Automatic feeding device and feeding method for triphosgene

Abstract

The invention provides an automatic feeding device and method for triphosgene, and belongs to the technical field of chemical production feeding. The automatic feeding device for the triphosgene comprises a receiving kettle, a feeding bin, a grabbing and feeding assembly, image acquisition equipment and a controller. The receiving kettle is used for receiving the triphosgene and reacting. The feeding bin is arranged at the top of the receiving kettle and is communicated with the receiving kettle; the feeding bin is provided with an opening; the feeding bin is used for feeding triphosgene into the receiving kettle. The grabbing and feeding assembly is arranged on one side of the feeding bin; the grabbing and feeding assembly comprises a mechanical arm arranged on one side of the feeding bin and a mechanical gripper arranged at the end of the mechanical arm. A material storage area is arranged on one side of the grabbing and feeding assembly. The material storage area is provided with a standard station; the mechanical arm drives the mechanical gripper to grab materials and then put the materials into the feeding bin. The grabbing and feeding assembly can accurately complete material grabbing and feeding, manual intervention is not needed in the whole process, and the safety of feeding operation is improved.

Description

Technical Field

[0001] This invention belongs to the technical field of chemical production feeding, and more specifically, it relates to an automatic feeding device and feeding method for solid phosgene. Background Technology

[0002] Solid phosgene, chemically known as di(trichloromethyl) carbonate, is a white to off-white crystalline chemical with a characteristic phosgene-like odor and is classified as a Class II organic toxic substance. As an important chemical intermediate, it is a superior substitute for highly toxic phosgene and diphosgene, and is widely used in various industrial fields such as pharmaceuticals, pesticides, dye synthesis, organic synthesis, and polymer material preparation. In the industrial production and practical application of solid phosgene, the feeding process is currently dominated by traditional manual feeding methods. In this method, operators must manually transfer the solid phosgene raw material to the inlet of production equipment such as reaction vessels, and then manually perform the unpacking and feeding operations. Due to limitations in the automation level of existing production equipment, and given the low equipment investment cost and simple operation of manual feeding, this method is particularly prevalent in the industry, especially in small and medium-sized chemical enterprises.

[0003] The existing feeding methods have the following drawbacks: solid phosgene is toxic, and the probability of personnel coming into direct contact with the chemical during manual feeding is extremely high. Its toxic components can enter the human body through multiple routes such as skin contact and inhalation. Long-term or frequent exposure can easily cause various occupational health problems, seriously threatening the health of operators. In addition, the detection of solid phosgene is difficult, which further increases the risk of personnel exposure and poisoning. Summary of the Invention

[0004] The purpose of this invention is to provide an automatic feeding device and feeding method for solid phosgene, aiming to solve the problem that personnel may come into contact with toxic substances during manual feeding.

[0005] To achieve the above objectives, the technical solution adopted by the present invention is as follows: In a first aspect, an automatic feeding device for solid phosgene is provided, comprising: The feeding bin has an opening; the feeding bin is used to feed solid phosgene into the receiving vessel. A feeding assembly is disposed on one side of the feeding bin; the feeding assembly includes a robotic arm disposed on one side of the feeding bin and a robotic gripper disposed at the end of the robotic arm; a material storage area is disposed on one side of the feeding assembly; the material storage area is provided with a standard workstation; after the robotic arm drives the robotic gripper to grab the material, it puts the material into the feeding bin; An image acquisition device is configured to acquire and output image information of the material storage area; and The controller is communicatively connected to the image acquisition device, the robotic arm, and the robotic gripper, and is configured to: Obtain image information of the material storage area; Generate a deviation vector between the material center and the standard workstation center based on the image information of the material storage area; The position of the mechanical gripper is adjusted by the robotic arm according to the deviation vector, so that the feeding assembly can grab and feed the material into the feeding bin.

[0006] In one possible implementation, adjusting the position of the robotic gripper via the robotic arm according to the deviation vector includes: The adjustment direction of the mechanical gripper is determined based on the direction of the deviation vector; The adjustment distance of the mechanical gripper is determined based on the magnitude of the deviation vector.

[0007] In one possible implementation, the feeding hopper is provided with a feeding door; the controller is communicatively connected to the feeding door, and the controller is configured to: Before the material is fed into the feeding hopper, the feeding hopper door is opened. After feeding is complete, close the feed compartment door.

[0008] In one possible implementation, the feed hopper is equipped with a depackaging knife for opening the material packaging.

[0009] In one possible implementation, the feeding hopper is equipped with a spray cleaning valve and a nitrogen purging valve; the controller is communicatively connected to both the spray cleaning valve and the nitrogen purging valve; the controller is configured to: After the feed chamber door is closed, the spray cleaning valve is opened to clean the feed hopper; After cleaning is completed, the nitrogen purging valve is opened to purge the feeding hopper.

[0010] One possible implementation also includes: A sealed feeding chamber is provided, in which the receiving vessel, the feeding bin, and the feeding grabbing assembly are all located; a tail gas collection port is provided on the sealed feeding chamber; and An exhaust gas capture and treatment system is connected to the exhaust gas capture port; the exhaust gas capture and treatment system is used to ventilate the sealed feeding room and capture and treat the toxic gases inside the sealed feeding room.

[0011] One possible implementation also includes: An oxygen content sensor is installed in the sealed feeding room; the oxygen content sensor is used to detect and output oxygen content information; and A toxic gas content detection device is installed in the sealed feeding room; the toxic gas content detection device is used to detect and output toxic gas content information; The controller is communicatively connected to the oxygen content sensor, the toxic gas content detection device, and the exhaust gas capture and treatment system; the controller is configured to: Obtain the oxygen content information and the toxic gas content information; The exhaust gas capture and treatment system or the nitrogen purging valve is controlled to operate based on the oxygen content information and the toxic gas content information.

[0012] In one possible implementation, controlling the exhaust gas capture and treatment system based on the oxygen content information or the toxic gas content information includes: The oxygen content information is compared with a first threshold, and the toxic gas content information is compared with a second threshold. If the oxygen content information is lower than the first threshold, the nitrogen purge valve is closed and the exhaust gas capture and treatment system is activated; or if the toxic gas content information is higher than the second threshold, the exhaust gas capture and treatment system is activated.

[0013] The beneficial effects of the automatic feeding device for solid phosgene provided by this invention are as follows: Compared with the prior art, the automatic feeding device for solid phosgene of this invention can realize the fully automated operation of the solid phosgene feeding process. No manual intervention is required throughout the entire process of raw material transfer, gripping, and feeding, significantly reducing the probability of personnel contact with solid phosgene from the source. The image acquisition device on the device can collect image information of the material storage area in real time, accurately capturing the actual placement position of the material, providing a real and reliable data source for the precise adjustment of the mechanical gripper's position. The core controller can automatically generate a deviation vector between the material center and the standard workstation center based on the collected image information, and use this as a basis to drive the robotic arm to adjust the spatial position of the mechanical gripper, enabling the mechanical gripper to accurately align with the material to be gripped, significantly improving the accuracy and operational stability of the material gripping operation. The robotic arm can drive the mechanical gripper to complete the continuous action of material gripping and feeding. The entire action process is fully controllable and can strictly follow the preset trajectory and work rhythm to complete the feeding operation, effectively improving the overall work efficiency of the solid phosgene feeding process.

[0014] The integrated automated control logic of the device enables the orderly connection and coordinated operation of each stage of the feeding process, significantly reducing the randomness and human error rate caused by manual operation, and making the entire process of solid phosgene feeding more standardized and regulated. The feeding hopper is directly located on top of the receiving vessel and communicates with its interior. After feeding, the material can directly enter the reaction vessel to participate in the chemical reaction, greatly reducing spillage and equipment residue during the transfer process, and effectively improving the actual utilization rate of solid phosgene raw materials. The fully automated grabbing and feeding operation mode enables precise control of the feeding amount, completely avoiding the problems of overfeeding or underfeeding that are prone to occur in manual feeding operations, ensuring that the material ratio in the chemical reaction process remains accurate at all times, and guaranteeing the continuous and stable progress of the subsequent chemical reaction from the raw material feeding level.

[0015] In a second aspect, a method for feeding solid phosgene is provided, applied to the automatic feeding device for solid phosgene as described in the first aspect, comprising the following steps: Acquire image information, oxygen content information, and toxic gas content information of the material storage area; Generate a deviation vector between the material center and the standard workstation center based on the image information of the material storage area; The position of the mechanical gripper is adjusted by the robotic arm according to the deviation vector, so that the feeding component can grab and put the material into the feeding bin; Before feeding materials into the feeding hopper, the feeding hopper door is opened, and after feeding is completed, the feeding hopper door is closed. After the feed chamber door is closed, the spray cleaning valve is opened to clean the feed hopper; After cleaning is completed, open the nitrogen purging valve to purge the feeding hopper; The exhaust gas capture and treatment system or nitrogen purging valve is controlled based on the oxygen content information and the toxic gas content information.

[0016] In one possible implementation, adjusting the position of the mechanical gripper via the robotic arm according to the deviation vector to facilitate the material gripping and feeding assembly to pick up and feed the material into the feeding hopper includes: The adjustment direction of the mechanical gripper is determined based on the direction of the deviation vector; The adjustment distance of the mechanical gripper is determined based on the magnitude of the deviation vector.

[0017] The beneficial effects of the solid phosgene feeding method provided by this invention are as follows: Compared with the prior art, the solid phosgene feeding method of this invention simultaneously acquires multi-dimensional on-site data before the feeding operation, enabling the device to grasp the actual placement state of the material and the gas indicators of the working environment in advance. This provides comprehensive and accurate data support for the subsequent fully automated operation, ensuring that each step of the operation has a scientific basis and guaranteeing the orderly operation of the feeding process from the source. Based on the image information of the material storage, a deviation vector is generated, which can accurately locate the deviation between the actual position of the material and the preset workstation. This provides a clear quantitative standard for the adjustment of the mechanical gripper's position, avoiding blindness in the adjustment process, effectively improving the alignment accuracy of the mechanical gripper with the material, and significantly increasing the success rate of the material gripping action.

[0018] After adjusting the position of the mechanical gripper based on the deviation vector, the feeding assembly can accurately pick up and deliver materials without any manual intervention. This completely eliminates direct contact between personnel and solid phosgene, mitigating the threat of toxic substances to personnel health from the operational perspective and improving the safety of feeding operations. Automated opening and closing control of the feeding hopper door before and after feeding ensures the hopper remains sealed when not in operation, preventing the escape of toxic gases from solid phosgene volatilization, reducing the diffusion of toxic gases in the work space, and further lowering the concentration of toxic gases in the environment.

[0019] After the feed hopper door is closed, a spray cleaning process is performed on the feed hopper to promptly remove residual solid phosgene material from the inner walls. This prevents the risk of secondary volatilization or reaction caused by the accumulation of residual material inside the hopper, maintaining the cleanliness of the feed hopper and providing a clean working environment for subsequent feeding operations. After cleaning, nitrogen purging is performed to quickly remove residual cleaning liquid from the feed hopper. At the same time, nitrogen creates an inert environment to prevent unnecessary chemical reactions between residual solid phosgene and oxygen, ensuring a stable working environment inside the feed hopper.

[0020] The system intelligently controls the exhaust gas capture and treatment system or nitrogen purging valve based on information on oxygen and toxic gas content. This enables dynamic monitoring and real-time control of the working environment. When environmental indicators become abnormal, timely countermeasures are taken to ensure that gas indicators in the confined working space are always kept within a safe range. This prevents toxic gas exceeding the standard from affecting the environment and equipment, and also prevents safety hazards caused by abnormal oxygen content. This comprehensively protects the environmental safety and equipment operation safety of the feeding operation.

[0021] This complete feeding method automates the entire process, from material positioning and handling to silo cleaning and environmental control. The seamless integration and coordinated operation of each step significantly improves the overall efficiency of solid phosgene feeding while reducing errors caused by manual operation, thus greatly enhancing the standardization of the feeding process. The fully automated feeding process precisely controls the feeding amount, avoiding overfeeding or underfeeding, ensuring a precise match between the amount of solid phosgene added and the reaction requirements. This guarantees stable material ratios for subsequent chemical reactions, thereby improving the overall effectiveness of the chemical reaction and product quality. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of an automatic feeding device for solid phosgene provided in an embodiment of the present invention; Figure 2 A schematic diagram illustrating the main steps of the solid phosgene feeding method provided in this embodiment of the invention; Figure 3 This is a schematic diagram illustrating the main steps of adjusting the position of the mechanical gripper by the robotic arm according to the deviation vector, as provided in an embodiment of the present invention.

[0024] Explanation of reference numerals in the attached figures: 1. Enclosed feeding room; 11. Exhaust gas collection port; 2. Receiving vessel; 3. Feeding bin; 31. Feeding door; 32. Unpacking knife; 4. Feeding gripper assembly; 41. Robotic arm; 42. Mechanical gripper; 5. Spray cleaning valve; 6. Nitrogen purging valve; 7. Material storage area; 8. Exhaust gas collection and treatment system. Detailed Implementation

[0025] To make the technical problems to be solved, the technical solutions, and the beneficial effects of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.

[0026] Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0027] It should be further noted that the accompanying drawings and embodiments of the present invention mainly describe the concept of the present invention. Based on this concept, some specific forms and arrangements of connection relationships, positional relationships, power mechanisms, power supply systems, hydraulic systems and control systems may not be fully described. However, under the premise that those skilled in the art understand the concept of the present invention, they can implement the above-mentioned specific forms and arrangements in a well-known manner.

[0028] When a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0029] In the description of this invention, "a plurality of" means two or more, and "several" means one or more, unless otherwise explicitly specified.

[0030] The directional terms "inner" and "outer" refer to the inner and outer contours of each component itself. The terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention 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 invention.

[0031] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," and "above" are used here to describe the spatial positional relationship between a device or feature and other devices or features, as shown in the figure. It should be understood that spatial relative terms are intended to... The invention includes different orientations of the device in use or operation, in addition to those described in the figures. For example, if a device in the figures is inverted, a device described as "above" or "on top of" other devices or structures will be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below". The device may also be positioned in other different ways, and the spatial relative descriptions used herein are interpreted accordingly. The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the invention, "a plurality of" means two or more, and "a number" means one or more, unless otherwise explicitly specified.

[0032] Reference Figures 1 to 3 The automatic feeding device and feeding method for solid phosgene provided by the present invention will now be described.

[0033] Reference Figure 1 In one aspect, an automatic feeding device for solid phosgene is provided, including a feeding bin 3, a feeding assembly 4, an image acquisition device, and a controller.

[0034] A feeding bin 3 is located on top of and communicates with the receiving vessel 2; the feeding bin 3 has an opening; the feeding bin 3 is used to feed solid phosgene into the receiving vessel 2. A feeding assembly 4 is located on one side of the feeding bin 3; the feeding assembly 4 includes a robotic arm 41 located on one side of the feeding bin 3 and a mechanical gripper 42 located at the end of the robotic arm 41; a material storage area 7 is located on one side of the feeding assembly 4; the material storage area 7 has a standard workstation; after the robotic arm 41 drives the mechanical gripper 42 to grab the material, it feeds the material into the feeding bin 3. An image acquisition device is configured to acquire and output image information of the material storage area 7. The controller is communicatively connected to the image acquisition device, the robotic arm 41, and the mechanical gripper 42, and is configured as follows: Acquire image information of material storage area 7; Generate a deviation vector between the material center and the standard workstation center based on the image information of material storage area 7; The position of the mechanical gripper 42 is adjusted by the robotic arm 41 according to the deviation vector, so that the feeding component 4 can grab and put the material into the feeding bin 3.

[0035] In a preferred embodiment, the image acquisition device is an industrial vision camera equipped with supplementary lighting components adapted to the industrial working environment. It can achieve full-area visual acquisition of the material storage area 7 within a confined working space, clearly capturing the planar and spatial visual information of the material storage area 7 and accurately identifying the shape and actual placement of the materials. The device can convert the acquired optical image information into digital image information in the form of electrical signals and transmit the digital image information to the controller in real time according to a preset communication protocol, providing a continuous, clear, and complete visual data source for subsequent data analysis and computation by the controller. It possesses imaging capabilities adaptable to complex industrial environments, effectively avoiding the impact of factors such as changes in lighting and equipment obstruction on image acquisition results, maintaining stable image acquisition accuracy, and ensuring that the acquired image information of the material storage area 7 accurately reflects the actual placement of the materials.

[0036] In a preferred embodiment, the diameter of the inlet of the receiving vessel 2 is not less than 200 mm. The inlet is directly connected to a shut-off valve, and above it is a feed pipe with a large inclination angle to ensure smooth material entry. The feeding hopper 3 is a square structure with a side length of 1.5 meters, sealed on three sides, with an opening on the remaining side.

[0037] In a preferred embodiment, generating a deviation vector between the material center and the standard workstation center based on image information of the material storage area specifically includes the following steps: Gaussian filtering is used to preprocess the image information of the material storage area to obtain the preprocessed image information.

[0038] The Canny algorithm is used to perform edge detection on the preprocessed image information to obtain the pixel-level contour of the material; Based on the pixel-level contour of the material, the center pixel coordinates of the material are extracted using the following formula:

[0039]

[0040] in, The x and y coordinates of the pixel center of the material; For the material outline The x and y coordinates of each pixel; This represents the total number of pixels within the material outline.

[0041] The center pixel coordinates of the standard workstation are calculated using the following formula:

[0042]

[0043] in, The x and y coordinates of the pixel at the center of the standard workstation; For the first standard workstation reference mark The x and y coordinates of each pixel; This represents the total number of pixels within the standard workstation reference mark.

[0044] The center pixel coordinates of the material are converted to physical coordinates using the following formula:

[0045] in, The physical x and y coordinates of the material center; The x and y coordinates of the pixel center of the material; These are the x and y coordinates of the pixel corresponding to the origin of the physical coordinate system. for X Directional pixel equivalent; for Y Directional pixel equivalent.

[0046] The center pixel coordinates of the standard workstation are converted to physical coordinates using the following formula:

[0047] in, The physical x and y coordinates of the standard workstation center; The x and y coordinates of the pixel at the center of the standard workstation; These are the x and y coordinates of the pixel corresponding to the origin of the physical coordinate system. for X Directional pixel equivalent; for Y Directional pixel equivalent.

[0048] The deviation vector between the material center and the standard workstation center is calculated using the following formula:

[0049]

[0050] in, for X Directional deviation; for Y Directional deviation; This is the deviation vector.

[0051] In one possible implementation, the position of the mechanical gripper 42 is adjusted by the robotic arm 41 according to the deviation vector, including: The adjustment direction of the mechanical gripper 42 is determined based on the direction of the deviation vector; The adjustment distance of the mechanical gripper 42 is determined based on the magnitude of the deviation vector.

[0052] The direction of the deviation vector clarifies the adjustment path of the mechanical gripper 42, giving its position adjustment a clear direction and preventing directional deviations in the adjustment action, thus ensuring the accuracy of the position adjustment. The adjustment distance of the mechanical gripper 42 can be quantified using the deviation vector, providing a specific numerical reference for the adjustment operation, eliminating blind distance adjustments, and achieving precise control of the mechanical gripper 42's position.

[0053] In one possible implementation, the feeding hopper 3 is equipped with a feeding door 31; the controller is communicatively connected to the feeding door 31, and the controller is configured as follows: Before the material is fed into the feeding hopper 3, the feeding hopper door 31 is opened. After feeding is completed, close the feed chamber door 31.

[0054] Before feeding operations, the feeding channel of feeding hopper 3 should be opened promptly to ensure the smooth input of materials into hopper 3. After feeding is completed, the hopper door can be quickly closed, restoring hopper 3 to a sealed state and effectively preventing the escape of toxic gases emitted from solid phosgene. The sealed hopper structure reduces the diffusion of toxic gases in the work space, lowers the concentration of toxic gases in the environment, and reduces the possibility of personnel exposure to toxic gases from a spatial isolation perspective. At the same time, it can prevent external impurities from entering feeding hopper 3 and contaminating the solid phosgene raw material, ensuring the purity of the raw material and allowing subsequent chemical reactions to be carried out under pure raw material conditions, maintaining the stability of the reaction process.

[0055] In one possible implementation, the inside of the feeding bin 3 is provided with a depackaging knife 32 for opening the material packaging.

[0056] In one possible implementation, the feeding hopper 3 is equipped with a spray cleaning valve 5 and a nitrogen purging valve 6; the controller is communicatively connected to both the spray cleaning valve 5 and the nitrogen purging valve 6; the controller is configured as follows: After the feed chamber door 31 is closed, the spray cleaning valve 5 is opened to clean the feed hopper 3; After cleaning is completed, control the nitrogen purging valve 6 to open and purge the feeding bin 3.

[0057] After feeding is completed, the silo undergoes automatic spray cleaning, which quickly removes material residue adhering to the inner wall of silo 3, preventing the continuous volatilization and release of toxic gases from the residue. This cleaning operation maintains the cleanliness of silo 3, preventing the accumulation of residual material and scale that could affect the smoothness of subsequent feeding operations, and also preventing residual material from mixing with newly added material and affecting the purity of the raw materials. After cleaning, nitrogen purging is activated, quickly removing the cleaning liquid from the silo and allowing it to rapidly return to a dry state. Nitrogen purging creates an inert gas environment within the silo, preventing residual material from reacting with oxygen and causing chemical reactions, thus avoiding safety hazards caused by material reactions. It also creates a stable and safe internal environment for the next feeding operation, ensuring the smooth operation of continuous feeding.

[0058] One possible implementation also includes: The sealed feeding chamber 1, receiving vessel 2, feeding bin 3, and feeding grabbing assembly 4 are all located in the sealed feeding chamber 1; the sealed feeding chamber 1 is equipped with a tail gas collection port 11; and The exhaust gas capture and treatment system 8 is connected to the exhaust gas capture port 11; the exhaust gas capture and treatment system 8 is used to ventilate the sealed feeding room 1 and capture and treat the toxic gases inside the sealed feeding room 1.

[0059] One possible implementation also includes: An oxygen content sensor is installed in the sealed feeding room 1; the oxygen content sensor is used to detect and output oxygen content information; and A toxic gas content detection device is installed in a closed feeding room 1; the toxic gas content detection device is used to detect and output toxic gas content information; The controller is communicatively connected to the oxygen content sensor, the toxic gas content detection equipment, and the exhaust gas capture and treatment system 8; the controller is configured as follows: Obtain information on oxygen content and toxic gas content; The exhaust gas capture and treatment system 8 or the nitrogen purge valve 6 is controlled based on the oxygen content information and the toxic gas content information.

[0060] In a preferred embodiment, solid phosgene will produce toxic and harmful gases such as phosgene and hydrogen chloride through volatilization and decomposition during storage, feeding, and reaction. Phosgene is a highly toxic and irritating gas, while hydrogen chloride forms corrosive acid mist. Both gases pose serious health hazards to workers and adversely affect the working environment and equipment. This device is equipped with phosgene and hydrogen chloride sensors for detecting toxic gas content. Both types of sensors are embedded at different monitoring points inside the sealed feeding chamber 1. The phosgene sensor is an electrochemical high-precision sensor that accurately detects the real-time concentration of phosgene in the sealed feeding chamber 1 and outputs a corresponding electrical signal. The hydrogen chloride sensor is a semiconductor sensor that quickly captures changes in the concentration of hydrogen chloride gas in the space and converts the data.

[0061] Both types of sensors establish a two-way communication connection with the controller, which can transmit the collected information on the content of toxic gases to the controller in real time. At the same time, they can receive instructions from the controller to complete self-testing, calibration and other operations. The detection range of the sensors is adapted to the gas concentration range of solid phosgene feeding operations, and the detection accuracy meets the relevant standards for industrial toxic gas monitoring. They can maintain stable detection performance in complex chemical operation environments and effectively avoid interference from environmental temperature and humidity, equipment vibration and other factors on the detection results.

[0062] In one possible implementation, the exhaust gas capture and treatment system 8 is controlled to operate based on oxygen content information or toxic gas content information, including: The oxygen content information is compared with the first threshold, and the toxic gas content information is compared with the second threshold. If the oxygen content is below the first threshold, the nitrogen purge valve 6 is closed and the exhaust gas collection and treatment system 8 is activated; or if the toxic gas content is above the second threshold, the exhaust gas collection and treatment system 8 is activated.

[0063] The beneficial effects of the automatic feeding device for solid phosgene provided by this invention are as follows: Compared with the prior art, the automatic feeding device for solid phosgene of this invention can realize the fully automated operation of the solid phosgene feeding process. No manual intervention is required throughout the entire process of raw material transfer, gripping, and feeding, significantly reducing the probability of personnel contact with solid phosgene from the source. The image acquisition device on the device can collect image information of the material storage area 7 in real time, accurately capturing the actual placement position of the material, providing a real and reliable data source for the precise adjustment of the position of the mechanical gripper 42. The core controller can automatically generate a deviation vector between the material center and the standard workstation center based on the collected image information, and use this as a basis to drive the robotic arm 41 to adjust the spatial position of the mechanical gripper 42, so that the mechanical gripper 42 can accurately align with the material to be gripped, significantly improving the accuracy and operational stability of the material gripping operation. The robotic arm 41 can drive the mechanical gripper 42 to complete the continuous action of material gripping and feeding. The entire action process is fully controllable and can strictly follow the preset trajectory and work rhythm to complete the feeding operation, effectively improving the overall work efficiency of the solid phosgene feeding process.

[0064] The integrated automated control logic of the device enables the orderly connection and coordinated operation of each stage of the feeding process, significantly reducing the randomness and human error rate caused by manual operation, and making the entire process of solid phosgene feeding more standardized and regulated. The feeding bin 3 is directly located on top of the receiving vessel 2 and communicates with its interior. After feeding, the material can directly enter the reaction vessel to participate in the chemical reaction, greatly reducing spillage and equipment residue during the transfer process, and effectively improving the actual utilization rate of solid phosgene raw materials. The fully automated grabbing and feeding operation allows for precise control of the feeding amount, completely avoiding the problems of overfeeding or underfeeding that easily occur in manual feeding operations. This ensures that the material ratio in the chemical reaction process remains accurate, guaranteeing the continuous and stable progress of the subsequent chemical reaction from the raw material feeding level.

[0065] Reference Figures 2 to 3 Secondly, a method for feeding solid phosgene is provided, applied to the automatic feeding device for solid phosgene as described in the first aspect, comprising the following steps: S100. Obtain image information, oxygen content information, and toxic gas content information of the material storage area.

[0066] S200. Generate a deviation vector between the material center and the standard workstation center based on the image information of the material storage area.

[0067] In a preferred embodiment, step S200 includes the following steps: S201. Gaussian filtering is used to preprocess the image information of the material storage area to obtain the preprocessed image information.

[0068] The Canny algorithm is used to perform edge detection on the preprocessed image information to obtain the pixel-level contour of the material; S202. Based on the pixel-level contour of the material, extract the center pixel coordinates of the material using the following formula:

[0069]

[0070] in, The x and y coordinates of the pixel center of the material; For the material outline The x and y coordinates of each pixel; This represents the total number of pixels within the material outline.

[0071] S203. Calculate the center pixel coordinates of the standard workstation using the following formula:

[0072]

[0073] in, The x and y coordinates of the pixel at the center of the standard workstation; For the first standard workstation reference mark The x and y coordinates of each pixel; This represents the total number of pixels within the standard workstation reference mark.

[0074] S204. Convert the center pixel coordinates of the material to physical coordinates using the following formula:

[0075] in, The physical x and y coordinates of the material center; The x and y coordinates of the pixel center of the material; These are the x and y coordinates of the pixel corresponding to the origin of the physical coordinate system. for X Directional pixel equivalent; for Y Directional pixel equivalent.

[0076] S205. Convert the center pixel coordinates of the standard workstation to physical coordinates using the following formula:

[0077] in, The physical x and y coordinates of the standard workstation center; The x and y coordinates of the pixel at the center of the standard workstation; These are the x and y coordinates of the pixel corresponding to the origin of the physical coordinate system. for X Directional pixel equivalent; for Y Directional pixel equivalent.

[0078] S206. Calculate the deviation vector between the material center and the standard workstation center using the following formula:

[0079]

[0080] in, for X Directional deviation; for Y Directional deviation; This is the deviation vector.

[0081] S300. Adjust the position of the mechanical gripper according to the deviation vector so that the feeding component can grab and put the material into the feeding bin.

[0082] In one possible implementation, step S300, adjusting the position of the mechanical gripper according to the deviation vector via the robotic arm to facilitate the material gripping component to grasp and dispose of the material into the feeding hopper, includes: S301. Determine the adjustment direction of the mechanical gripper based on the direction of the deviation vector.

[0083] S302. Determine the adjustment distance of the mechanical gripper based on the magnitude of the deviation vector.

[0084] S400. Before feeding materials into the feeding hopper, control the feeding hopper door to open, and close the feeding hopper door after feeding is completed.

[0085] S500. After the feed chamber door is closed, the spray cleaning valve is opened to clean the feed chamber.

[0086] S600. After cleaning is completed, control the nitrogen purging valve to open and purge the feeding hopper.

[0087] S700. Controls the operation of the exhaust gas capture and treatment system or nitrogen purge valve based on oxygen content information and toxic gas content information.

[0088] In one possible implementation, step S700, controlling the exhaust gas capture and treatment system to operate based on oxygen content information or toxic gas content information, includes: The oxygen content information is compared with the first threshold, and the toxic gas content information is compared with the second threshold.

[0089] If the oxygen content is below the first threshold, the nitrogen purge valve is closed and the exhaust gas capture and treatment system is activated; or if the toxic gas content is above the second threshold, the exhaust gas capture and treatment system is activated.

[0090] The beneficial effects of the solid phosgene feeding method provided by this invention are as follows: Compared with the prior art, the solid phosgene feeding method of this invention simultaneously acquires multi-dimensional on-site data before the feeding operation, enabling the device to grasp the actual placement state of the material and the gas indicators of the working environment in advance. This provides comprehensive and accurate data support for the subsequent fully automated operation, ensuring that each step of the operation has a scientific basis and guaranteeing the orderly operation of the feeding process from the source. Based on the image information of the material storage, a deviation vector is generated, which can accurately locate the deviation between the actual position of the material and the preset workstation. This provides a clear quantitative standard for the adjustment of the mechanical gripper's position, avoiding blindness in the adjustment process, effectively improving the alignment accuracy of the mechanical gripper with the material, and significantly increasing the success rate of the material gripping action.

[0091] After adjusting the position of the mechanical gripper based on the deviation vector, the feeding assembly can accurately pick up and deliver materials without any manual intervention. This completely eliminates direct contact between personnel and solid phosgene, mitigating the threat of toxic substances to personnel health from the operational perspective and fundamentally improving the safety of feeding operations. Automated opening and closing control of the feeding hopper door before and after feeding ensures the hopper remains sealed when not in operation, preventing the escape of toxic gases from solid phosgene volatilization, reducing the diffusion of toxic gases in the work space, and further lowering the concentration of toxic gases in the environment.

[0092] After the feed hopper door is closed, a spray cleaning process is performed on the feed hopper to promptly remove residual solid phosgene material from the inner walls. This prevents the risk of secondary volatilization or reaction caused by the accumulation of residual material inside the hopper, maintaining the cleanliness of the feed hopper and providing a clean working environment for subsequent feeding operations. After cleaning, nitrogen purging is performed to quickly remove residual cleaning liquid from the feed hopper. At the same time, nitrogen creates an inert environment to prevent unnecessary chemical reactions between residual solid phosgene and oxygen, ensuring a stable working environment inside the feed hopper.

[0093] The system intelligently controls the exhaust gas capture and treatment system or nitrogen purging valve based on information on oxygen and toxic gas content. This enables dynamic monitoring and real-time control of the working environment. When environmental indicators become abnormal, timely countermeasures are taken to ensure that gas indicators in the confined working space are always kept within a safe range. This prevents toxic gas exceeding the standard from affecting the environment and equipment, and also prevents safety hazards caused by abnormal oxygen content. This comprehensively protects the environmental safety and equipment operation safety of the feeding operation.

[0094] This complete feeding method automates the entire process, from material positioning and handling to silo cleaning and environmental control. The seamless integration and coordinated operation of each step significantly improves the overall efficiency of solid phosgene feeding while reducing errors caused by manual operation, thus greatly enhancing the standardization of the feeding process. The fully automated feeding process precisely controls the feeding amount, avoiding overfeeding or underfeeding, ensuring a precise match between the amount of solid phosgene added and the reaction requirements. This guarantees stable material ratios for subsequent chemical reactions, thereby improving the overall effectiveness of the chemical reaction and product quality.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0096] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0097] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

Claims

1. An automatic feeding device for solid trimethylsilyl azide, characterized in that, The application relates to a feeding device for a solid light gas, which comprises the following parts: a feeding bin provided with an opening, which is used for feeding solid light gas into a receiving kettle; a grabbing and feeding assembly arranged on one side of the feeding bin, which comprises a mechanical arm arranged on one side of the feeding bin and a mechanical grab hand arranged at the end of the mechanical arm; one side of the grabbing and feeding assembly is provided with a material storage area, and the material storage area is provided with a standard work station; the mechanical arm drives the mechanical grab hand to grab material and then feeds the material into the feeding bin; an image acquisition device configured to acquire and output image information of the material storage area; and a controller in communication connection with the image acquisition device, the mechanical arm and the mechanical grab hand, and configured to: acquire the image information of the material storage area; generate a deviation vector of a material center from a center of the standard work station according to the image information of the material storage area; and adjust the position of the mechanical grab hand through the mechanical arm according to the deviation vector, so that the grabbing and feeding assembly grabs and feeds material into the feeding bin. The controller is in communication connection with the feeding hatch, and is configured to: control the feeding hatch to be opened before the material is fed into the feeding bin; and control the feeding hatch to be closed after the feeding is completed. The feeding bin is internally provided with a unpacking knife for opening a material package. The feeding bin is provided with a spraying cleaning valve and a nitrogen blowing valve, and the controller is in communication connection with the spraying cleaning valve and the nitrogen blowing valve; the controller is configured to: control the spraying cleaning valve to be opened to clean the feeding bin after the feeding hatch is closed; and control the nitrogen blowing valve to be opened to blow the feeding bin after the cleaning is completed. The application further comprises: a closed feeding room in which the receiving kettle, the feeding bin and the grabbing and feeding assembly are arranged; a tail gas capture port arranged on the closed feeding room; and a tail gas capture treatment system connected with the tail gas capture port, which is used for ventilating the closed feeding room and capturing and treating toxic gas in the closed feeding room. The application further comprises: an oxygen content sensor arranged in the closed feeding room, which is used for detecting and outputting oxygen content information; and a toxic gas content detection device arranged in the closed feeding room, which is used for detecting and outputting toxic gas content information. The controller is in communication connection with the oxygen content sensor, the toxic gas content detection device and the tail gas capture treatment system, and is configured to: acquire the oxygen content information and the toxic gas content information; and control the tail gas capture treatment system or the nitrogen blowing valve to work according to the oxygen content information and the toxic gas content information. ​ ​ 2. The automatic feeding device for solid phosgene according to claim 1, wherein ​ ​ ​ 3. The automatic feeding device for solid phosgene according to claim 2, wherein ​ ​ ​ 4. The automatic feeding device for solid phosgene according to claim 1, wherein ​ 5. The automatic feeding device for solid phosgene according to claim 3, wherein ​ ​ ​ 6. The automatic feeding device for solid phosgene according to claim 5, wherein ​ ​ ​ ​ 7. The automatic feeding device for solid phosgene according to claim 6, characterized in that, ​ ​ ​ ​ ​ ​ ​ 8. The automatic feeding device for solid phosgene according to claim 7, wherein The working of the tail gas capture treatment system is controlled according to the oxygen content information or the toxic gas content information, including: The oxygen content information is compared with a first threshold value, and the toxic gas content information is compared with a second threshold value; If the oxygen content information is lower than the first threshold value, the nitrogen purge valve is controlled to be closed, and the working of the tail gas capture treatment system is controlled; or if the toxic gas content information is higher than the second threshold value, the working of the tail gas capture treatment system is controlled.

9. A method for feeding trimethylsilyl isocyanate to an automatic feeding device for trimethylsilyl isocyanate according to any one of claims 1 to 8, characterized in that, The method comprises the following steps: Obtaining image information, oxygen content information and toxic gas content information of a material storage area; Generating a deviation vector of a material center from a standard work station center according to the image information of the material storage area; Adjusting the position of a mechanical gripper through the mechanical arm according to the deviation vector, so as to facilitate the material feeding assembly to grasp and feed the material into a feeding bin; Controlling the feeding hatch to be opened before the material is fed into the feeding bin, and controlling the feeding hatch to be closed after the feeding is completed; After the feeding hatch is closed, controlling the spray cleaning valve to be opened to clean the feeding bin; After the cleaning is completed, controlling the nitrogen purge valve to be opened to purge the feeding bin; Controlling the working of the tail gas capture treatment system or the nitrogen purge valve according to the oxygen content information and the toxic gas content information.

10. The method of feeding trimethylsilyl chloride according to claim 9, wherein The adjusting of the position of the mechanical gripper through the mechanical arm according to the deviation vector, so as to facilitate the material feeding assembly to grasp and feed the material into the feeding bin, comprises: Determining the adjusting direction of the mechanical gripper according to the direction of the deviation vector; Determining the adjusting distance of the mechanical gripper according to the modulus of the deviation vector.

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