Automatic sampling robot for chemical device

Abstract

The utility model discloses an automatic sampling robot for a chemical device. The automatic sampling robot is provided with an AGV module, a packaging module and a sampling module, the automatic sampling robot for the chemical device is flexible to move, can realize automatic operation of the AGV module, the packaging module and the sampling module, can complete standardized sampling of a chemical reaction kettle, and has the advantages of small size, good sealing performance, high automation degree, safety and reliability.

Description

Technical Field

[0001] This utility model relates to a robot, specifically an automatic sampling robot for chemical equipment that facilitates automatic sampling in chemical plants. Background Technology

[0002] Traditional chemical production requires continuous monitoring of the chemical reaction process within the reactor, typically through process sampling. This involves manual operation between the laboratory and the production workshop. A person manually opens the sampling valve next to the reactor in the workshop, retrieves the sample, seals it in a sampling bottle, and brings it back to the laboratory for chemical analysis. However, manual sampling in chemical production workshops presents problems such as material leakage, cumbersome operation, high risk, and poor sample consistency. Research indicates that currently, there are no effective methods or equipment to solve these problems. Utility Model Content

[0003] The purpose of this invention is to provide an automatic sampling robot for chemical plants, solving the technical problem of how to automatically transport samples to the sampling location and automate the sampling and packaging operations.

[0004] An automated sampling robot for chemical plants is designed with the following features:

[0005] The AGV module is used to drive the packaging module to a set position, facilitating the packaging work of the packaging module;

[0006] The encapsulation module is used to prepare for receiving materials at the target sampling location and to complete the sampling bottle switching and capping process.

[0007] The sampling module is used to extract the reactants into sampling bottles.

[0008] The AGV module includes a drive control unit; the drive control unit has a laser navigation or vision recognition module, which is used to detect and identify the real-time position of obstacles during transportation, build a transportation map, and perform target position detection and self-positioning.

[0009] The encapsulation module is fixed to the fork position of the AGV by bolts or welding, and is guided and carried to the target sampling position by the AGV module.

[0010] The packaging module includes a power system, a packaging disk, an indexing disk, and a robotic arm. The power system provides power to the packaging module. The packaging disk is mounted on the indexing disk, which controls the packaging disk to rotate at a set angle. After sampling is completed, the next sampling disk is switched. The robotic arm picks up the bottle cap and packages the sampling bottle on the packaging disk.

[0011] The encapsulation disk is a movable rotating disk made of stainless steel or plastic, containing 8-12 positions for placing and fixing sampling bottles. The encapsulation disk raises and lowers the target sampling bottle so that the bottle opening aligns with the sampling port.

[0012] The encapsulation module is equipped with an encapsulation control cabinet, which may be explosion-proof or non-explosion-proof.

[0013] The sampling module is installed above the chemical reactor. A stainless steel straight tube is inserted into the reactor through the sampling port at the top of the reactor, extending below the liquid surface. The sampling module uses vacuum sampling or pump sampling.

[0014] The sampling module includes a nitrogen pressure system, a solvent cleaning system, and a remote pressure control system; the sampling capacity of the sampling module is 100-500 mL.

[0015] The beneficial effects of this utility model are:

[0016] 1. The automatic sampling robot for chemical equipment of this utility model is flexible in movement. Through the upper-level control of the robot system, the AGV module, packaging module and sampling module are coordinated to form a complete automatic sampling system. It can complete the standardized sampling of chemical reaction vessels and has the advantages of small size, good sealing, high degree of automation and safety and reliability.

[0017] 2. The automatic sampling robot for chemical equipment of this utility model replaces the traditional manual sampling and realizes automated sampling. The method has a simple process and can achieve multiple sampling and delivery in the same reaction vessel, or standardized sampling between multiple reaction vessels as needed. Attached Figure Description

[0018] Figure 1 This is a control principle diagram of the AGV module, packaging module, sampling module and robot system in this chemical plant;

[0019] Figure 2 This is a schematic diagram of the operation process of this chemical plant;

[0020] Figure 3 This is a navigation diagram of the chemical plant;

[0021] Figure 4 This is a schematic diagram showing the connection between the sampling module and the reaction vessel;

[0022] In the picture

[0023] 1. AGV module;

[0024] 2. Packaging module; 21. Packaging disk; 22. Robotic arm;

[0025] 3. Sampling module;

[0026] 4. Sampling bottles;

[0027] 5. Reactor;

[0028] 6. Laboratory;

[0029] 7. Workshop freight elevator;

[0030] 8. Buffer bottle. Detailed Implementation

[0031] The embodiments of this utility model are described in detail below with reference to the accompanying drawings and specific examples. It should be emphasized that the following description is merely exemplary and not intended to limit the scope and application of this utility model.

[0032] Please refer to Figures 1 to 4 The automated sampling robot for the chemical plant shown in the diagram consists of a robot system, AGV module 1, packaging module 2, and sampling module 3. The robot system interfaces with the chemical production system via a communication protocol to exchange information, and controls AGV module 1, packaging module 2, and sampling module 3 to perform tasks such as transporting, sampling, and sealing chemical samples according to production needs. The aforementioned AGV module 1 is mainly used to drive the packaging module 2 to the designated material collection position, facilitating the packaging work of the packaging module 2. The packaging module 2 is mainly used to prepare the corresponding material receiving at the target sampling position, thereby completing the switching and capping of the sampling bottle 4. The sampling module 3 is mainly used to remove the reactants, thereby filling the sample into the sampling bottle 4. The robot system is the central processing system of the entire system. It is used to interface with the existing production system of the chemical plant, process control signals, and perform command control of the entire system. It controls the AGV module 1, packaging module 2, and sampling module 3 respectively, completing the conveying, packaging, and sampling work. In this way, it receives production requirements, performs route planning, controls and monitors the entire sampling and packaging process, and wirelessly controls the entire sampling and packaging process, thereby achieving fully automated operation. After the AGV module 1 completes transportation navigation and positioning, the packaging module 2 performs the packaging operation, and the sampling module 3 completes the sampling, all of which provide information feedback to the robot system.

[0033] The above-mentioned robot system completes the sampling of chemical reaction vessel 5, specifically including the following steps:

[0034] I. Initial State Confirmation

[0035] Step 1: The AGV module 1 trolley and sampling bottle 4 are in place at the sampling port of the packaging module 2;

[0036] Step 2: Samples are to be taken from system 5 of the reactor.

[0037] Step 3: The battery level of AGV module 1 is greater than 30%;

[0038] Step 4: Complete the setup in the laboratory;

[0039] Step 5: The route system has been determined;

[0040] Step 6: The encapsulation module 2 is now in place on the AGV module 1 trolley;

[0041] Sampling robot operation steps

[0042] AGV module step 1:

[0043] Step 1: AGV module 1 transports goods;

[0044] Step 2: AGV module 1 receives the transportation instruction;

[0045] Step 3: AGV module 1, carrying packaging module 2, is transported to the designated location;

[0046] Step 4: Lift the target sampling bottle 4;

[0047] Step 5: Send a ready-to-receive signal to sampling module 3;

[0048] Sampling module 3 steps:

[0049] Step 1: ①②③④⑤ Close the valves;

[0050] Step 2: Electricity, gas, and other utilities are functioning normally;

[0051] Step 3: After the vacuum tube valve, nitrogen tube valve, solvent tube valve, and sampling tube valve, the buffer bottle 8 is filled with nitrogen gas. The sampling tube from the buffer bottle 8 to the reactor 5 is filled with nitrogen gas. The vacuum tube valve, nitrogen tube valve, solvent tube valve, and sampling tube valve are all located at the corresponding positions in the figure.

[0052] Step 4: Sampling operation within sampling module 3;

[0053] Step 5: Open valves ① and ④;

[0054] Step 6: Close valves ① and ④;

[0055] Step 7: Open valve ③;

[0056] Step 8: After a period of time, close valve ③;

[0057] Step 9: Open valve ① to draw liquid into buffer bottle 8;

[0058] Step 10: Open valve ④, fill with nitrogen, and push the sample in buffer bottle 8 back into reaction vessel 5;

[0059] Step 11: Close valves ① and ④;

[0060] Step 12: Repeat steps 5-11 twice;

[0061] Step 13: Repeat steps 7-9 to aspirate the sample into buffer bottle 8;

[0062] Step 14: Enter the low-pressure sampling module 3 to check the discharge status of each material;

[0063] Step 15: Low-pressure sampling module 3 is in the material discharge state;

[0064] Step 16: ①②③④⑤ Valves are closed;

[0065] Step 17, buffer bottle 8, store the solution;

[0066] Step 18: Apply slight positive pressure inside buffer bottle 8 (to be determined);

[0067] Step 19: After sampling, clean with solvent;

[0068] Step 20: Nitrogen gas is introduced into the system;

[0069] Packaging steps:

[0070] Step 1: Wait for the sampling module 3 to complete the material feeding signal;

[0071] Step 2: Lower the target sampling bottle 4;

[0072] Step 3: Rotate the tray, i.e., the sealing tray 21, and switch to the next sampling bottle 4;

[0073] Step 4: Robotic arm 22 picks up the 4 caps of the sampling bottle;

[0074] Step 5: Complete the capping;

[0075] Step 6: Return to the initial state of encapsulation module 2;

[0076] Step 7: Repeat steps 4-11;

[0077] Step 8: Finish receiving materials;

[0078] Step 9: AGV module 1 receives the command to return to the laboratory (encapsulation module 2);

[0079] Step 10: Return to the designated location in Laboratory 6;

[0080] Step 11: Check battery level:

[0081] Step 12: If the percentage is greater than 30%, return to the initial state;

[0082] Step 13: If the charge level is less than or equal to 30%, return to the specified charging position.

[0083] The aforementioned AGV module 1 is equipped with a navigation system and functions as an automated guided vehicle. Its overall structure adopts a forklift-like design, facilitating the placement of the packaging module 2. Like existing AGVs, AGV module 1 also features a drive control unit. This drive control unit is equipped with a laser navigation or vision recognition module, enabling it to detect and identify the real-time location of obstacles during transport, construct a transport map, and transmit it to the robot system for target location detection and self-localization. In practical applications, AGV module 1 can also adopt other designs, as long as it can drive the packaging module 2 to the corresponding position of the picking module under the control of the robot system. In practical applications, AGV module 1 can not only complete sampling operations within the same floor but can also be used in conjunction with the workshop elevator 7 to achieve sampling between different floors. The electrical components within AGV module 1 can be selected in either explosion-proof or non-explosion-proof versions, allowing for flexible selection based on different sampling types.

[0084] The aforementioned encapsulation module 2 can be fixed to the AGV using existing methods such as bolts or welding, as shown at the fork position in the figure. The AGV module 1 then guides and carries it to the target sampling position. The encapsulation module 2 includes components such as a power system, encapsulation disk 21, indexing disk, robotic arm 22, and PLC system. The power system provides power for the operation of the encapsulation module 2, such as driving the robotic arm 22 and wireless communication with the robot system. This power system can utilize existing supporting technologies and is therefore not shown in the figure. The encapsulation disk 21 is a disc-shaped structure with multiple circular holes. It is a movable, rotating disc made of stainless steel or plastic, containing 8-12 positions for placing the sampling bottle 4. The encapsulation disk 21 can be designed with corresponding supporting structures to lift and lower the target sampling bottle 4, aligning the bottle opening with the sampling port. The sampling tube can be placed in the aforementioned circular hole, and the corresponding sampling cap can be placed in other positions, which facilitates the operation of the robotic arm 22. The packaging plate 21 and its matching motor are mounted on the indexing plate. The indexing plate controls the rotation of the packaging plate 21 at a certain angle. After sampling of the sampling bottle 4 is completed, the next sampling bottle 4 is switched to complete the packaging of multiple samples. The indexing plate uses existing components and is therefore not shown in the figure. The robotic arm 22 picks up the bottle cap and packages the sampling bottle 4 on the packaging plate 21. The robotic arm 22 can adopt the existing conventional multi-axis motion robotic arm 22 structure, such as a six-axis robotic arm 22. The packaging module 2 is equipped with a packaging control cabinet for easy electrical control. The electrical components in the packaging control cabinet can be selected in explosion-proof or non-explosion-proof styles, so as to flexibly select according to different sampling types. The PLC system in the packaging module 2 is used to control the internal components. The program in the PLC system can be programmed in a conventional way according to its actions.

[0085] The sampling module 3 is installed above the reactor 5. A stainless steel straight tube is inserted into the reactor 5 through the sampling port at the top, extending below the liquid surface. Sampling can be performed using vacuum sampling or a pump, with a sampling capacity ranging from 100 to 500 mL. To ensure normal operation, existing nitrogen pressure systems, solvent cleaning systems, and remote pressure control systems can be used. The sampling module 3 also has an independent PLC system for controlling internal components. The program within the PLC system can be programmed routinely according to its actions. Furthermore, the electrical components of the sampling module 3 can be selected in either explosion-proof or non-explosion-proof configurations, allowing for flexible selection based on different sampling types.

[0086] like Figure 2 The diagram shows the process flow of an automated sampling robot in a chemical plant. After receiving the sampling instruction, the AGV module 1, carrying the packaging module 2, navigates to the target sampling location. After completing the sampling under the control of the robot system, the AGV continues sampling according to the instructions or returns to the laboratory 6.

[0087] like Figure 3 The diagram shows the navigation of an automated sampling robot in a chemical plant. The AGV module 1 carries the packaging module 2. According to the robot system, it can take samples multiple times at the same location, or it can take samples at multiple locations by switching the sampling bottle 4. Example

[0088] The robot system receives the sampling command and controls the AGV module 1 to carry the packaging module 2. Since the AGV module 1 is equipped with a drive control unit, which has a laser navigation or vision recognition module, it can detect and locate the target position and detect the real-time position of obstacles during transportation. The AGV module 1 is then transported by the laboratory 6 to the target sampling position.

[0089] After the AGV module 1 transports and packages the packaged product to the target sampling location, it sends a feedback message to the robot system confirming that it has reached the target sampling location.

[0090] The robot system controls the packaging module 2 to lift it to the target sampling position for material receiving preparation. The packaging plate 21 is a rotatable disc made of stainless steel or plastic, and the sampling bottle 4 is placed and fixed.

[0091] A battery pack is installed below the encapsulation module 2 to provide power for the encapsulation process, and an encapsulation control cabinet is installed above it. According to the set program, the encapsulation disk 21 is controlled to raise and lower the target sampling bottle 4, aligning the port of the sampling bottle 4 with the sampling port of the sampling module 3. After alignment, the encapsulation module 2 sends a notification to the robot system confirming the alignment is complete.

[0092] The robot system controls the sampling module 3 to perform sampling. After the sampling module 3 completes sampling, the PLC system in the sampling module 3 sends a feedback to the robot system that the sampling has been completed.

[0093] The robot system controls the packaging module 2 to complete the packaging of the sampling bottle 4. The indexing plate can control the packaging plate 21 to rotate at a certain angle according to requirements. After the sampling of the sampling bottle 4 is completed, the next sampling bottle 4 is switched. After the sampling bottle 4 is rotated, the robotic arm 22 configured in the packaging module 2 picks up the bottle cap to complete the packaging of the sampling bottle 4. The packaging module 2 then feeds back to the robot system to complete the packaging.

[0094] The robot system controls AGV module 1 to return to laboratory 6 or to complete automatic sampling at the next target location as needed.

[0095] The specific embodiments described above are merely illustrative of the present technical solution and are not intended to limit the present technical solution. In the description of the present technical solution, it should be noted that terms such as "upper" and "inner" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are only for the convenience of describing the present technical solution and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the present technical solution.

[0096] Furthermore, in the description of this technical solution, it should be noted that, unless otherwise explicitly specified and limited, the terms "fixed" and "fitting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this technical solution according to the specific circumstances.

[0097] Although embodiments of the present technical solution have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present technical solution, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A chemical plant automatic sampling robot, characterized by: The utility model relates to a kind of automatic packaging and sampling system, including AGV module, packaging module and sampling module. AGV module is used to drive packaging module to set position, which is convenient for packaging work of packaging module. Packaging module is used to prepare receiving sample at target sampling position, complete sampling bottle switching and capping work. Sampling module is used to take out reactant to sampling bottle.

2. The automatic sampling robot for chemical plants according to claim 1, characterized in that: AGV module includes drive control unit, which has laser navigation or visual identification module to detect and identify real-time position of obstacle during transportation, build transportation map, detect target position and locate itself.

3. The automatic sampling robot for chemical plants according to claim 1, characterized in that: Packaging module is fixed on the fork position of AGV by bolt or welding, and is navigated and carried to target sampling position by AGV module.

4. The automatic sampling robot for chemical plants according to claim 3, characterized in that: Packaging module includes power supply system, packaging disc, index plate and mechanical arm.

5. The automatic sampling robot for chemical plants according to claim 4, characterized in that: Power supply system is the power source of packaging module.

6. The automatic sampling robot for chemical plants according to claim 5, characterized in that: Packaging disc is installed on index plate, and index plate controls packaging disc to rotate according to set angle.

7. The automatic sampling robot for chemical plants according to claim 1, characterized in that: After sampling of sampling bottle is completed, next sampling bottle switching is carried out, and mechanical arm picks up bottle cap to package sampling bottle on packaging disc.

8. The automatic sampling robot for chemical plants according to claim 7, characterized in that: Packaging disc is stainless steel or plastic material movable rotary disc, which contains 8-12 positions for sampling bottle to be placed and fixed. Packaging disc lifts and lowers target sampling bottle to make sampling bottle mouth and sampling port butt joint. Packaging module is arranged with packaging control cabinet, which is explosion-proof or non-explosion-proof type. Sampling module is installed above chemical reaction kettle, and a stainless steel straight pipe is inserted into reaction kettle from sampling port above reaction kettle, and goes deep into liquid level below reaction kettle. Sampling module uses vacuum sampling or pump sampling. Sampling module has nitrogen pressure system, solvent cleaning system and remote pressure control system. Capacity of sampling module is 100-500mL.

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