| The sampling and inspection robot system is designed for high dust and strongcorrosion environment in mine, metallurgy and pharmaceutical industry, which integratesmultiple techniques: optical, mechanical and electrical. Through the process of sampling,fast sample preparation, particles inspection, image data transmission, remote analysis andmonitoring, it realizes size grading fast continuous inspection in particle production field.It has significance for improving the production efficiency. This dissertation studies thedesign method and key technologies on sampling and inspection robot system for highdust and strong corrosion environment which is supported by the national high technologyresearch and development program of China (863program). The main research contentsare as follows:Through the analysis of the shock on the influence of the sampling manipulator, andthe relationship between sampling position and closed loop control, composition of therobot system is researched. The sampling and visual inspection scheme are proposed andcompared.Through the analysis of high dust, strong corrosive gas, scar and shock on theinfluence of drive, joint and kinematics pair in the robot system, bionic research of thesampling mechanism is carried out to improve the sampling manipulator adaptability inhigh dust and strong corrosion environment. The sampling manipulator design principlesand design method for high dust and strong corrosive environment are proposed. Then thegenetic algorithm is applied to compute the comprehensive size.Three ways of fast sample preparation base on the dynamic image method are putforward. The six decision indexes are analyzed based on fuzzy analytic hierarchy processtheory. Then the fuzzy decision model is established, and the fuzzy comprehensiveevaluations are analyzed. Finally, the fast sample preparation plan is determined. Also, thecrushing force is calculated, which provides reference for choosing motor speed and theweight of broken rod.The particle continuous inspection of imaging system is designed. Imaging system field, resolution and depth of field are studied. In order to reduce the dust and corrosivegas to the influence of the imaging system, special automatic dust removal mechanism isdesigned. The sampling speed, light intensity and feed speed optical servo control areresearched. It realizes continuous inspection and improves the system precision.In order to establish the relationship between pixel diameter and actual diameter ofthe particles, a kind of particle visual inspection module calibration method is proposedbased on ruled surface mathematical model. In order to uniform the test results ofscreening method and dynamic image method, the membership function of the particles isstudied using the membership function determine method in fuzzy mathematics. IPChuman-computer interactive interface is designed by the software of Kingview. Theremote server data storage and inquire human-computer interaction interface is developedbased on the internet and database.According to the typical high dust strong corrosive environment, compound fertilizersampling manipulator structure is designed. Finite element analysis is carried out. Thecontrol system is designed according to the function of the robot. The sampling andinspection robot prototype is developed. The prototype in compound fertilizer productionfield long time continuous stable work is realized base on the laboratory test research.This dissertation designs the robot system for high dust and strong corrosionenvironment, which has important reference value for the future study of industrial robotfor the bad environment. |
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