A method for cleaning the blades of a vertical three-blade mixer

Abstract

The application relates to the technical field of metering detection, and provides a method suitable for cleaning of vertical three-paddle mixers, which comprises the following steps: according to a first preset angle of an encoder, cleaning first cleaning surfaces of left and right telecentric paddles; according to a second preset angle of the encoder, cleaning second cleaning surfaces of the left and right telecentric paddles; and according to a third preset angle of the encoder, cleaning a central paddle. The method provided by the application can indirectly detect the movement positions of the three paddles through the encoder installed on the rotating shaft of the central paddle, and can clean the paddles one by one by searching for the optimal position, so that the phenomenon of collision and jamming of a robot actuator and the paddles is avoided, the blind area of the paddles is eliminated, and all areas of the three paddles can be effectively cleaned.

Description

Technical Field

[0001] This application relates to the field of metrology and testing technology, specifically to a method for cleaning the blades of a vertical three-blade mixer. Background Technology

[0002] The mixer plays a central role in the production of propellant for solid rocket engines, serving as a crucial piece of equipment to ensure thorough mixing of all propellant components. While the mixing process is largely automated via remote control, manual intervention is still required during feeding, cleaning, and adding, especially with three-blade mixers where the mixing scale is larger, making manual intervention more dangerous and labor-intensive. To ensure propellant homogeneity, dust must be cleaned from the blade shoulders after adding powder during mixing, and after a period of mixing, the propellant adhering to the blades must be cleaned. Due to the high safety risks associated with manual operation, corresponding safety control measures are implemented to mitigate these risks. For example, operators can only leave the control room to work on-site after the mixing pot has fully descended to its designated position. All these factors combined result in a long cycle and low efficiency for the single-pot propellant mixing process. Cleaning is primarily done by operators using handheld wooden shovels to directly clean dust and adhering propellant from the blades. Solid propellants typically consist of various energetic substances such as oxidizers and explosives. The angle, force, and speed of cleaning must not exceed the permissible range of friction sensitivity. Furthermore, the propellants release toxic and harmful gases, making the blade cleaning process difficult and highly dangerous for operators. Manual cleaning time includes the time for raising and lowering the mixing pot, the time spent walking from the control room to the mixing site, the on-site cleaning time, and the time spent walking back to the control room after cleaning. Each batch requires 3-5 cleanings, and the cleaning time for a single batch accounts for approximately 40%-56% of the total mixing time.

[0003] The prior art, with publication number CN119036441B and invention titled "An Automatic Cleaning Method, Device, Equipment and Medium for Vertical Mixer Blades," discloses a cleaning method for blades of a vertical two-blade mixer. However, the cleaning method for a two-blade mixer disclosed in this technology cannot be adapted to the cleaning conditions of blades in a vertical three-blade mixer. For example, the existing method cannot avoid the blade meshing and biting area, which easily leads to collisions and jamming between the robot actuator and the blades. During the rotation of the three blades, there are blind spots in some blades, resulting in positions that the cleaning execution end cannot reach. As a result, the existing cleaning method cannot achieve full coverage cleaning of the three blades. Summary of the Invention

[0004] This application discloses a method for cleaning the blades of a vertical three-blade mixer. The blades of the vertical three-blade mixer include: a central blade, a left telecentric blade, and a right telecentric blade located on either side of the central blade; the left and right telecentric blades revolve around the center of the central blade, while each of the three blades rotates on its own axis, and the line connecting the centers of the three blades is a straight line, with a rotational speed ratio of 2:1 between the telecentric blades and the central blade; the left and right telecentric blades each include a first cleaning surface and a second cleaning surface; when the left and right telecentric blades rotate to a first preset angle, the second cleaning surfaces of the left and right telecentric blades face the central blade, and the first cleaning surfaces move away from the central blade; when the left and right telecentric blades rotate to a second preset angle, the first cleaning surfaces of the left and right telecentric blades face the central blade, and the second cleaning surfaces move away from the central blade; an encoder for measuring the rotation angle is installed on the rotating shaft of the central blade, and the method includes the following steps: Step 1: Based on the first preset angle of the encoder, determine the first cleaning trajectory of the left and right telecentric blades. The robot execution terminal cleans the first cleaning surfaces of the left and right telecentric blades according to the first cleaning trajectory. Step 2: Based on the second preset angle of the encoder, determine the second cleaning trajectory of the left and right telecentric blades, and the robot execution terminal cleans the second cleaning surfaces of the left and right telecentric blades according to the second cleaning trajectory; Step 3: Based on the third preset angle of the encoder, determine the third cleaning trajectory of the central blade, and the robot execution terminal cleans the central blade according to the third cleaning trajectory.

[0005] Further, in the method for cleaning the blades of a vertical three-blade mixer as described above, the first cleaning trajectory includes: a first cleaning trajectory for the left distal blade and a first cleaning trajectory for the right distal blade; wherein, determining the first cleaning trajectory for the left distal blade includes: Step 1: Obtain the coordinates of the cleanup starting marker point corresponding to the first preset angle of the left telecentric blade on the encoder:

[0006] in, The encoder is set to its first preset angle. When the encoder is at the first preset angle, the left distal blade is in the third cleaning zone. The radius of revolution of the left distal blade. denoted as the radius of rotation of the left distal blade; C is the auto-speed ratio. Step 2: Determine the initial helical angle of the left telecentric blade in the third cleaning area based on the coordinates of the cleaning start mark point of the left telecentric blade. , ; Step 3: Based on the initial spiral angle Determine the helix equation of the left distal blade in the third clearing region;

[0007] in, Let be the radius of rotation of the left distal blade. The number of spiral turns of the left distal blade. The height of the left distal blade. As variables, ; Step 4: Based on the helix equation, determine the coordinates of the cleaning end marker point corresponding to the left distal blade in the third cleaning area as follows: ; Step 5: Based on the helix equation of the left telecentric blade, the coordinates of the starting and ending cleanup markers, determine the first cleanup trajectory of the left telecentric blade in the third cleanup area:

[0008] Where t is the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. The robot's execution terminal is at the endpoint.

[0009] Furthermore, in the method for cleaning the blades of a vertical three-blade mixer as described above, the first cleaning trajectory of the right distal blade is:

[0010] in, Let be the radius of rotation of the right distal blade. The number of helical turns of the right distal blade. Here, t represents the height of the right distal propeller blade, and t is the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. When the robot's execution terminal is at the endpoint, The initial helical angle of the right distal blade in the fourth clearing zone (C04).

[0011] Furthermore, in the method for cleaning the blades of a vertical three-blade mixer as described above, the second cleaning trajectory of the left distal blade is:

[0012] in, Let be the radius of rotation of the left distal blade. The height of the left distal blade. Let be the number of helical rotations of the left telecentric blade, and t be the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. When the robot's execution terminal is at the endpoint, The initial helical angle of the left distal blade in the fourth clearing region (C04).

[0013] Furthermore, in the method for cleaning the blades of a vertical three-blade mixer as described above, the second cleaning trajectory of the right distal blade is:

[0014] in, Let be the radius of rotation of the right distal blade. The height of the right distal blade. Let be the number of helical revolutions of the right distal propeller blade, and t be the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. When the robot's execution terminal is at the endpoint, The initial helical angle of the right distal blade in the third clearing zone (C03).

[0015] Furthermore, in the method for cleaning the blades of a vertical three-blade mixer as described above, the determination of the third cleaning trajectory of the central blade includes: Step 1: Obtain the coordinates of the cleaning start marker point corresponding to the third preset angle of the encoder for the center blade:

[0016] in, The encoder's third preset angle, Let be the radius of rotation of the central blade. The rotation angle of the center propeller, C is the auto-speed ratio; Step 2: Determine the initial spiral angle for cleaning the central blade based on the coordinates of the cleaning start mark point of the central blade. ;

[0017] Step 3: Based on the initial helical angle of the central blade during cleaning, determine the helical equation of the central blade during cleaning:

[0018] in, Let be the radius of rotation of the central blade. The number of spiral turns of the central blade. The height of the center blade, As variables, ; Step 4: Based on the helix equation during the cleaning of the center blade, determine the coordinates of the cleaning end marker point of the center blade cleaning as follows: ; Step 5: Based on the helix equation of the central blade, the coordinates of the starting and ending cleaning markers, determine the third cleaning trajectory of the central blade at the third preset angle of the encoder: .

[0019] Furthermore, the method for cleaning the blades of a vertical three-blade mixer as described above further includes: Obtain the thickness of the slurry on the corresponding blade; Based on the thickness of the slurry, determine the target pressure value of the robot's execution terminal on the blade; The blades are cleaned according to the target pressure value and the corresponding cleaning trajectory.

[0020] The method provided in this application indirectly detects the movement position of the three blades by installing an encoder on the rotation shaft of the central blade, and finds the optimal position to clean each blade one by one. This avoids collisions and jamming between the robot actuator and the blades, eliminates blind spots in the blades, and enables effective cleaning of all areas of the three blades. Attached Figure Description

[0021] Figure 1 A schematic diagram of the blade structure of the vertical three-blade mixer provided in this application; Figure 2 A schematic diagram showing the installation location of the explosion-proof encoder provided in this application; Figure 3 This is a cross-sectional view of the blade structure of the vertical three-blade mixer of this application; Figure 4 A schematic diagram of the process for cleaning the blades of the vertical three-blade mixer provided in this application; Figure 5 Top view of the vertical three-blade mixer blade cleaning system provided in this application; Figure 6 This is a cross-sectional view of the vertical three-blade mixer of this application when the blades move to the first preset angle of the encoder; Figure 7 This is a cross-sectional view of the vertical three-blade mixer of this application when the blades move to the second preset angle of the encoder; Figure 8 This is a cross-sectional view of the vertical three-blade mixer of this application when the blades move to the third preset angle of the encoder; Figure label: 1-Left telecentric blade, 2-Center blade, 3-Right telecentric blade, 4-Encoder, 5-Transmission box cover; 11-Left first cleaning surface, 12-Left second cleaning surface, 31-Right first cleaning surface, 32-Right second cleaning surface. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] Figure 1 The schematic diagram of the blade structure of the vertical three-blade mixer provided in this application is as follows: Figure 1 As shown, the blades of the vertical three-blade mixer include: a central blade 2, a left distal blade 1 and a right distal blade 3 located on both sides of the central blade 2; the left distal blade 1 and the right distal blade 3 revolve around the center of the central blade 2, while the three blades rotate on their own axis, the line connecting the centers of the three blades is a straight line, and the speed ratio of the distal blade to the central blade is 2:1.

[0024] Figure 2 This is a schematic diagram of the installation location of the explosion-proof encoder provided in this application, as shown below. Figure 2 As shown, the explosion-proof encoder 4 is installed at the central shaft of the central blade 2. This application determines the rotation angle of the three blades by the rotation angle of the explosion-proof encoder, and determines the cleaning trajectory of each blade according to the rotation angle of each blade. Finally, the blades are cleaned according to the cleaning trajectory of each blade.

[0025] Figure 3 This is a cross-sectional view of the blade structure of the vertical three-blade mixer of this application, as shown below. Figure 3 As shown, the left distal blade 1 includes two left first cleaning surfaces 11 and two left second cleaning surfaces 12; the right distal blade 3 includes two right first cleaning surfaces 31 and two right second cleaning surfaces 32. When the left and right distal blades rotate to a first preset angle, the two second cleaning surfaces of the left and right distal blades face the central blade, and the two first cleaning surfaces move away from the central blade; when the left and right distal blades rotate to a second preset angle, the two first cleaning surfaces of the left and right distal blades face the central blade, and the two second cleaning surfaces move away from the central blade.

[0026] Figure 4 This is a schematic diagram of the process for cleaning the blades of the vertical three-blade mixer provided in this application, as shown below. Figure 4 As shown, the method includes the following steps: Step 1: Based on the first preset angle of the encoder, determine the first cleaning trajectory of the left and right telecentric blades. The robot execution terminal cleans the first cleaning surfaces of the left and right telecentric blades according to the first cleaning trajectory. Step 2: Based on the second preset angle of the encoder, determine the second cleaning trajectory of the left and right telecentric blades, and the robot execution terminal cleans the second cleaning surfaces of the left and right telecentric blades according to the second cleaning trajectory; Step 3: Based on the third preset angle of the encoder, determine the third cleaning trajectory of the central blade, and the robot execution terminal cleans the central blade according to the third cleaning trajectory.

[0027] Specifically, Figure 5 A top view of the vertical three-blade mixer blade cleaning system provided in this application, as shown below. Figure 5 As shown, four cleaning zones are set in the four directions (front, back, left, and right) of the vertical three-paddle mixer, namely the third cleaning zone C03, the fourth cleaning zone C04, the first cleaning zone C01, and the second cleaning zone C02. This application utilizes four robots to clean the paddles simultaneously, as... Figure 5 As shown, the initial positions of the four robots are located at four straight corners. Each robot has an explosion-proof light curtain on one side, totaling four curtains. These four curtains form a rectangular area, which is the safe working range for cleaning the blades of the vertical three-paddle mixer. If all four light curtains are clear, the working range is safe, and the next step is to issue cleaning commands to the four robots to clean the blades. After receiving the cleaning command, the four robots move to their designated cleaning areas (C01, C03) and extend their robotic arms to clean the blades using the actuators on the robotic arms. The specific cleaning process is as follows: Figure 6 This is a cross-sectional view of the vertical three-blade mixer of this application when the blades move to the first preset angle of the encoder, as shown. Figure 5 As shown, the left telecentric blade 1 is above and the right telecentric blade 3 is below. At this time, the two first cleaning surfaces of the left telecentric blade 1 are close to the third cleaning area C03, and the two first cleaning surfaces of the right telecentric blade 3 are close to the fourth cleaning area C04. When the four robots receive the cleaning command, two robots move to the third cleaning area C03 and clean the two cleaning surfaces of the left telecentric blade 1 respectively. At the same time, the other two robots move to the fourth cleaning area C04 and clean the two cleaning surfaces of the right telecentric blade 3 respectively.

[0028] Figure 7This is a cross-sectional view of the vertical three-blade mixer of this application when the blades move to the second preset angle of the encoder. Similarly, when the four robots receive the cleaning command again, two robots move to the third cleaning area C03 and clean the other two cleaning surfaces of the right telecentric blade 3, respectively. At the same time, the remaining two robots move to the fourth cleaning area C04 and clean the other two cleaning surfaces of the left telecentric blade 1, respectively. Thus, all four cleaning surfaces of the left telecentric blade 1 and the right telecentric blade 3 are cleaned.

[0029] Figure 8 This is a cross-sectional view of the vertical three-blade mixer of this application when the blades move to the third preset angle of the encoder, as shown. Figure 8 As shown, when the four robots receive the cleaning command, two robots move to the third cleaning area C03 and extend their robotic arms to clean the two cleaning surfaces of the central blade 2 through the end effector of the robotic arms; at the same time, the other two robots move to the fourth cleaning area C04 to clean the other two cleaning surfaces of the central blade 2. Thus, the cleaning of all cleaning surfaces of the three blades is completed.

[0030] The method provided in this application indirectly detects the movement position of the three blades by installing an encoder on the rotation shaft of the central blade, and finds the optimal position to clean each blade one by one. This avoids collisions and jamming between the robot actuator and the blades, eliminates blind spots in the blades, and enables effective cleaning of all areas of the three blades.

[0031] Furthermore, the first cleaning trajectory includes: the first cleaning trajectory of the left distal blade and the first cleaning trajectory of the right distal blade; wherein, determining the first cleaning trajectory of the left distal blade includes the following steps: Step 1: Obtain the coordinates of the cleanup starting marker point corresponding to the first preset angle of the left telecentric blade on the encoder:

[0032] in, The encoder's first preset angle is defined as follows: when the encoder is at this first preset angle, the left telecentric blade is in the CO3 cleaning region, and L is the telecentric blade's revolution radius. denoted as the radius of rotation of the telecentric blade; C is the auto-speed ratio.

[0033] The following explains how the coordinates of the starting point for cleaning the left distal blade are calculated: Based on the structure of the three-paddle mixer, the encoder output angle is: The self-revolution speed ratio is The rotation radius of the left, right, and center rotor blades is r, and the revolution radius of the left and right rotor blades is L. The rotation angle of the rotor blades is... The rotation angle of the central blade is The encoder output angle is related to the angle through which the telecentric propeller rotates. satisfy:

[0034] Revolution angle satisfy:

[0035] Center blade rotation angle satisfy:

[0036] Define the center of the central blade as the origin of the coordinate system, and establish a coordinate system with the X and Y directions as follows: Figure 3 As shown, the Z-axis direction is the vertical downward direction of the blades. The initial cleaning positions of the left and right telecentric blades are located at the bottom and top points of the blades, respectively. Based on the relationship between the revolution angle and the rotation angle of the telecentric blades, the coordinates of the starting cleaning markers for the left and right telecentric blades are as follows: The initial clearance coordinates for the left distal blade are:

[0037] When the left telecentric blade rotates to the third cleaning zone C03, the encoder angle detected at this time is the first preset angle. Therefore, according to formula (5), formula (1) can be obtained.

[0038] Step 2: Determine the initial helical angle of the left telecentric blade in the third cleaning region C03 based on the coordinates of the cleaning start mark point of the left telecentric blade. , .

[0039] Since the initial helical angle of the propeller blade is directly related to the coordinates of its starting point, the initial angle defines the orientation of the starting point on the circumference, and conversely, the starting point corresponds to a unique initial angle. The helix is ​​a composite trajectory of rotation and radial motion; therefore, by using the coordinates of the starting point marker on the left telecentric blade, the initial helical angle can be determined. .

[0040] Step 3: Based on the initial angle of the spiral Determine the helix equation of the left distal blade in the third clearing region C03;

[0041] in, As variables, , Starting from 0, as the left distal blade rotates, its angle gradually increases, and with each revolution of the propeller... Increasing by 2π causes z to rise simultaneously, forming a spiral.

[0042] Since the helical equation is the composite trajectory of rotation and radial direction, the initial helical angle is the starting direction of the helical line. Therefore, the helical equation of the telecentric blade can be determined based on the initial helical angle.

[0043] Step 4: Based on the helix equation of the left distal blade in the third cleaning region C03, determine the coordinates of the cleaning end marker point corresponding to the left distal blade in the third cleaning region C03 as follows:

[0044] Given the height of the left blade is That is, the Z-axis coordinate of the cleanup end point is Given the initial angle of the helix. and number of spiral turns The total rotation angle of the spiral is Therefore, the angle at the end of the spiral is .

[0045] Step 5: Based on the helix equation of the left telecentric blade, the coordinates of the starting and ending cleaning markers, determine the first cleaning trajectory of the left telecentric blade in the third cleaning region C03:

[0046] Where t is the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. The robot's execution terminal is at the endpoint.

[0047] The motion trajectory of the robot's execution terminal is the helical trajectory of the propeller blade. By substituting the interpolation parameter t of the robot's execution terminal trajectory into the helical equation of the propeller blade, and taking different values ​​of t such as 0.01, 0.02, etc., the coordinates of different points on the propeller blade can be obtained. The motion trajectory of the robot can be determined by combining these points.

[0048] The following describes the method for determining the first cleaning trajectory of the right distal blade: Step 1: Obtain the coordinates of the cleanup start marker point corresponding to the first preset angle of the right telecentric blade on the encoder:

[0049] in, Let be the revolution radius of the right distal blade. Let be the radius of rotation of the right distal blade.

[0050] When the left distal blade is in the third cleaning zone C03, the right distal blade is in the fourth cleaning zone C04.

[0051] Step 2: Based on the coordinates of the starting point of the cleaning process of the right distal blade, determine the initial helical angle of the right distal blade in the fourth cleaning area C04. ;

[0052] Step 3: Based on the initial helical angle of the right distal blade Determine the helix equation of the right distal blade in the fourth clearing region C04:

[0053] in, The number of helical turns of the right distal blade. This represents the height of the right distal blade.

[0054] Step 4: Based on the helix equation of the right distal blade, determine the coordinates of the cleaning end marker point corresponding to the right distal blade in the fourth cleaning area C04 as follows:

[0055] Step 5: Based on the helix equation of the right distal blade, the coordinates of the starting and ending cleaning markers, determine the first cleaning trajectory of the right distal blade in the fourth cleaning region C04:

[0056] in, Let be the radius of rotation of the right distal blade. The height of the blade, The number of helical turns of the right distal blade. Here, t represents the height of the right distal propeller blade, and t is the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. The robot's execution terminal is at the endpoint.

[0057] The following describes the method for determining the second cleaning trajectory of the left distal blade, specifically including the following steps: Step 1: Obtain the coordinates of the cleanup starting marker point corresponding to the second preset angle of the encoder for the left telecentric blade:

[0058] in, The second preset angle for the encoder, The radius of revolution of the left distal blade. The rotation radius of the left telecentric blade is such that when the angle detected by the encoder is the second preset angle, the left telecentric blade is in the fourth cleaning area C04. Step 2: Determine the initial helical angle of the left telecentric blade in the fourth cleaning zone C04 based on the coordinates of the starting point of the cleaning operation on the left telecentric blade. ;

[0059] Step 3: Based on the initial helix angle of the left distal blade, determine the helix equation of the left distal blade in the fourth cleaning region C04:

[0060] Step 4: Based on the helix equation of the left distal blade, determine the coordinates of the cleaning end marker point corresponding to the left distal blade in the fourth cleaning area C04 as follows:

[0061] Step 5: Based on the helix equation of the left distal blade, the coordinates of the starting and ending cleaning markers, determine the second cleaning trajectory of the left distal blade in the fourth cleaning region C04:

[0062] in, Let be the radius of rotation of the left distal blade. The height of the left distal blade. Let be the number of helical rotations of the left telecentric blade, and t be the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. The robot's execution terminal is at the endpoint.

[0063] The following describes the method for determining the second cleaning trajectory of the right distal blade, specifically including the following steps: Step 1: Obtain the coordinates of the cleanup starting marker point corresponding to the second preset angle of the encoder for the right telecentric blade:

[0064] When the left distal blade is in the fourth cleaning zone C04, the right distal blade is in the third cleaning zone C03.

[0065] Step 2: Determine the initial helical angle of the right distal blade in the C03 cleaning area based on the coordinates of the starting point of the cleaning process. ;

[0066] Step 3: Based on the initial helical angle of the right distal blade in the CO3 cleaning area Determine the helix equation of the right distal blade in the CO3 clearing region:

[0067] Step 4: Based on the helix equation of the right distal blade in the C03 cleaning area, determine the coordinates of the cleaning end marker point corresponding to the right distal blade in the C03 cleaning area:

[0068] Step 5: Based on the helix equation of the right telecentric blade, the coordinates of the starting and ending cleaning markers, determine the second cleaning trajectory of the right telecentric blade at the second preset angle of the encoder:

[0069] in, Let be the radius of rotation of the right distal blade. The height of the right distal blade. Let be the number of helical revolutions of the right distal propeller blade, and t be the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. The robot's execution terminal is at the endpoint.

[0070] The determination of the third cleaning trajectory of the center blade is described below, including the following steps: Step 1: Obtain the coordinates of the cleaning start marker point corresponding to the third preset angle of the encoder for the center blade: ; According to the formula, the angle through which the central paddle rotates... and the centripetal oar turned an angle The relationship between them Therefore, the coordinates of the cleaning start marker point corresponding to the third preset angle of the encoder for the center blade are as follows:

[0071] in, This is the third preset angle for the encoder.

[0072] Step 2: Determine the initial spiral angle for cleaning the central blade based on the coordinates of the starting point marker. ;

[0073] Step 3: Determine the helix equation of the center blade during cleaning based on the initial helical angle of the center blade:

[0074] in, Let be the radius of rotation of the central blade. The number of spiral turns of the central blade. The height of the center blade, As variables, ; Step 4: Based on the helix equation during the cleaning of the center blade, determine the coordinates of the cleaning end marker point for the center blade as follows:

[0075] Step 5: Based on the helix equation of the central blade, the coordinates of the starting and ending cleaning markers, determine the third cleaning trajectory of the central blade at the third preset angle of the encoder: .

[0076] The first cleaning area, C01-C04, is defined below. When the robot's robotic arm extends into the corresponding area, the propeller blades can be cleaned.

[0077] The coordinates of each cleanup area satisfy the following constraints: First cleanup region C01 constraint conditions:

[0078] Second cleanup region C02 constraint conditions:

[0079] Third cleanup area C03 constraint conditions:

[0080] Fourth cleanup area C04 constraint conditions:

[0081] in, This refers to the revolution radius of either the left or right distal blade. This refers to the rotation radius of either the left or right telecentric blade.

[0082] The method provided by this invention mainly achieves safe cleaning of the following four parts: a. white powdery raw materials on the blade shoulder, requiring that no dust be spilled during the cleaning process; b. cleaning the deposits on the distal blade platform, requiring that the propellant slurry be scraped into the pot during the cleaning process; c. cleaning the deposits on the blade arc surface, requiring that the propellant slurry be scraped into the pot during the cleaning process; d. cleaning the dust on the edge of the mixing pot, requiring that no dust be spilled during the cleaning process. Therefore, the method provided by this invention also includes: Obtain the thickness of the slurry on the corresponding blade; Based on the thickness of the slurry, determine the target pressure value of the robot's execution terminal on the blade; The blades are cleaned according to the target pressure value and the corresponding cleaning trajectory.

[0083] Specifically, a pressure sensor is installed on the robot's execution terminal. The pressure of the robot's execution terminal on the propeller is adjusted according to the value of the pressure sensor to reach the target pressure value. Then, the propeller is cleaned according to the target pressure value and the corresponding cleaning trajectory, thus ensuring that the attachments on the propeller are cleaned in one go.

[0084] In summary, the core steps of the blade cleaning method provided in this application are as follows: Step 1: Propeller Positioning: Since the initial stopping position of the propeller is random, the current spatial coordinates and attitude information of the propeller are first determined, and the robot's motion trajectory is determined based on the propeller attitude. After the vertical mixer stops, the explosion-proof encoder collects the rotation angle data in real time, calculates the current propeller pose, and links the rotary cylinder to fine-tune the propeller position so that the propeller stops at the preset cleaning position.

[0085] Step 2: Safety Access Interlock Confirmation. Verify the communication and operational status of the encoder, lidar, four robots, explosion-proof light curtain, and the control terminal. The lidar quickly scans to confirm that the propellers have moved to the cleaning position and that the robot's working path is free of obstacles. The explosion-proof light curtain monitors the beam conduction status in real time, ensuring no personnel have entered the work area. If all conditions are met, unlock the cleaning permission; otherwise, lock the alarm and prohibit the start of the cleaning operation.

[0086] Step 3: 3D Modeling and Trajectory Planning. The robot's motion trajectory is determined based on the propeller's spatial coordinates. The propeller pose calculated by the encoder is then used for cleanup.

[0087] Step 4: Four-robot collaborative cleaning. The four robots start according to the calculated trajectory. After completing the cleaning task in this posture, the robots return to a safe posture and send a signal indicating that the cleaning task in the current posture has ended.

[0088] Step 5: Move the paddlewheel to the next cleaning position, then repeat steps 1 through 4. Once all preset positions have been cleaned, send a cleaning completion signal.

[0089] Step 6: Cleaning Confirmation and Remote Fine Cleaning. After the robot cleans, the LiDAR scans again, compares the point cloud data before and after cleaning, marks the uncleaned areas, and the operator uses a remote control terminal to capture images with a high-definition camera, and then jogs the robot to go into the uncleaned areas to complete the fine-grained cleaning.

[0090] Step 7: Job Reset and Data Archiving. After confirming that the cleanup is complete, the stationary robot is reset to its initial posture, and the mobile robot returns to the standby position along the seventh axis and self-locks; the lidar, robot power, and explosion-proof light curtain are turned off in sequence; the system automatically saves the 3D scan data, job trajectory, operation record, re-inspection screen, and safety interlock log, and completes the archiving.

[0091] During the cleaning process, the system establishes communication with the mixer's turning gear to control its start, stop, and forward / reverse rotation. During operation, the drive blades sequentially rotate to the cleaning positions corresponding to their numbered trajectories, and the robot executes cleaning actions in a preset sequence, cyclically completing the cleaning of all blades.

[0092] With the blade orientation determined, the blade trajectory is calculated according to the formula. During the mixing operation, the mobile robot system activates the seventh axis and retreats to the standby position. After the mixing pot is lowered, the mobile robot moves along the seventh axis to the working position, placing the blades within the robot's workspace. The blade attitude is calculated using an explosion-proof encoder, and the robot's cleaning trajectory is planned based on the attitude to complete the cleaning action.

[0093] The method provided in this application introduces a force-controlled closed-loop system with an end effector during the cleaning execution phase. This system detects the contact force between the scraper and the blade surface in real time and feeds the force data back to the controller. The controller dynamically adjusts the robot's speed, posture, and feed rate based on the set target force value, ensuring the scraper maintains stable pressure against the blade surface and guaranteeing cleaning effectiveness. During operation, the encoder continuously monitors the blade posture, and the exposure meter monitors the safety zone throughout the process. If any micro-movement of the blade or obstruction by the light curtain is detected, the system immediately triggers an emergency stop to ensure operational safety.

[0094] All robot movements are synchronized in real time. The system is equipped with real-time force and torque feedback: when the scraper contacts the paddles, encounters resistance, collides, or experiences abnormal force, the force feedback device immediately transmits the force to the operator's hand, allowing them to accurately perceive the contact force and adjust the robot's posture accordingly. The system also features intelligent collision avoidance protection. Through technologies such as robot joint current detection, external sensor detection, electronic fences, and motion trajectory prediction, the system monitors the robot's movement status in real time. If an impending collision, exceeding safe limits, excessive speed, or abnormal posture is detected, the system immediately triggers an emergency stop to prevent safety risks.

[0095] The manual cleaning confirmation unit consists of an explosion-proof high-definition camera, a remotely operated robot, a VR immersive control panel, a force feedback device, a torque detection module, and an anti-collision system. Operators wear VR headsets and obtain real-time images of the mixer through the explosion-proof camera, creating a three-dimensional immersive visual environment that allows for direct observation of the paddles, slurry, robot position, and spatial boundaries. Operators remotely control the robot's movement using interactive devices such as handles, force feedback arms, or data gloves.

[0096] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A method for cleaning the blades of a vertical three-blade mixer, characterized in that, The vertical three-blade mixer blades include: a central blade, a left telecentric blade, and a right telecentric blade located on either side of the central blade; the left and right telecentric blades revolve around the center of the central blade, while each of the three blades rotates on its own axis, and the line connecting the centers of the three blades is a straight line, with a rotational speed ratio of 2:1 between the telecentric blades and the central blade; the left and right telecentric blades each include a first cleaning surface and a second cleaning surface; when the left and right telecentric blades rotate to a first preset angle, the second cleaning surface of the left and right telecentric blades faces the central blade, and the first cleaning surface moves away from the central blade; when the left and right telecentric blades rotate to a second preset angle, the first cleaning surface of the left and right telecentric blades faces the central blade, and the second cleaning surface moves away from the central blade; an encoder for measuring the rotation angle is installed on the rotating shaft of the central blade; The method includes the following steps: Step 1: Based on the first preset angle of the encoder, determine the first cleaning trajectory of the left and right telecentric blades. The robot execution terminal cleans the first cleaning surfaces of the left and right telecentric blades according to the first cleaning trajectory. Step 2: Based on the second preset angle of the encoder, determine the second cleaning trajectory of the left and right telecentric blades, and the robot execution terminal cleans the second cleaning surfaces of the left and right telecentric blades according to the second cleaning trajectory; Step 3: Based on the third preset angle of the encoder, determine the third cleaning trajectory of the central blade, and the robot execution terminal cleans the central blade according to the third cleaning trajectory.

2. The method for cleaning the blades of a vertical three-blade mixer according to claim 1, characterized in that, The first cleaning trajectory includes: a first cleaning trajectory for the left distal blade and a first cleaning trajectory for the right distal blade; wherein, determining the first cleaning trajectory for the left distal blade includes: Step 1: Obtain the coordinates of the cleanup starting marker point corresponding to the first preset angle of the left telecentric blade on the encoder: in, The encoder is set to the first preset angle. When the encoder is at the first preset angle, the left distal blade is in the third cleaning zone (C03). Let be the revolution radius of the left distal blade. denoted as the radius of rotation of the left distal blade; C is the auto-speed ratio. Step 2: Determine the initial helical angle of the left telecentric blade in the third cleaning zone (C03) based on the coordinates of the starting point of the cleaning of the left telecentric blade. , ; Step 3: Based on the initial spiral angle Determine the helix equation of the left distal blade in the third clearing region (C03); in, Let be the radius of rotation of the left distal blade. The number of spiral turns of the left distal blade. The height of the left distal blade. As variables, ; Step 4: Based on the helix equation of the left distal blade in the third cleaning region (C03), determine the coordinates of the cleaning end marker point corresponding to the left distal blade in the third cleaning region (C03): ; Step 5: Based on the helix equation of the left telecentric blade, the coordinates of the starting and ending cleanup markers, determine the first cleanup trajectory of the left telecentric blade in the third cleanup area (C03): Where t is the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. The robot's execution terminal is at the endpoint.

3. The method for cleaning the blades of a vertical three-blade mixer according to claim 2, characterized in that, The first cleaning trajectory of the right distal blade is: in, Let be the radius of rotation of the right distal blade. The height of the blade, The number of helical turns of the right distal blade. Here, t represents the height of the right distal propeller blade, and t is the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. When the robot's execution terminal is at the endpoint, The initial helical angle of the right distal blade in the fourth clearing zone (C04).

4. The method for cleaning the blades of a vertical three-blade mixer according to claim 1, characterized in that, The second cleaning trajectory of the left distal blade is: in, Let be the radius of rotation of the left distal blade. The height of the left distal blade. Let be the number of helical rotations of the left telecentric blade, and t be the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. When the robot's execution terminal is at the endpoint, The initial helical angle of the left distal blade in the fourth clearing region (C04).

5. The method for cleaning the blades of a vertical three-blade mixer according to claim 1, characterized in that, The second cleaning trajectory of the right distal blade is: in, Let be the radius of rotation of the right distal blade. The height of the right distal blade. Let be the number of helical revolutions of the right distal propeller blade, and t be the interpolation parameter for the robot's terminal motion trajectory. , The robot's execution terminal is at the starting point. When the robot's execution terminal is at the endpoint, The initial helical angle of the right distal blade in the third clearing zone (C03).

6. The method for cleaning the blades of a vertical three-blade mixer according to claim 1, characterized in that, The determination of the third cleaning trajectory of the central blade includes: Step 1: Obtain the coordinates of the cleaning start marker point corresponding to the third preset angle of the encoder for the center blade: in, The encoder's third preset angle, Let be the radius of rotation of the central blade. The rotation angle of the center propeller, C is the auto-speed ratio; Step 2: Determine the initial spiral angle for cleaning the central blade based on the coordinates of the cleaning start mark point of the central blade. ; ; Step 3: Determine the helix equation of the central blade based on the initial helical angle of the central blade cleaning process: in, Let be the radius of rotation of the central blade. The number of spiral turns of the central blade. The height of the center blade, As variables, ; Step 4: Based on the helix equation of the central blade, determine the coordinates of the cleaning end marker point for the central blade cleaning as follows: ； Step 5: Based on the helix equation of the central blade, the coordinates of the starting and ending cleaning markers, determine the third cleaning trajectory of the central blade at the third preset angle of the encoder: 。 7. The method for cleaning the blades of a vertical three-blade mixer according to claim 1, characterized in that, The method further includes: Obtain the thickness of the slurry on the corresponding blade; Based on the thickness of the slurry, determine the target pressure value of the robot's execution terminal on the blade; The blades are cleaned according to the target pressure value and the corresponding cleaning trajectory.

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