CN102274533A - Automatic disinfection and examination system of container, and disinfection and examination method thereof - Google Patents
Automatic disinfection and examination system of container, and disinfection and examination method thereof Download PDFInfo
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- CN102274533A CN102274533A CN2011101261077A CN201110126107A CN102274533A CN 102274533 A CN102274533 A CN 102274533A CN 2011101261077 A CN2011101261077 A CN 2011101261077A CN 201110126107 A CN201110126107 A CN 201110126107A CN 102274533 A CN102274533 A CN 102274533A
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Abstract
The invention relates to an automatic disinfection and examination system of a container, and a disinfection and examination method thereof. The automatic disinfection and examination system comprises a computer control unit, an automatic dosage unit, a detection unit, a remote computer examination unit, a spray door frame and a mechanical arm. The spray door frame comprises a door frame composed by a top beam and stand columns located at two sides of the door frame. Sprayers are arranged along the medial surface of the stand columns and the top beam of the door frame body at intervals. The mechanical arm is fixed on a top beam pulley. The automatic disinfection and examination system is characterized in that the bottoms of the stand columns are provided with pulley wheels and slide rails and the pulley wheels and the slide rails are connected with the computer control unit through pulley wheel servo motors; a mechanical arm sprayer is a double-fluid universal sprayer; the door frame body is provided with two lines of the sprayers, wherein an included angle of the two lines is in a range of 30 to 60 degrees; and the automatic disinfection and examination system is provided with a bottom spray belt. The disinfection and examination method comprises the following steps of system boot, parameter setting, automatic dosage, liquid medicine output and disinfection work mode selection, wherein disinfection work modes comprise a manual disinfection mode, a channel disinfection mode, a scanning disinfection mode, and a mechanical arm tank disinfection and examination mode. The automatic disinfection and examination system and method have the advantages that automatic tracking positioning disinfection and examination of a container is carried out and thus efficient and thorough disinfection is realized.
Description
Technical field
The present invention relates generally to customs, the harbour container outside and inner facility and method of carrying out emphasis sterilization examination, relates in particular to a kind of container sterilize automatically checking system and sterilization checking method thereof.
Background technology
For preventing that antibacterial, virus disseminating from reaching the health immune effect, need carry out emphasis examination sterilization for the container that passes in and out customs, harbour container especially regional or that outlet is returned from pestilence, generally adopt the indoor channel decontamination system.Indoor sterilization is actual to be the sterilization of carrying out in being provided with the sterilizing path of import and export.The automatization's decontamination system that is used for indoor sterilizing path at present mainly comprises the computer control unit that is provided with key station, automated dispensing unit and constant voltage medicinal liquid output unit, the detecting unit of forming by a plurality of pick offs, the remote computer inspection unit, be located at spray door frame and mechanical hand in the sterilizing path, each pick off of detecting unit is connected with computer control unit, the automated dispensing unit is connected with the shower nozzle of spray door frame and the shower nozzle of mechanical hand through constant voltage medicinal liquid output unit by grug transportation tube, computer control unit is electrically connected the automated dispensing unit by the control performer, constant voltage medicinal liquid output unit, spray door frame and mechanical hand, during work under the control of computer control unit, finish the output of medicinal liquid configuration and constant voltage medicinal liquid, and control spray door frame sprays sterilization to the container outside, or the control mechanical hand sprays sterilization to internal container.Existing sterilization is fixedly installed on the sterilizing path porch with the spray door frame, mainly comprise the door frame body that constitutes by two heel posts and back timber, some shower nozzles of single-row arrangement are set at interval along the medial surface of the column of door frame body and back timber, the column that each shower nozzle is corresponding with it or the medial surface of back timber is vertical is provided with can be realized the both sides of the container that passes through and the spray sterilization at top.Mechanical hand is L shaped, is lifted on the back timber, and its horizontal arm is provided with shower nozzle internal container is sprayed sterilization.The major defect that existing decontamination system exists is: (1) container is when carrying out the inside sterilization, and position of manipulator is fixed, and aims at mechanical hand by artificial adjustment container position, because car body heaviness, move dumb, mobile repeatedly aligned position, para-position is very difficult, make sterilizing operation efficient low; (2) container is when carrying out the outside sterilization, the spray door frame is for fixedly installing, leaning on container to travel along sterilizing path carries out disinfection by the spray door frame, the container car gait of march of heavy duty is difficult to control evenly, therefore cause the spray sterilization inhomogeneous, especially to the geographic container from the epidemic situation was severe, it is even to require car body surface to spray dose, but existing method can not reach technological requirement, and it is not thorough to sterilize; (3) owing on the existing sterilization door frame single-row shower nozzle only is set, and this row shower nozzle is over against container left and right sides and top spray, and the front and back side of container and car body bottom can not obtain fully to spray medicine, thereby cause sterilization disappearance position, leave over down virus and bacteria and propagate the hidden danger that eqpidemic disease takes place.(4) the mechanical hand shower nozzle adopts the single fluid shower nozzle at present, is unidirectional spray fluid column, has the spray dead angle, and jet length is short, and the uniformity is poor, and it is not thorough to sterilize; (5) at from normal area and the epidemic situation was severe geographic container, must adopt different sterilization methods carry out outside sterilization, the existing checking system of sterilizing automatically can not meet the demands.
Summary of the invention
Main purpose of the present invention is at the problems referred to above, by improvement to existing spray door frame and robot manipulator structure, a kind of movable type is provided, to the sterilization checking system of comprehensive spray medicinal liquid inside and outside the container, and providing a kind of under computer control unit control, spray door frame and mechanical hand can reach according to different working modes the automatic track and localization of container operates the method efficient, thorough disinfection that realizes automatically.
Be implemented in computer control unit control down, spray door frame and mechanical hand purpose.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of container checking system of sterilizing automatically, comprise the computer control unit that is provided with key station, automated dispensing unit and constant voltage medicinal liquid output unit, the detecting unit of forming by a plurality of pick offs, the remote computer inspection unit, be located at spray door frame and mechanical hand in the sterilizing path, each pick off of detecting unit is connected with computer control unit, the automated dispensing unit is connected with the shower nozzle of spray door frame and the shower nozzle of mechanical hand through constant voltage medicinal liquid output unit by grug transportation tube, computer control unit is electrically connected the automated dispensing unit by the control performer, constant voltage medicinal liquid output unit, spray door frame and mechanical hand, described spray door frame comprises the door frame body that is made of two heel posts and back timber, some shower nozzles are provided with at interval along the column of door frame body and the medial surface of back timber, each shower nozzle is positioned at the described medial surface vertical plane corresponding with it, and described mechanical hand is fixedly connected on the coaster that is arranged at the back timber move left and right; It is characterized in that pulley being set, along sterilizing path slide rail being set in the column bottom of described door frame body, pulley is connected with computer control unit by the pulley servomotor.
Described mechanical hand also with move up and down drive mechanism and be connected, move up and down drive mechanism and be electrically connected by control performer and computer control unit.
The shower nozzle of described mechanical hand is two fluid gimbaled nozzles.
The medial surface of described door frame body its column of upper edge and back timber is provided with two row shower nozzles arranged side by side, and the angle between two row shower nozzles is 30 °～60 °, and described shower nozzle is electrically connected by electromagnetic valve and computer control unit.
In described sterilizing path entry position, bottom spray band is set on the ground between the column of corresponding described door frame body, the shower nozzle of described bottom spray band is electrically connected with computer control unit by electromagnetic valve and is connected with constant voltage medicinal liquid output unit by grug transportation tube.
At the back timber of described door frame body and the medial surface of a heel post back timber distance measuring sensor and column distance measuring sensor are set respectively, entrance side and outlet side difference inlet porting pick off and outlet pick off at the spray door frame are provided with obstacle avoidance sensor, photographic head and Projecting Lamp on mechanical hand.
A kind of sterilize automatically sterilization checking method of checking system of above-mentioned container that adopts is characterized in that comprising the steps:
(1) system boot is respectively controlled performer and is entered original state in the described system;
(2) parameter setting: set medicinal liquid preparation parameter, the spray time-delay T1 after container sails out of, the spray time T2 of mechanical hand, inlet initial distance D1, spray start distance D 2;
(3) start the automated dispensing unit, finish the medicinal liquid configuration;
(4) start constant voltage medicinal liquid output unit, system enters holding state;
(5) select the disinfection pattern by the key station man machine interface: comprise manual sterilization pattern and automatic sterilization pattern, automatically the sterilization pattern is divided into the passage sterilization pattern of fixing spray door frame again, sterilization examination pattern in the scanning sterilization pattern of mobile spray door frame and the mechanical hand case;
(5.1) when selecting manual sterilization pattern,, the mechanical hand operation is put in place,, finish sterilization and examination in the container by the switching of control mechanical hand shower nozzle, photographic head and Projecting Lamp by manual operation adjustment spray door frame, coaster, oil cylinder position; Be with the switching of shower nozzle to finish the sterilization that needs selection part of complying with of container external body by manual operation spray door frame entrance side shower nozzle, outlet side shower nozzle and bottom spray, end of operation, container sails out of;
(5.2) when selecting the passage sterilization pattern of fixing spray door frame, at first make spray door frame and mechanical hand reset to initial point separately respectively; Container sails sterilizing path into, when the inlet sensor arrives container, opens the entrance side shower nozzle row and the bottom spray of spray door frame and is with shower nozzle; When the outlet sensor when the container, open spray door frame outlet side shower nozzle row, and close spray door frame entrance side shower nozzle row; When the outlet sensor when container leaves, spray time-delay T1 timing begins, and treats that spray time-delay T1 timing arrives, and closes spray door frame outlet side shower nozzle row and bottom spray and is with shower nozzle, finishes the sterilization of top, bottom and four sides of container external body;
(5.3) when selecting to move the scanning sterilization pattern of spray door frame: at first make spray door frame and mechanical hand reset to initial point separately respectively; Container sails the sterilizing path working region into, and the operation of spray door frame when the outlet sensor arrives container, is opened spray door frame outlet side shower nozzle row; When the inlet sensor when the container, open spray door frame entrance side shower nozzle row, and close spray door frame outlet side shower nozzle row; When the inlet sensor when container leaves, spray time-delay T1 timing begins, and waits to spray time-delay T1 timing and arrives, and closes spray door frame entrance side shower nozzle row, finish the top and the sterilization of four sides of container external body, spray door frame and mechanical hand reset to initial point separately respectively;
(5.4) when sterilizing the examination pattern in the selector tool hands case, at first make spray door frame and mechanical hand reset to initial point separately respectively; Container sails the sterilizing path working region into, manually opens car door, opens photographic head and Projecting Lamp examination box house, artificially differentiates, and if any goods, does not sterilize, and mechanical hand resets to initial point, and as no goods, container is to be sterilized; At this moment, operation spray door frame, by spray door frame back timber distance measuring sensor and column distance measuring sensor container is carried out location coordinate information scanning, turn back to the safe distance position then, at this moment, coaster runs to chamber door mouth medium position, and vertical decline of mechanical hand runs to chamber door mouth middle position, by situation in photographic head and the Projecting Lamp examination case, pictorial data is transferred to the remote computer inspection unit; Obstacle avoidance sensor detection by mechanical hand has clear, if any barrier, reports to the police, and manually starts mechanical hand and resets to initial point, and under the clear situation, mechanical hand advances, until entering casing; Through judging, after in entering case, reaching the inlet initial distance D1 of setting, mechanical hand is looked for middle location automatically by obstacle avoidance sensor, and the spray that extend out to setting forward starts distance D 2, the sterilization of opening manipulator liquid spouting nozzle, and the spray time T2 timing of mechanical hand begins, when spray time T2 timing is arrived, hydrojet stops, and finishes sterilization in the case, and spray door frame and mechanical hand reset to initial point separately respectively.
Described spray door frame resets to initial point, is to reset to the sterilizing path entry position, and it is to reset to its highest desired location in spray door frame left side that mechanical hand resets to initial point; Described working region is to be that 1 meter position is the zone of initial boundary line to the sterilizing path outlet with the horizontal range with the robot end that is positioned at initial point; Described safe distance position is the position of horizontal range 〉=1 meter of container afterbody and robot end.
Spray time-delay T1=1-5 second after described container sails out of, the spray time T2=1-180 second of mechanical hand, inlet initial distance D1=500 millimeter, spray start distance D 2=300 millimeter.
Described medicinal liquid configuration parameter comprises the liquor strength proportioning, the dose of adding, the water yield and mixing time, and wherein the volume ratio of the water yield and dose is 100 in the liquor strength proportioning: 1-500: 1, the total amount that adds entry is 380 liters, mixing time is 10 seconds-30 minutes.
The invention has the beneficial effects as follows: (1) is because the spray door frame has been set up pulley, slide rail, mechanical hand has been set up and has been moved up and down function, be provided with back timber distance measuring sensor and column distance measuring sensor respectively at the back timber of door frame body and the medial surface of a heel post, obstacle avoidance sensor is set on mechanical hand, when entering sterilizing path, container carries out box house when sterilization, computer control unit can calculate the box location coordinate, the control mechanical hand all around moves up and down automatically, enter spray medicine in the casing, avoided in the conventional art position of manipulator to fix, and can not move up and down, aim at the drawback of the para-position difficulty that mechanical hand brings by artificial adjustment container position, significantly improve sterilizing operation efficient, improve Disinfection Effect.(2) container is when carrying out the outside sterilization, provide container position to fix, move the scanning sterilization pattern of spray door frame, achieve the adjustable-speed even running by automatic control spray door frame, make box outer surface spray medicine even, overcome traditional spray door frame and fixedly installed, by the spray door frame spray that the brings uneven drawback of sterilizing that carries out disinfection, guaranteed sterilisation quality by container.(3) shower nozzle of mechanical hand adopts two fluid gimbaled nozzles, can realize 360 ° of rotations, therefore, can eliminate the spray dead angle, especially adopt two fluid shower nozzles, compressed air and constant pressure water supply affact simultaneously that atomizing particle can reach below 80 microns on the shower nozzle, jet length is far away, and to the body surface spraying, cloud point aloft evenly suspends, moistening and the disinfectant solution of disinfecting surface is drip not, realizes that internal container sterilizes completely.(4) on the door frame body, two row shower nozzles arranged side by side are set and the angle between two row shower nozzles is 30 °～60 ° along the medial surface of its column and back timber, two row shower nozzles are receded forward respectively, form spray door frame entrance side shower nozzle row and spray door frame outlet side shower nozzle row, therefore make container front side rear side can obtain fully to spray medicinal liquid, realize thorough disinfection; Especially be provided with bottom spray band, make container base obtain the spray medicinal liquid; Thus, container can be realized the powder-spreading and sterilizing completely comprehensively of all around side, top and bottom.(5) at from normal area and the epidemic situation was severe geographic container, different sterilization patterns have been set, to from normal regional container, adopt passage sterilization pattern, container can pass through in batches fast, to the geographic container from the epidemic situation was severe, adopts scanning sterilization pattern, spray door frame speed can according to need the 0-500 millimeter/minute in adjustable, carry out the uniform and complete sterilization.
Description of drawings
Fig. 1 is sterilize the automatically structured flowchart of checking system of container;
Fig. 2 is sterilize the automatically main TV structure sketch map of spray part and detecting unit part of checking system of container;
Fig. 3 is that cutaway view is looked on the right side of Fig. 2;
Fig. 4 is the A-A cross section view of Fig. 3;
Fig. 5～Fig. 5 continuous 3 adopts sterilize the automatically sterilization checking method operation sequence flow chart of checking system of container.
Among the figure: 1a detecting unit, 2a computer control unit, 3a remote computer inspection unit, 4a automated dispensing unit, 5a constant voltage medicinal liquid output unit, 1 spray door frame, 2 coasters, 3 back timbers, 4 move left and right lead-screw drive mechanisms, 41 coaster servomotors, 5 electromagnetic valves, 51 shower nozzles, 52 mechanical hand shower nozzles, 6,6 ' column, 7 bottoms spray band, 71 insecticide-spraying holes, 72 grooves lid, 73 strip grooves, 74 grug transportation tubes, 75 supports, 81 back timber distance measuring sensors, 82 column distance measuring sensors, 83,83 ' inlet pick off, 84,84 ' outlet pick off, 85 obstacle avoidance sensors, 9 pulleys, 91 pulley servomotors, 10 slide rails, 11 mechanical hands, 12 swivel joints, 13 Projecting Lamps, 14 photographic head, 15 oil cylinders.
Below in conjunction with accompanying drawing and preferred embodiment to the detailed description of the invention.
The specific embodiment
Fig. 1 illustrates a kind of container checking system of sterilizing automatically, and single line is represented to be electrically connected among the figure, and two-wire represents that the medicinal liquid pipeline connects.This system comprises computer control unit 2a, automated dispensing unit 4a and the constant voltage medicinal liquid output unit 5a that is provided with key station, by the detecting unit 1a that a plurality of pick offs are formed, remote computer inspection unit 3a, be located at spray door frame 1 and mechanical hand 11 in the sterilizing path.Each pick off of detecting unit is connected with computer control unit, the automated dispensing unit is connected with the shower nozzle 51 of spray door frame and the shower nozzle 52 of mechanical hand through constant voltage medicinal liquid output unit by grug transportation tube 74, and computer control unit is electrically connected automated dispensing unit 4a, constant voltage medicinal liquid output unit 5a, spray door frame 1 and mechanical hand 11 by the control performer.As Fig. 2-shown in Figure 4, above-mentioned spray door frame 1 comprises by two heel posts 6,6 ' and door frame body of constituting of back timber 3, some shower nozzles 51 are provided with at interval along the column of door frame body and the medial surface of back timber, each shower nozzle 51 is positioned at the described medial surface vertical plane corresponding with it, be positioned at and the vertical plane of back timber 3 medial surface as the shower nozzle on the back timber 3 51, the shower nozzle 51 on the column 6 is positioned at and the vertical plane of column 6 medial surface.In actual facility, two heel posts 6,6 ' and back timber 3 be each two, as shown in Figure 3, in this example, shower nozzle 51 only is arranged on by on survey in the sterilizing path one.
Above-mentioned mechanical hand 11 is fixedly connected on the coaster 2 that is arranged on the back timber 3 move left and right that the lead-screw drive mechanism 4 by move left and right drives, lead-screw drive mechanism 4 is driven by coaster servomotor 41, and is connected with computer control unit by coaster servomotor 41, under servosystem control, realize accurate the location.
The container provided by the invention checking system of sterilizing automatically is characterised in that in column 6, the 6 ' bottom of above-mentioned door frame body and pulley 9 is set, along sterilizing path slide rail 10 is set, pulley 9 is connected with computer control unit 2a by pulley servomotor 91, realizes accurately location under servo electrical machinery system control.
Another feature of this system be above-mentioned mechanical hand 11 also with move up and down drive mechanism and be connected, move up and down drive mechanism in the present embodiment and adopted oil cylinder 15, oil cylinder 15 is connected with computer control unit by electromagnetic valve and oil pump.
The another feature of this system is that the shower nozzle 52 of above-mentioned mechanical hand 11 adopts two fluid gimbaled nozzles.In actual fabrication, will have commercially available swivel joint 12 now and be connected with two fluid shower nozzles and get final product, adopt commercially available MD type swivel joint in the present embodiment, as MD032 type swivel joint.Two fluid shower nozzles have adopted 1 2JC0-SS+SU78-SS low pressure atomizer.
This system features is that also the medial surface of above-mentioned door frame body its column of upper edge and back timber is provided with two row shower nozzles arranged side by side, and as shown in Figure 4, the angle theta between two row shower nozzles is 30 °～60 °.Towards door frame body entrance side string, towards door frame body outlet side string, form spray door frame entrance side shower nozzle row and spray door frame outlet side shower nozzle row, two row shower nozzles are connected with computer control unit by electromagnetic valve 5.
The feature of this system also is, in the sterilizing path entry position, the column 6 of corresponding above-mentioned door frame body, 6 ' ground on bottom spray be set be with 7, bottom spray band comprises the ground strip groove 73 that is arranged between column, strip groove 73 bottoms are provided with support 75, lay grug transportation tube 74 at support 75 upper edge strip grooves, the grug transportation tube top is provided with the shower nozzle 51 that upwards sprays medicine at interval, shower nozzle 51 is connected with computer control unit by electromagnetic valve 5, and be connected with constant voltage medicinal liquid output unit 5a by grug transportation tube 74, the ditch notch covers the groove lid 72 concordant with ground, and groove covers and the shower nozzle 51 corresponding insecticide-spraying holes 71 that are provided with.
In real application systems, above-mentioned control performer comprises pump, the electromagnetic valve among automated dispensing unit 4a and the constant voltage medicinal liquid output unit 5a, the pulley servomotor 91 of spray door frame 1, the coaster servomotor 41 of mechanical hand 11, the electromagnetic valve of oil cylinder 15, oil pump are used to control spray door frame 1 and bottom spray with 7 the shower nozzle 51 and the medicinal liquid control electromagnetic valve 5 of mechanical hand shower nozzle 52.
As Fig. 2, shown in Figure 3, in the present embodiment, above-mentioned detecting unit comprises back timber distance measuring sensor 81, column distance measuring sensor 82, and inlet pick off 83,83 ', outlet pick off 84,84 ' and obstacle avoidance sensor 85.Specifically be set to: the medial surface at the back timber 3 of door frame body is provided with back timber distance measuring sensor 81, a heel post 6 ' medial surface on be provided with column distance measuring sensor 82, the spray entrance side of door frame and outlet side respectively inlet porting pick off 83,83 ' and outlet pick off 84,84 '.In this example, back timber distance measuring sensor 81 and column distance measuring sensor 82 adopted model be 01D100 from trans laser range sensor, inlet pick off 83,83 ' and outlet pick off 84,84 ' respectively to have adopted model be the infrared ray correlation sensor groups of 0GE503,0S500, inlet pick off 83,83 ' be one group, outlet pick off 84,84 ' be one group, and be separately positioned on the stud sides hurdle that is positioned at spray door frame entrance side, outlet side both sides.Be provided with the obstacle avoidance sensor 85 that detects barrier on the mechanical hand 11, obstacle avoidance sensor 85 is that model is the ultrasonic sensor of UB2000.Also be provided with photographic head 14 and Projecting Lamp 13 on the mechanical hand 11.Shower nozzle 51 has adopted the CC1/4-SS11002 shower nozzle of Dongguan spray technique company.
The sterilization checking method that the present invention also provides above-mentioned container to sterilize checking system automatically, adopt container provided by the invention sterilize automatically checking system carry out disinfection the examination in, the medicinal liquid configuration parameter comprises the liquor strength proportioning, the dose, the water yield and the mixing time that add, wherein the volume ratio of the water yield and dose is 100 in the matched proportion density: 1-500: 1, the total amount that adds entry is 380 liters, and mixing time is 10 seconds-30 minutes.Spray time-delay T1=1-5 second after container sails out of, the spray time T2=1-180 second of mechanical hand, inlet initial distance D1=500 millimeter, spray start distance D 2=300 millimeter.
Below in conjunction with instantiation sterilize the automatically sterilization checking method of checking system of container provided by the invention is described, shown in Fig. 5 operation sequence flow chart, the concrete steps of this sterilization method are as follows:
(1) system boot, respectively control performer in the described system and enter original state, comprise pump, electromagnetic valve among automated dispensing unit 4a and the constant voltage medicinal liquid output unit 5a, the oil pump of oil cylinder 1, electromagnetic valve, the pulley servomotor 91 of spray door frame 1, the coaster servomotor 41 of mechanical hand, the shower nozzle 51 of spray door frame, bottom spray band and the medicinal liquid control electromagnetic valve 5 of mechanical hand shower nozzle 52 all enter original state.
(2) parameter setting: set medicinal liquid preparation parameter, adopt the safe medicinal liquid that wins in this example, the liquor strength proportioning is 100: 1, and the former dose of adding is 3.8L, and the water yield is 380L, and mixing time is 30 seconds.Spray after container sails out of time-delay T1 is 2 seconds, and the spray time T2 of mechanical hand is that 30 seconds, inlet initial distance D1 are that to start distance D 2 be 300 millimeters for 500 millimeters, spray;
(3) start the automated dispensing unit, finish the medicinal liquid configuration; Pump in the unit, electromagnetic valve make up a prescription this moment under computer control unit control, and by the liquor strength dosing, the Jia Shui that set, the time in accordance with regulations stirs and finishes medicinal liquid and dispose; And then, enter step (4);
(4) start constant voltage medicinal liquid output unit, the medicinal liquid rear pump is ready to, and can produce pressure is 2-5MPa high pressure medicinal liquid, and at this moment, system enters holding state;
(5) select the disinfection pattern by the key station man machine interface: comprise manual sterilization pattern and automatic sterilization pattern, automatically the sterilization pattern is divided into the passage sterilization pattern of fixing spray door frame again, sterilization examination pattern in the scanning sterilization pattern of mobile spray door frame and the mechanical hand case;
(5.1) when selecting manual sterilization pattern, by manual operation adjustment spray door frame 1, coaster 2, oil cylinder 15 positions, mechanical hand 11 operations are put in place,, finish sterilization and examination in the container by the switching of control mechanical hand shower nozzle 52, photographic head 14 and Projecting Lamp 13; By manual operation spray door frame 1 entrance side shower nozzle, outlet side shower nozzle and bottom spray with the switching of 7 shower nozzle finish the container external body according to the sterilization that needs selection part, end of operation, container sails out of.Concrete operations as shown in Figure 5, after container sails sterilizing path into, determine that at first case is interior, case is sterilized outward, if sterilization in the case, then manually adjust spray door frame 1, coaster 2, oil cylinder 15 positions, make mechanical hand 11 operations put the manual unlocking body door in place, opening Projecting Lamp 13 and photographic head 14 checks, and pictorial data is transferred to the remote computer inspection unit, at this moment, as goods is arranged in the case, stop the sterilization process, as do not have goods, and starting mechanical hand shower nozzle 52, sterilization finishes, close mechanical hand shower nozzle 52 and Projecting Lamp 13, container sails out of.If case is sterilized, start spray door frame shower nozzle 51, or spray door frame 1 and bottom spray are with 7 shower nozzle 51 outward, the manually switching of control spray door frame 1 entrance side shower nozzle row or outlet side shower nozzle row, finish container according to the sterilization that needs selection part, sterilization finishes, and container sails out of.
(5.2) when the passage sterilization pattern of selecting fixing spray door frame, shown in Fig. 5 continuous 1, at first make spray door frame 1 and mechanical hand 11 reset to initial point separately respectively; Container sails sterilizing path into, when inlet pick off 83,83 ' when detecting container, the entrance side shower nozzle row of unlatching spray door frame 1 and bottom spray the shower nozzle 51 with 7; When outlet pick off 84,84 ' when detecting container, open spray door frame outlet side shower nozzle row, and close spray door frame entrance side shower nozzle row; When the outlet sensor when container leaves, spray time-delay T1 (2 seconds) timing begins, wait to spray time-delay T1 (2 seconds) timing and arrive, close spray door frame outlet side shower nozzle row and bottom spray and be with shower nozzle, finish the sterilization of top, bottom and four sides of container external body.This passage sterilization pattern is applicable to that from normal geographic container container can pass through the big efficient height for the treatment of capacity in batches fast.
(5.3) when selecting to move the scanning sterilization pattern of spray door frame: shown in Fig. 5 continuous 2, at first make spray door frame 1 and mechanical hand 11 reset to initial point separately respectively; Container sails the sterilizing path working region into, and the operation of spray door frame 1 when outlet pick off 84,84 ' detect container, is opened spray door frame outlet side shower nozzle row; When inlet pick off 83,83 ' detect container, open spray door frame entrance side shower nozzle row, and close spray door frame outlet side shower nozzle row; When the inlet sensor when container leaves, spray time-delay T1 (2 seconds) timing begins, and waits to spray time-delay T1 (2 seconds) timing and arrives, and closes spray door frame entrance side shower nozzle row, finish the top and the sterilization of four sides of container external body, spray door frame and mechanical hand reset to initial point separately respectively.This scanning sterilization pattern is applicable to the geographic container from the epidemic situation was severe, in the operation, spray door frame speed can according to need the 0-500 millimeter/minute scope in adjustable, realize evenly spray medicine thorough disinfection.
(5.4) when sterilizing the examination pattern in the selector tool hands case, shown in Fig. 5 continuous 3, at first make spray door frame 1 and mechanical hand 11 reset to initial point separately respectively; Container sails the sterilizing path working region into, manually opens car door, opens photographic head 14 and Projecting Lamp 13 examination box houses, artificially differentiates, and if any goods, does not sterilize, and mechanical hand resets to initial point, and as no goods, container is to be sterilized; At this moment, operation spray door frame 1, carry out location coordinate information scanning by spray door frame back timber distance measuring sensor 81 and 82 pairs of containers of column distance measuring sensor, turn back to the safe distance position then, at this moment, coaster runs to chamber door mouth medium position, and vertical decline of mechanical hand runs to chamber door mouth middle position, by situation in photographic head and the Projecting Lamp examination case, pictorial data is transferred to remote computer inspection unit 3a; Obstacle avoidance sensor 85 detections by mechanical hand have clear, if any barrier, report to the police, manually start mechanical hand and reset to initial point, under the clear situation, mechanical hand advances, until entering casing, after judging, reach the inlet initial distance D1 (500 millimeters) of setting in entering case, mechanical hand detects the distance of chamber interior wall by obstacle avoidance sensor, automatically look for middle location, and the spray that extend out to setting forward starts distance D 2 (300 millimeters), the sterilization of opening manipulator shower nozzle 52 hydrojets, and the spray time T2 of mechanical hand (30 seconds) timing begins, when spray time T2 (30 seconds) timing is arrived, hydrojet stops, and finishes sterilization in the case, and spray door frame and mechanical hand reset to initial point separately respectively.
Mechanical hand has adopted two fluid gimbaled nozzles, because in the two fluid spray technology, compressed air and constant pressure water supply affact simultaneously that atomizing particle can reach below 80 microns on the shower nozzle, to body surface spraying, cloud point aloft evenly suspends, and the moistening and disinfectant solution of disinfecting surface is drip not, its flow is the 7.5L/ branch, jet length can produce a large amount of atomizing particles greater than 10 meters in container, constantly diffusion is in interior.
T2 initial setting time set is 30 seconds, fills the air situation, can adjust hydrojet sterilization setting-up time T2 at any time according to photographic head examination atomizing.
In above various sterilization patterns, described spray door frame resets to initial point, is to reset to the sterilizing path entry position, and it is to reset to its highest desired location in spray door frame left side that mechanical hand resets to initial point; Described working region is to be that 1 meter position is the zone of initial boundary line to the sterilizing path outlet with the horizontal range with the robot end that is positioned at initial point; Described safe distance position is the position of horizontal range 〉=1 meter of container afterbody and robot end.
Claims (10)
1. container checking system of sterilizing automatically, comprise the computer control unit that is provided with key station, automated dispensing unit and constant voltage medicinal liquid output unit, the detecting unit of forming by a plurality of pick offs, the remote computer inspection unit, be located at spray door frame and mechanical hand in the sterilizing path, each pick off of detecting unit is connected with computer control unit, the automated dispensing unit is connected with the shower nozzle of spray door frame and the shower nozzle of mechanical hand through constant voltage medicinal liquid output unit by grug transportation tube, computer control unit is electrically connected the automated dispensing unit by the control performer, constant voltage medicinal liquid output unit, spray door frame and mechanical hand, described spray door frame comprises the door frame body that is made of two heel posts and back timber, some shower nozzles are provided with at interval along the column of door frame body and the medial surface of back timber, each shower nozzle is positioned at the described medial surface vertical plane corresponding with it, and described mechanical hand is fixedly connected on the coaster that is arranged at the back timber move left and right; It is characterized in that pulley being set, along sterilizing path slide rail being set in the column bottom of described door frame body, pulley is connected with computer control unit by the pulley servomotor.
2. the container according to claim 1 checking system of sterilizing automatically, it is characterized in that described mechanical hand also with move up and down drive mechanism and be connected, move up and down drive mechanism and be electrically connected by control performer and computer control unit.
3. the container according to claim 1 and 2 checking system of sterilizing automatically, the shower nozzle that it is characterized in that described mechanical hand is two fluid gimbaled nozzles.
4. the container according to claim 3 checking system of sterilizing automatically, the medial surface that it is characterized in that described door frame body its column of upper edge and back timber is provided with two row shower nozzles arranged side by side, angle between two row shower nozzles is 30 °～60 °, and described shower nozzle is electrically connected by electromagnetic valve and computer control unit.
5. the container according to claim 4 checking system of sterilizing automatically, it is characterized in that in described sterilizing path entry position, bottom spray band is set on the ground between the column of corresponding described door frame body, and the shower nozzle of described bottom spray band is electrically connected with computer control unit by electromagnetic valve and is connected with constant voltage medicinal liquid output unit by grug transportation tube.
6. the container according to claim 5 checking system of sterilizing automatically, it is characterized in that back timber distance measuring sensor and column distance measuring sensor being set respectively at the back timber of described door frame body and the medial surface of a heel post, entrance side and outlet side difference inlet porting pick off and outlet pick off at the spray door frame are provided with obstacle avoidance sensor, photographic head and Projecting Lamp on mechanical hand.
7. one kind is adopted sterilize the automatically sterilization checking method of checking system of container as claimed in claim 6, it is characterized in that comprising the steps:
(1) system boot is respectively controlled performer and is entered original state in the described system;
(2) parameter setting: set medicinal liquid preparation parameter, the spray time-delay T1 after container sails out of, the spray time T2 of mechanical hand, inlet initial distance D1, spray start distance D 2;
(3) start the automated dispensing unit, finish the medicinal liquid configuration;
(4) start constant voltage medicinal liquid output unit, system enters holding state;
(5) select the disinfection pattern by the key station man machine interface: comprise manual sterilization pattern and automatic sterilization pattern, automatically the sterilization pattern is divided into the passage sterilization pattern of fixing spray door frame again, sterilization examination pattern in the scanning sterilization pattern of mobile spray door frame and the mechanical hand case;
(5.1) when selecting manual sterilization pattern,, the mechanical hand operation is put in place,, finish sterilization and examination in the container by the switching of control mechanical hand shower nozzle, photographic head and Projecting Lamp by manual operation adjustment spray door frame, coaster, oil cylinder position; Be with the switching of shower nozzle to finish the sterilization that needs selection part of complying with of container external body by manual operation spray door frame entrance side shower nozzle, outlet side shower nozzle and bottom spray, end of operation, container sails out of;
(5.2) when selecting the passage sterilization pattern of fixing spray door frame, at first make spray door frame and mechanical hand reset to initial point separately respectively; Container sails sterilizing path into, when the inlet sensor arrives container, opens the entrance side shower nozzle row and the bottom spray of spray door frame and is with shower nozzle; When the outlet sensor when the container, open spray door frame outlet side shower nozzle row, and close spray door frame entrance side shower nozzle row; When the outlet sensor when container leaves, spray time-delay T1 timing begins, and treats that spray time-delay T1 timing arrives, and closes spray door frame outlet side shower nozzle row and bottom spray and is with shower nozzle, finishes the sterilization of top, bottom and four sides of container external body;
(5.3) when selecting to move the scanning sterilization pattern of spray door frame: at first make spray door frame and mechanical hand reset to initial point separately respectively; Container sails the sterilizing path working region into, and the operation of spray door frame when the outlet sensor arrives container, is opened spray door frame outlet side shower nozzle row; When the inlet sensor when the container, open spray door frame entrance side shower nozzle row, and close spray door frame outlet side shower nozzle row; When the inlet sensor when container leaves, spray time-delay T1 timing begins, and waits to spray time-delay T1 timing and arrives, and closes spray door frame entrance side shower nozzle row, finish the top and the sterilization of four sides of container external body, spray door frame and mechanical hand reset to initial point separately respectively;
(5.4) when sterilizing the examination pattern in the selector tool hands case, at first make spray door frame and mechanical hand reset to initial point separately respectively; Container sails the sterilizing path working region into, manually opens car door, opens photographic head and Projecting Lamp examination box house, artificially differentiates, and if any goods, does not sterilize, and mechanical hand resets to initial point, and as no goods, container is to be sterilized; At this moment, operation spray door frame, by spray door frame back timber distance measuring sensor and column distance measuring sensor container is carried out location coordinate information scanning, turn back to the safe distance position then, at this moment, coaster runs to chamber door mouth medium position, and vertical decline of mechanical hand runs to chamber door mouth middle position, by situation in photographic head and the Projecting Lamp examination case, pictorial data is transferred to the remote computer inspection unit; Obstacle avoidance sensor detection by mechanical hand has clear, if any barrier, reports to the police, and manually starts mechanical hand and resets to initial point, and under the clear situation, mechanical hand advances, until entering casing; Through judging, after in entering case, reaching the inlet initial distance D1 of setting, mechanical hand is looked for middle location automatically by obstacle avoidance sensor, and the spray that extend out to setting forward starts distance D 2, the sterilization of opening manipulator liquid spouting nozzle, and the spray time T2 timing of mechanical hand begins, when spray time T2 timing is arrived, hydrojet stops, and finishes sterilization in the case, and spray door frame and mechanical hand reset to initial point separately respectively.
8. sterilization checking method according to claim 7 is characterized in that described spray door frame resets to initial point, is to reset to the sterilizing path entry position, and it is to reset to its highest desired location in spray door frame left side that mechanical hand resets to initial point; Described working region is to be that 1 meter position is the zone of initial boundary line to the sterilizing path outlet with the horizontal range with the robot end that is positioned at initial point; Described safe distance position is the position of horizontal range 〉=1 meter of container afterbody and robot end.
9. sterilization checking method according to claim 7 is characterized in that the spray time-delay T1=1-5 second after described container sails out of, and the spray time T2=1-180 second of mechanical hand, inlet initial distance D1=500 millimeter, spray start distance D 2=300 millimeter.
10. sterilization checking method according to claim 7, it is characterized in that described medicinal liquid configuration parameter comprises the liquor strength proportioning, the dose, the water yield and the mixing time that add, wherein the volume ratio of the water yield and dose is 100 in the liquor strength proportioning: 1-500: 1, the total amount that adds entry is 380 liters, and mixing time is 10 seconds-30 minutes.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101261077A CN102274533A (en) | 2011-05-13 | 2011-05-13 | Automatic disinfection and examination system of container, and disinfection and examination method thereof |
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| CN2011101261077A CN102274533A (en) | 2011-05-13 | 2011-05-13 | Automatic disinfection and examination system of container, and disinfection and examination method thereof |
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| CN102274533A true CN102274533A (en) | 2011-12-14 |
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| CN2011101261077A Pending CN102274533A (en) | 2011-05-13 | 2011-05-13 | Automatic disinfection and examination system of container, and disinfection and examination method thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104606694A (en) * | 2015-03-06 | 2015-05-13 | 上海振华重工(集团)股份有限公司 | Movable automatic spray channel disinfection equipment used for containers |
| CN106512040A (en) * | 2016-11-30 | 2017-03-22 | 中国检验检疫科学研究院 | Sterilizing equipment for container on vehicle |
| CN106540285A (en) * | 2016-12-06 | 2017-03-29 | 山东新华医疗器械股份有限公司 | A kind of medical apparatus and instruments maintenance facility |
| CN106620800A (en) * | 2016-11-29 | 2017-05-10 | 王伟华 | Overlay sterilization device for clinical laboratory |
| CN107029258A (en) * | 2017-04-27 | 2017-08-11 | 青岛港国际股份有限公司 | container spray system and method |
| CN107306931A (en) * | 2017-06-26 | 2017-11-03 | 青岛港国际股份有限公司 | A kind of intelligent device for fumigation of automatic dock and Inter-fumigation of Container Cargo control method |
| CN107670081A (en) * | 2017-09-25 | 2018-02-09 | 盐田国际集装箱码头有限公司 | A kind of sluice gate container automatic disinfection system |
| CN109045331A (en) * | 2018-09-06 | 2018-12-21 | 天津口岸卫生科技开发服务有限公司 | A kind of container spraying disinfection system |
| CN111407908A (en) * | 2020-03-27 | 2020-07-14 | 韩昊譞 | Intelligent disinfection system based on man-car integrated type |
| CN114715685A (en) * | 2022-04-01 | 2022-07-08 | 深圳市深水生态环境技术有限公司 | Sludge transfer system and sludge transfer method based on same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107306931B (en) * | 2017-06-26 | 2022-11-22 | 青岛港国际股份有限公司 | Intelligent fumigation device for automatic wharf and container fumigation control method |
| CN107670081A (en) * | 2017-09-25 | 2018-02-09 | 盐田国际集装箱码头有限公司 | A kind of sluice gate container automatic disinfection system |
| CN109045331A (en) * | 2018-09-06 | 2018-12-21 | 天津口岸卫生科技开发服务有限公司 | A kind of container spraying disinfection system |
| CN111407908A (en) * | 2020-03-27 | 2020-07-14 | 韩昊譞 | Intelligent disinfection system based on man-car integrated type |
| CN111407908B (en) * | 2020-03-27 | 2021-04-13 | 韩昊譞 | Intelligent disinfection system based on man-car integrated type |
| CN114715685A (en) * | 2022-04-01 | 2022-07-08 | 深圳市深水生态环境技术有限公司 | Sludge transfer system and sludge transfer method based on same |
| CN116808262A (en) * | 2023-08-30 | 2023-09-29 | 中国海关科学技术研究中心 | Sanitary treatment robot facing customs port |
| CN116808262B (en) * | 2023-08-30 | 2023-11-14 | 中国海关科学技术研究中心 | Sanitary treatment robot facing customs port |
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