CN-121973238-A - Dangerous chemical weighing and distributing mechanical arm based on declaration instruction

CN121973238ACN 121973238 ACN121973238 ACN 121973238ACN-121973238-A

Abstract

The invention relates to the technical field of dangerous chemical management, and provides a dangerous chemical weighing and distributing mechanical arm based on a declaration instruction. The main control unit analyzes the declaration instruction and invokes the physical database to extract the target physical and chemical parameters, dynamically adjusts the action posture of the end effector by utilizing the self-adaptive algorithm based on the depth vision and moment feedback data when the weighing operation is executed, and executes nonlinear deceleration approximation and anti-drip locking when the target quantity is approached. The system also integrates dynamic centroid compensation, space-time safety path planning, environment monitoring and digital twin previewing functions. The invention effectively solves the splashing, dripping and carrying risks of dangerous chemicals in different physical states in the weighing process, and realizes the accurate weighing and safe distribution tracing of the whole process.

Inventors

ZHU RUIQING
PAN QI
WANG YUQING

Assignees

杭州清堃科技服务有限公司

Dates

Publication Date: 20260505
Application Date: 20260331

Claims (10)

1. Dangerous chemical weighing and distributing mechanical arm based on declaration instruction, which is characterized by comprising: the mechanical arm body comprises a multi-axis actuating mechanism and a replaceable end effector; The multi-mode sensing assembly comprises a depth vision sensor arranged on the mechanical arm body and a six-axis moment sensor integrated on the end effector; The high-precision weighing base is used for bearing the receiving container and outputting a real-time quality signal; the data interaction module is used for receiving declaration instructions comprising unique identification codes of chemicals, target taking amounts and delivery end points; The core main control unit is in communication connection with the mechanical arm body, the multi-mode sensing assembly, the high-precision weighing base and the data interaction module; The core main control unit is configured to analyze the declaration instruction and call a preset chemical physical property database to extract physical and chemical property parameters of target chemicals, when the weighing operation is executed, based on the fluid or powder form characteristics acquired by the depth vision sensor, the built-in self-adaptive weighing control algorithm is called in combination with the quality increment rate fed back by the high-precision weighing base, the tilting angle speed and the gesture of the end effector are dynamically and continuously adjusted, and when the real-time weighing value is close to the target weighing value, nonlinear deceleration approaching and anti-dripping anti-splashing action locking are executed according to the physical and chemical property parameters, and a safety path is planned and distributed to the distribution terminal after the accurate weighing is completed.
2. The hazardous chemical weighing and dispensing mechanical arm based on the declaration instruction according to claim 1, wherein the self-adaptive weighing control algorithm is configured to execute a strategy of matching and differentiating hazardous chemicals in different forms, wherein when the physicochemical property parameter is characterized as low-viscosity liquid, a flip angle is finely adjusted in real time according to the change of the fluid cross section area, when the physicochemical property parameter is characterized as high-viscosity liquid, the back-pumping or reverse rotation action of the end effector is triggered to cut off a liquid column when the target taking quantity pre-threshold is reached, and when the physicochemical property parameter is characterized as powder, the end effector is driven to conduct micro-vibration discharging according to the set high-frequency low-amplitude parameter.
3. The dangerous chemical weighing and dispensing mechanical arm based on the declaration instruction according to claim 1, wherein a dynamic mass center compensation module is embedded in the core main control unit, and in the process that the end effector clamps the dangerous chemical container to move or topple, the dynamic mass center compensation module calculates mass center offset caused by shaking of materials in the container according to dynamic moment data acquired by the six-axis moment sensor in real time, and generates a reverse compensation moment instruction in real time and sends the reverse compensation moment instruction to the multi-axis execution mechanism so as to inhibit shaking of liquid or landslide of powder in the container.
4. The hazardous chemical dosing and delivery mechanical arm based on claim 1, wherein the core master control unit comprises a space-time safety path planning unit configured to calculate a dynamic risk envelope radius of the target chemical during delivery movement according to the volatility, toxicity or flammability level of the target chemical, and in combination with laboratory environment awareness data, actively avoid personnel intensive areas and other work stations currently in an on state or transporting a compatibility tabulated substance when planning the safety path.
5. The hazardous chemical weighing and dispensing mechanical arm based on claim 1, wherein the multi-mode sensing assembly further comprises an ambient gas monitoring micro probe, and the core main control unit determines that micro leakage occurs, immediately triggers a flexible scram, and locks the end effector into an elevation safety posture preventing further overflow of materials if the depth vision sensor captures an abnormal drop/dust falling track or the ambient gas monitoring micro probe detects an abnormal peak value of the characteristic gas concentration of the target chemical during the whole process of taking and dispensing.
6. The dangerous chemical weighing and dispensing mechanical arm based on the declaration instruction according to claim 1, wherein the mechanical arm body is provided with a terminal quick-change device and a tool library comprising a plurality of clamp types, and the core main control unit is used for automatically controlling the mechanical arm body to move to the tool library according to the type characteristics of the packaging container associated with the unique identification code of the chemical after receiving the declaration instruction, and mounting an end effector with highest physical matching degree so as to ensure that the clamping force is uniformly distributed and the brittle container is not broken.
7. The hazardous chemical weighing and dispensing mechanical arm based on claim 1, wherein the core main control unit is provided with a peripheral equipment linkage interface, and before the target chemical with volatile toxicity is ready to be grasped, the core main control unit sends an instruction to a ventilation system of the area through the peripheral equipment linkage interface, so that the local exhaust power of the working area and the dispensing way is forcedly lifted, and the action is performed after negative pressure protection air flow is formed.
8. The dangerous chemical weighing and distributing mechanical arm based on the declaration instruction according to claim 1, wherein a digital twin previewing module is integrated in the core main control unit, and before the mechanical arm body executes real physical contact, the digital twin previewing module performs pre-calculation simulation on a grabbing position, a dumping hydrodynamic process and a distributing obstacle avoidance track based on a constructed three-dimensional virtual scene, and only when a simulation result confirms that no space interference exists and a theoretical weighing error is within an allowable range, the digital twin previewing module issues an actual control instruction.
9. The hazardous chemical weighing and dispensing mechanical arm based on the declaration instruction according to claim 1, wherein the core main control unit has a man-machine cooperation handover verification function, when the mechanical arm body takes hazardous chemicals to reach the dispensing end point, the mechanical arm body automatically enters a waiting mode, a face or identity identification function of the depth vision sensor is started, and after the acquired characteristics of a receiver are compared with information of an authorized person in the declaration instruction, the mechanical arm body controls the end effector to slowly translate on a designated safety workbench and release a container.
10. The hazardous chemical weighing and dispensing mechanical arm based on the declaration instruction according to claim 1, wherein the core main control unit further comprises a full-life-cycle operation traceability recorder, wherein the full-life-cycle operation traceability recorder is configured to encrypt and break up data packets containing declaration approval records, continuous weight change curves generated by the high-precision weighing base, anomaly compensation action logs and handover verification results, and generate tamper-proof single-operation digital certificates to store in a blockchain or cloud traceability database.

Description

Dangerous chemical weighing and distributing mechanical arm based on declaration instruction Technical Field The invention relates to the technical field of dangerous chemical management, in particular to a dangerous chemical weighing and distributing mechanical arm based on a declaration instruction. Background With the continuous increase of the requirements of laboratory and industrial production on the safety management of dangerous chemicals, the current dangerous chemical management and control system has made remarkable progress in the aspects of static safety storage, authority verification and inventory ledger record. However, the critical dynamic link of accurate weighing and transfer distribution from the storage end to the laboratory bench or the production line still faces serious technical bottlenecks at present. In the prior art, the weighing and transferring of dangerous chemicals still mostly depend on manual leading operation, or a traditional general industrial mechanical arm is adopted. In the dynamic weighing and distribution circulation links, the existing equipment lacks self-adaptive sensing and flexible safety control capability aiming at complex physical and chemical properties of dangerous chemicals. Specifically, the dangerous chemicals have high dangerous characteristics such as poison, corrosion, easy explosion and the like, and have huge physical form differences. The conventional mechanical arm performs the action of rigidity and fixed track, and in the process of moving, tilting and weighing the clamped reagent bottle, the mechanical arm cannot sense the dynamic mass center deviation caused by fluid shaking in the container, and cannot adaptively adjust the tilting angle speed, the anti-dripping gesture or the micro-vibration frequency of the end effector in real time according to the actual physical states such as viscosity, fluidity and the like of different chemicals. The rigid and single operation mode is extremely easy to cause the phenomena of liquid splashing, dust dissipation, liquid column dripping, container slipping and the like in weighing high-risk reagents, and meanwhile, the traditional distribution route is fixed and lacks space-time dynamic risk avoiding capability based on different chemical hazard levels, volatility and compatibility tabu. The weighing precision is difficult to meet the experimental requirements, and the hidden danger of extremely large micro leakage and cross contamination is buried in the circulation blind area for taking and distribution, so that the life safety of the working environment and on-site personnel is seriously threatened. In summary, the invention provides a hazardous chemical weighing and dispensing mechanical arm based on declaration instructions, so as to solve the problems. Disclosure of Invention The invention provides a dangerous chemical weighing and distributing mechanical arm based on a declaration instruction, which realizes safe and accurate weighing and flexible distribution of the whole process of dangerous chemicals by integrating a multi-mode sensing assembly, a physical and chemical attribute self-adaptive control algorithm and a dynamic mass center compensation technology, so as to solve the problem that the traditional rigid mechanical arm in the prior art lacks physical property self-adaptive sensing and flexible control capability when weighing polymorphic dangerous chemicals, and is extremely easy to cause serious potential safety hazards such as liquid splashing, dust dissipation, circulation blind area micro leakage and the like. The specific technical scheme of the invention is as follows: a hazardous chemical weighting and dispensing mechanical arm based on declaration instructions, comprising: the mechanical arm body comprises a multi-axis actuating mechanism and a replaceable end effector; The multi-mode sensing assembly comprises a depth vision sensor arranged on the mechanical arm body and a six-axis moment sensor integrated on the end effector; The high-precision weighing base is used for bearing the receiving container and outputting a real-time quality signal; the data interaction module is used for receiving declaration instructions comprising unique identification codes of chemicals, target taking amounts and delivery end points; The core main control unit is in communication connection with the mechanical arm body, the multi-mode sensing assembly, the high-precision weighing base and the data interaction module; The core main control unit is configured to analyze the declaration instruction and call a preset chemical physical property database to extract physical and chemical property parameters of target chemicals, when the weighing operation is executed, based on the fluid or powder form characteristics acquired by the depth vision sensor, the built-in self-adaptive weighing control algorithm is called in combination with the quality increment rate fed back by the high-precision weighing