platform;

[0093] 5.4. Raise the lifting platform 20cm to its highest point to lift the hopper;

[0094] 5.5 The AGV forklift returns;

[0095] 5.6 The reciprocating hook pulls back to position the hopper forward and backward;

[0096] 5.7 The lifting platform lowers the material hopper by 20cm to the lowest point, so that the material hopper and the feed cylinder are connected. During the connection, the pneumatic sealing ring of the material hopper and the feed cylinder is pressurized to 0.4-0.6MPa, and nitrogen and air treatment are performed at the same time.

[0097] 6. Automatic feeding:

[0098] The screw conveyor / gravity feeding system starts automatically, and the weighing detection unit provides closed-loop control. Feeding stops automatically when the feeding error is ≤1%.

[0099] The gravity feeding step includes:

[0100] 6.1 The unloading valve of the unloading head inside the silo is driven by the unloading mechanism to prepare for unloading;

[0101] 6.2. Open the discharge valve to release the material;

[0102] 6.3 After material discharge is completed, the discharge valve is closed;

[0103] The steps of the interface separation procedure include:

[0104] 6.4 The lifting platform raises the material hopper by 20cm;

[0105] 6.5 AGV forklifts hold the material hopper;

[0106] 6.6. The reciprocating hook extends;

[0107] 6.7 The lifting platform is lowered to its lowest position;

[0108] The AGV forklift receives the completion signal and executes the interface separation program.

[0109] 7. Return trip and charging:

[0110] The AGV forklift returns to the standby area with the hopper, and automatically connects for wireless charging when the battery level is less than 30%.

[0111] The control system in this case can be adapted to the above-mentioned usage methods and working principles by developing new control programs, or by using existing embedded systems for adaptive optimization to control existing AGV forklifts and other components. The task allocation and dynamic scheduling algorithm of this control system is based on genetic algorithms or ant colony algorithms; a distributed control architecture (DCS) coordinates the operation, and the wireless network protocol can be selected from Wi-Fi, 5G, or ZigBee.

[0112] The specific embodiments described above are merely illustrative of the present technical solution and are not intended to limit the present technical solution. In the description of the present technical solution, it should be noted that terms such as "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are only for the convenience of describing the present technical solution and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present technical solution.

[0113] Furthermore, in the description of this technical solution, it should be noted that, unless otherwise explicitly specified and limited, the terms "fixed" and "fitting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this technical solution according to the specific circumstances.

[0114] Although embodiments of the present technical solution have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present technical solution, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic solid feeding robot for a fine chemical reaction vessel, characterized in that: The design includes: A transfer device (81) is used to move the material storage device (82) to a set position of the connecting device (83); Storage device (82) for storing materials; A connecting device (83) is used for material flow between the material storage device (82) and the reactor (84); The control mechanism is used to interface with the existing chemical plant production system. As a central processing system, it processes control signals and performs command control of the entire system. It controls the transfer device (81), the connection device (83), and the reactor (84) respectively, and completes the conveying, connection, and feeding respectively. It receives production requirements, performs route planning, controls and monitors the entire feeding process, and wirelessly controls the entire feeding process. The connecting device (83) includes a feeding cylinder (1), a discharge mechanism (2), a locking mechanism (3), a lifting mechanism (4), and a weighing detection unit (5); the discharge mechanism (2) drives the discharge valve (641) inside a storage device (82) to open and close to complete the discharge; the feeding cylinder (1) is located directly below the discharge of the storage device (82), and the locking mechanism (3) drives the storage device (82) to a set position so that the feeding cylinder (1) is aligned with the storage device (82) to ensure that the feeding cylinder (1) and the storage device (82) are connected internally and sealed on the side; the lifting mechanism (4) drives the feeding cylinder (1) to rise and fall so that the feeding cylinder (1) and the storage device (82) are sealed together or separated; the weighing detection unit (5) measures the weight of the storage device (82) in real time; The locking mechanism (3) has a hook cylinder (31), a reciprocating hook (32), and a positioning shaft (33). The reciprocating hook (32) is fixed on the hook cylinder (31). The reciprocating hook (32) drives the hopper to move to the set position. The positioning shafts (33) are arranged symmetrically. Each positioning shaft (33) has a V-groove. The V-groove centers and limits the positioning slide rod (63) of the hopper, ensuring that the assembly error of the unloading head (64) and the feeding cylinder (1) of the hopper meets the requirement of mutual sealing. There are four positioning shafts (33), which are arranged in a front-to-back alignment. The unloading mechanism (2) has a rotary cylinder (21), a rotating rod (22), and a rotary hook (23); the rotary cylinder (21) rotates the rotary hook (23) through the rotating rod (22); the hopper has a linkage shaft (61) and an embedded block (62); the rotary hook (23) drives the linkage shaft (61) to rotate through the embedded block (62), and the linkage shaft (61) is linked with the unloading valve (641) in the hopper. The shape of the unloading valve (641) corresponds to the shape of the hopper unloading channel to complete the unloading and closing operations of the hopper; the rotary cylinder (21) is driven to move back and forth by a forward-pushing cylinder (24); the rotary hook (23) has a groove-shaped structure, and the position where the embedded block (62) cooperates with the rotary hook (23) has an inclined surface.

2. The automatic solid feeding robot for a fine chemical reaction vessel according to claim 1, characterized in that: The transfer device (81) is a remote-controlled forklift or an automated guided vehicle (AGV) forklift; the storage device (82) is a solid material silo (6) with a lifting and positioning point or a mobile liquid transfer tank silo.

3. The automatic solid feeding robot for a fine chemical reaction vessel according to claim 2, characterized in that: A solid stirrer is provided inside the solid material bin (6); the solid material bin (6) is provided with an automated discharging valve (641), which is in the form of a butterfly valve, a ball valve or a gate valve, and a sensing sensor that communicates with the temperature and pressure sensor information inside the reaction kettle (84): a vibrator is provided on the outer wall of the solid material bin (6), which is a pneumatic hammer or an ultrasonic vibrator.

4. The automatic solid feeding robot for a fine chemical reaction vessel according to claim 2, characterized in that: The lifting mechanism (4) includes a lifting drive motor (41), a connecting rod synchronous rotating seat (43), a lifting adjustment seat (42), and a lifting table (44); the lifting drive motor (41) drives the lifting table (44) to perform a lifting action through the connecting rod synchronous rotating seat (43) and the lifting adjustment seat (42), and the material bin is placed on the lifting table (44). There are multiple connecting rod synchronous rotating seats (43), and one of the connecting rod synchronous rotating seats (43) is assembled with the lifting drive motor (41), and this connecting rod synchronous rotating seat (43) drives the other connecting rod synchronous rotating seats (43) to act so as to link the lifting adjustment seat (42), and the lifting adjustment seat (42) has a screw rod to drive the lifting table (44) to lift; there are three connecting rod synchronous rotating seats (43), and the middle connecting rod synchronous rotating seat (43) is assembled with the lifting drive motor (41), and this middle connecting rod synchronous rotating seat (43) drives the coupling shafts (45) of the other two connecting rod synchronous rotating seats (43) to rotate, and the above-mentioned coupling shafts drive the screw rod of the lifting adjustment seat (42) to rotate longitudinally. There is also a coupling shaft (45) between the two lifting adjustment seats (42) so that the two lifting adjustment seats (42) together drive the lifting table (44) to perform a lifting action.

5. The automatic solid feeding robot for a fine chemical reaction vessel according to claim 1, characterized in that: The connecting device (83) is in an overall "C" shape, and a lifting frequency conversion explosion-proof mixer is provided at the top of the connecting device (83), which is magnetically connected or mechanically connected to the solid stirrer inside the storage device (82).

6. The automatic solid feeding robot for a fine chemical reaction vessel according to claim 1, characterized in that: The connecting device (83) is provided with a positioning sensor, which is one or a combination of a lidar, a vision sensor, an infrared sensor or an ultrasonic sensor. The above-mentioned positioning sensor cooperates with the positioning shaft (33) of the connecting device (83) and the lifting adjustment seat (42) to accurately position the docking of the feeding port and the receiving port; the connecting device (83) is provided with a material feeding end sensing sensor, which is one or a combination of a gravity sensor, an ultrasonic sensor or a photoelectric sensor.

7. A method for using a fine chemical reaction kettle automatic solid feeding robot described in claim 4, comprising the following steps: characterized in that:

91. Inspection before system startup: The battery power of the AGV forklift > 80%, the navigation sensor is unobstructed, the mechanical arm fixture is not loose, and the function of the barcode scanner is normal; The RFID tag is consistent with the system information and the seal is intact; 92. After the material outbound instruction is issued, the AGV forklift automatically plans the path to the warehouse stock preparation area after receiving the instruction; 93. The AGV forklift scans the code to confirm the material bin for the material bin loading, lifts the material bin, and the system compares the material batch number and the expiration date. When abnormal, a red light alarm is triggered; 94. During the transportation process, the AGV forklift travels along the preset path, the obstacle avoidance radar is activated, the speed is ≤1m / s, and the control mechanism monitors the position and status of the AGV forklift in real time; 95. Reactor (84) docking: 95.1 Initial state: The lifting platform (44) is in the lowest position and the reciprocating hook (32) is in the extended state; 95.2 The AGV forklift transfers the hopper to the top of the connecting device (83). The AGV forklift reaches the designated coordinates with a positioning accuracy of ±10mm. At the same time, it sends a ready signal and the connecting device (83) activates. 95.3 The AGV forklift lowers the hopper to a position 15-20cm away from the lifting platform (44); 95.

4. The lifting platform (44) rises 20cm to the highest point to lift the hopper; 95.5, AGV forklift returned; 95.

6. The reciprocating hook (32) pulls back to position the hopper at the front and back; 95.

7. The lifting platform (44) lowers the material bin by 20cm to the lowest point, so that the material bin is connected to the feed cylinder (1). When connecting, the pneumatic sealing ring of the material bin and the feed cylinder (1) is pressurized to 0.4-0.6MPa, and nitrogen and air treatment are carried out at the same time.

96. Automatic feeding: Screw conveyor / gravity feeding starts, weighing detection unit (5) closes loop control, feeding ends automatically when feeding error ≤1%: The AGV forklift receives the completion signal and executes the interface separation program; 97. Return trip and charging: The AGV forklift returns to the standby area with the hopper, and automatically connects for wireless charging when the battery level is less than 30%.

8. The method of using an automatic solid feeding robot for fine chemicals according to claim 7, characterized in that: The gravity feeding step includes: 96.1 The unloading valve (641) of the unloading head (64) in the silo is driven by the unloading mechanism (2) to prepare for unloading; 96.

2. Open the discharge valve (641) to discharge the material; 96.

3. After the material discharge is completed, the unloading valve (641) is closed; The steps of the interface separation procedure include: 96.

4. The lifting platform (44) with the material bin rises 20cm; 96.

5. AGV forklifts hold the material in the hopper; 96.

6. The reciprocating hook (32) extends; 96.

7. The lifting platform (44) is lowered to its lowest position.

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