Automatic sample loading and unloading device

Abstract

The application discloses a kind of automatic sample loading and unloading device, including rotary tray, mechanical gripper, the rotary tray includes bottom disc, center column, center column is fixed on bottom disc, and its neck is provided with ring groove, bottom disc is provided with multiple sample fixed positions;Mechanical gripper includes base, outer tube, inner tube, cylinder, steel ball, cylinder, outer tube is fixed on base, outer tube, inner tube is respectively provided with main shaft hole, inner tube is inserted into the main shaft hole of outer tube, and is connected with cylinder, center column is inserted into the main shaft hole of inner tube, the main shaft hole of outer tube is provided with inclined part, taper hole is opened in the side wall of inner tube, steel ball is clamped into taper hole, and its both sides respectively expose outside taper hole, the height of taper hole is matched with inclined part, ring groove alignment, to make steel ball through the limiting of inclined part and be clamped into ring groove.The advantages of the present application are: through multiple limiting and positioning structure, accurately position rotary tray, form the clamping structure of automatic rotary tray, provide convenience for the automation of metal sample grinding and polishing.

Description

Technical Field

[0001] This invention relates to an automatic sample loading and unloading device, and more particularly to an automatic loading and unloading device for metallographic examination of metal samples, belonging to the technical field of mechanical grippers. Background Technology

[0002] Metallography refers to the chemical composition of metals or alloys, as well as the physical and chemical states of these components within the alloy. In steel companies, metallographic testing begins with sample preparation, including grinding, polishing, and etching. However, the grinding and polishing machines are primarily operated manually, which is time-consuming, requires dedicated personnel, and is inefficient. Metallographic laboratories need more efficient solutions to reduce manpower requirements; therefore, automated loading and unloading of grinding and polishing machines is a crucial element in achieving high-speed, efficient, and intelligent metallographic laboratories. Summary of the Invention

[0003] Purpose of the invention: In view of the above problems, the purpose of the present invention is to provide an automatic sample loading and unloading device, which can realize batch loading, precise positioning and automated loading and unloading of metal samples.

[0004] Technical Solution: An automatic sample loading and unloading device includes a rotating material tray and mechanical grippers. The rotating material tray includes a base and a central column. The central column is fixed on the base and has an annular groove on its neck. The base has multiple sample fixing positions. The mechanical grippers include a base, an outer cylinder, an inner cylinder, a cylinder, and steel balls. The cylinder and the outer cylinder are fixed on the base. The outer cylinder and the inner cylinder each have a spindle hole. The inner cylinder is inserted into the spindle hole of the outer cylinder and connected to the cylinder. The central column is inserted into the spindle hole of the inner cylinder. The spindle hole of the outer cylinder has a ramp. The side wall of the inner cylinder has a conical hole. The steel balls are inserted into the conical hole, with their two sides protruding outside the conical hole. The height of the conical hole is aligned with the ramp and the annular groove so that the steel balls are inserted into the annular groove by the limiting action of the ramp.

[0005] The principle of this invention is as follows: In use, the metal sample is first fixed at multiple sample fixing positions on the chassis. The surface of the sample to be processed is fixed to the back of the rotating material disc to prevent interference between the grinding and polishing machine and the central column during grinding and polishing. Then, the central column is inserted into the spindle hole of the inner cylinder by the mechanical grippers, completing the initial positioning. After the central column is fully inserted, the cylinder retracts, driving the inner cylinder to move towards the cylinder along the spindle hole of the outer cylinder. The steel balls are limited by the ramp and gradually pushed out towards the spindle hole of the inner cylinder, locking into the annular groove of the central column, thereby locking the rotating material disc.

[0006] Furthermore, the rotating material tray is provided with a positioning pin hole, and the mechanical gripper also includes a bearing, a drive mechanism, and a positioning pin. The outer cylinder is fixed to the base via the bearing. The fixed end of the drive mechanism is connected to the base, and the output end is connected to the outer cylinder to drive the outer cylinder to rotate. The outer cylinder is also provided with a mounting vertical hole, and the positioning pin is fixed in the mounting vertical hole by an elastic limiting mechanism. The positioning pin and the positioning pin hole are aligned, and the elastic limiting mechanism pops out the positioning pin and engages it in the positioning pin hole to form a rotational limit. In this structure, after the central column is inserted into the spindle hole of the inner cylinder, the drive mechanism drives the outer cylinder to rotate. After the positioning pin rotates to the position corresponding to the positioning pin hole, the elastic limiting mechanism pops out the positioning pin, causing it to engage in the positioning pin hole to form a rotational limit.

[0007] Furthermore, the elastic limiting mechanism includes a spring and a screw. The positioning pin is provided with a retaining ring and has a horizontal mounting hole. The screw is inserted laterally into the vertical mounting hole and passes through the horizontal mounting hole to form a mechanical limit on the positioning pin. The vertical mounting hole is a countersunk hole, and the spring is installed in the countersunk hole and compressed by the retaining ring. In this structure, the positioning pin is limited by the screw, and the gap between the screw and the horizontal mounting hole constitutes the vertical displacement distance of the positioning pin. In the initial state, the spring is compressed, pushing the positioning pin upward to its limit position. After the mechanical gripper receives the rotating tray, the positioning pin is first squeezed back by the base. When the outer cylinder rotates to the position corresponding to the positioning pin and the positioning pin hole, the positioning pin pops out and inserts into the positioning pin hole, thereby forming a rotational limit.

[0008] Furthermore, the mechanical gripper also includes a positioning ring and a first positioning sensor. The positioning ring is fixed to the positioning pin, and the first positioning sensor is fixed to the base and faces the positioning ring. In this structure, when the positioning pin is pressed by the chassis and is in a retracted state, the positioning ring and the first positioning sensor are aligned. When the positioning pin is engaged in the positioning pin hole, the positioning ring moves accordingly. If the first positioning sensor cannot detect the positioning ring, it determines that the positioning pin is engaged in the positioning pin hole, thus forming the positioning detection of the outer cylinder rotation.

[0009] Furthermore, the drive mechanism includes a motor, a small pulley, a conveyor belt, and a large pulley. The motor is fixed on the base, the small pulley is installed at the output end of the motor, the large pulley is sleeved on the outer cylinder, and the conveyor belt is wound around the small pulley and the large pulley to form a rotation.

[0010] Furthermore, the mechanical gripper also includes a second positioning sensor, which is fixed on the base and faces the rotating material tray to detect whether there is a rotating material tray on the mechanical gripper.

[0011] Furthermore, multiple positioning pin holes are evenly distributed along the circumference of the central column on the chassis, and the mounting vertical holes, positioning pins, and elastic limiting mechanisms correspond one-to-one with the positioning pin holes to obtain a more stable rotation limiting structure.

[0012] Furthermore, multiple conical holes are evenly distributed along the circumference of the inner cylinder, and the steel balls correspond one-to-one with the conical holes to more stably hold the central column in place.

[0013] Beneficial effects: Compared with the prior art, the advantages of this invention are: through multiple limiting and positioning structures, the rotating material tray is accurately positioned, forming an automated rotating material tray clamping structure, which facilitates the automated grinding and polishing of metal samples. At the same time, the dual self-detection system can better sense the clamping process and improve the degree of automation. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the rotating tray of the present invention;

[0015] Figure 2 This is a three-dimensional structural diagram of the mechanical gripper of the present invention;

[0016] Figure 3 for Figure 2 A sectional view;

[0017] Figure 4 for Figure 3 An enlarged view of position A in the middle;

[0018] Figure 5 This is a cross-sectional view of the present invention during clamping;

[0019] Figure 6 for Figure 5 An enlarged view of position B in the middle. Detailed Implementation

[0020] The present invention will be further illustrated below with reference to the accompanying drawings and specific embodiments. These embodiments are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] An automatic sample loading and unloading device, comprising as shown in the attached figure Figure 1 , 2 As shown, there is a rotating material tray 1 and a mechanical gripper 2.

[0022] Rotary tray 1 as attached Figure 1As shown, the system includes a base 1a and a central column 1b. The central column 1b is fixed to the base 1a, and its neck has an annular groove 1c. The base 1a has multiple sample fixing positions 1d and multiple positioning pin holes 1e, which are evenly distributed around the central column 1b on the base 1a. The sample fixing positions 1d are used to fix the metal sample. In this embodiment, the sample fixing positions 1d are rectangular frames, and threaded holes communicating with the rectangular frames are opened on the side wall of the base 1a. After the metal sample is placed into the rectangular frame, screws are screwed into the threaded holes to press the sample. At the same time, during the fixing process, the surface of the sample to be processed can be fixed to the back of the base 1a, thereby preventing the central column 1b from interfering with the sample grinding and polishing process.

[0023] Mechanical gripper 2 as attached Figures 2-4 As shown, it includes a base 2a, an outer cylinder 2b, an inner cylinder 2c, a cylinder 2d, a steel ball 2e, a bearing 2f, a drive mechanism 2g, a positioning pin 2h, an elastic limit mechanism 2i, a positioning ring 2j, a first positioning sensor 2k, and a second positioning sensor 2m.

[0024] In this embodiment, the mechanical gripper 2 adopts a dual positioning method of engagement positioning and pin positioning, wherein the engagement positioning structure is as follows:

[0025] As attached Figures 2-4 As shown, cylinder 2d and outer cylinder 2b are fixed on base 2a. Main shaft holes are respectively opened on outer cylinder 2b and inner cylinder 2c. Inner cylinder 2c is inserted into the main shaft hole of outer cylinder 2b and connected to cylinder 2d. Central column 1b is inserted into the main shaft hole of inner cylinder 2c. A ramp 2b-1 is provided on the main shaft hole of outer cylinder 2b. A conical hole 2c-1 is opened on the side wall of inner cylinder 2c. Steel ball 2e is inserted into the conical hole 2c-1, with its two sides protruding outside the conical hole 2c-1. The height of the conical hole 2c-1 is aligned with the ramp 2b-1 and annular groove 1c, so that steel ball 2e is inserted into annular groove 1c through the limiting action of ramp 2b-1. In use, central column 1b is inserted into the main shaft hole of inner cylinder 2c, cylinder 2d retracts, causing inner cylinder 2c to retract, and steel ball 2e moves downwards, as shown in the attached diagram. Figure 5 , 6 As shown, when it moves to the position of the ramp 2b-1, it is squeezed and pressed along the conical hole 2c-1 towards the inner cylinder 2c, and gradually pressed into the annular groove 1c of the central column 1b, thereby locking the central column and forming a locking position. At the same time, in this embodiment, in order to increase the stability of the locking position, multiple conical holes 2c-1 are evenly distributed along the circumference of the inner cylinder 2c, and steel balls 2e correspond one-to-one with the conical holes 2c-1, and the central column is locked by multiple steel balls 2e.

[0026] The pin positioning structure in this embodiment is as follows:

[0027] As attached Figure 3As shown, the outer cylinder 2b is fixed to the base 2a via bearing 2f. The fixed end of the drive mechanism 2g is connected to the base 2a, and the output end is connected to the outer cylinder 2b to drive the outer cylinder 2b to rotate, as shown in the attached diagram. Figure 4 As shown, the outer cylinder 2b also has a mounting vertical hole 2b-2. The positioning pin 2h is fixed in the mounting vertical hole 2b-2 by an elastic limiting mechanism 2i. The positioning pin 2h and the positioning pin hole 1e are aligned. The elastic limiting mechanism 2i pops out the positioning pin 2h and engages it with the positioning pin hole 1e to form a rotational limit. In this embodiment, as shown in the attached... Figure 3 As shown, the drive mechanism 2g specifically includes a motor 2g-1, a small pulley 2g-2, a conveyor belt 2g-3, and a large pulley 2g-4. The motor 2g-1 is fixed on the base 2a, the small pulley 2g-2 is installed at the output end of the motor 2g-1, and the large pulley 2g-4 is sleeved on the outer cylinder 2b. The conveyor belt 2g-3 rotates around the small pulley 2g-2 and the large pulley 2g-4. (See attached diagram) Figure 4 As shown, the elastic limiting mechanism 2i specifically includes a spring 2i-1 and a screw 2i-2. The positioning pin 2h is provided with a retaining ring 2h-1 and has a horizontal mounting hole 2h-2. The screw 2i-2 is inserted horizontally into the vertical mounting hole 2b-2 and passes through the horizontal mounting hole 2h-2 to form a mechanical limit for the positioning pin 2h. The vertical mounting hole 2b-2 is a countersunk hole. The spring 2i-1 is installed in the countersunk hole and is limited and compressed by the retaining ring 2h-1. In use, after the central column 1b is inserted into the main shaft hole of the inner cylinder 2c, the positioning pin 2h is retracted by the chassis 1a. The motor 2g-1 drives the outer cylinder to rotate through the small pulley 2g-2, the conveyor belt 2g-3, and the large pulley 2g-4, causing the positioning pin 2h to rotate to the position corresponding to the positioning pin hole 1e. The spring 2i-1 pops the positioning pin 2h out and inserts it into the positioning pin hole 1e. The gap between the screw 2i-2 and the mounting horizontal hole 2h-2 constitutes the distance at which the positioning pin 2h can pop out, thus forming pin positioning. At the same time, in this embodiment, to further increase the reliability of pin positioning, the mounting vertical hole 2b-2, the positioning pin 2h, the elastic limiting mechanism 2i, and the positioning pin hole 1e are in one-to-one correspondence, thereby performing multi-pin positioning.

[0028] In addition, this embodiment also includes a dual self-detection structure:

[0029] As attached Figure 3 As shown, the positioning ring 2j is fixed to the positioning pin 2h. In this embodiment, the positioning ring 2j connects all the positioning pins 2h and is located between the inner cylinder and the cylinder. The first positioning sensor 2k is fixed to the base 2a and faces the positioning ring 2j. When the positioning pin 2h is not inserted into the positioning pin hole 1e, the first positioning sensor 2k can detect the positioning ring 2j. When the positioning pin 2h is inserted into the positioning pin hole 1e, the first positioning sensor 2k cannot detect the positioning ring 2j, thus determining that the insertion is complete. (See attached diagram) Figure 2As shown, the second positioning sensor 2m is fixed on the base 2a and faces the rotating material tray 1 to detect whether the mechanical gripper 2 has clamped the rotating material tray 1.

[0030] When using the automatic sample loading and unloading device of this embodiment, as shown in the attached... Figure 6 As shown, the central column 1b of the rotating material tray 1 is first received through the spindle hole of the inner cylinder 2c. After the central column is fully inserted, the motor 2g-1 starts, and the positioning pin 2h is positioned with the positioning pin hole 1e through the pin positioning structure, and self-detection is performed by the first positioning sensor 2k. Then, the cylinder 2d retracts, fixing the central column 1b through the locking positioning structure, forming the final precise positioning clamping. At the same time, the rotating material tray 1 is constantly detected by the second positioning sensor 2m throughout the clamping process, improving the level of automation.

Claims

1. An automatic sample loading and unloading device, characterized in that: The device includes a rotating material tray (1) and mechanical grippers (2). The rotating material tray (1) includes a base (1a) and a central column (1b). The central column (1b) is fixed on the base (1a) and has an annular groove (1c) at its neck. The base (1a) has multiple sample fixing positions (1d). The mechanical grippers (2) include a base (2a), an outer cylinder (2b), an inner cylinder (2c), a cylinder (2d), and steel balls (2e). The cylinder (2d) and the outer cylinder (2b) are fixed on the base (2a). The outer cylinder (2b) and the inner cylinder (2c) are respectively provided with spindle holes. The inner cylinder (2c) is inserted into the outer cylinder (2b). The main shaft hole of the outer cylinder (2b) is connected to the cylinder (2d). The central column (1b) is inserted into the main shaft hole of the inner cylinder (2c). The main shaft hole of the outer cylinder (2b) is provided with a ramp (2b-1). The inner cylinder (2c) has a conical hole (2c-1) on its side wall. The steel ball (2e) is inserted into the conical hole (2c-1) and its two sides are exposed outside the conical hole (2c-1). The height of the conical hole (2c-1) is aligned with the ramp (2b-1) and the annular groove (1c) so that the steel ball (2e) is inserted into the annular groove (1c) through the limiting of the ramp (2b-1). The rotating material plate (1) is also provided with The mechanical gripper (2) includes a positioning pin hole (1e), a bearing (2f), a drive mechanism (2g), and a positioning pin (2h). The outer cylinder (2b) is fixed to the base (2a) via the bearing (2f). The fixed end of the drive mechanism (2g) is connected to the base (2a), and the output end is connected to the outer cylinder (2b) to drive the outer cylinder (2b) to rotate. The outer cylinder (2b) also has a mounting vertical hole (2b-2). The positioning pin (2h) is fixed in the mounting vertical hole (2b-2) via an elastic limiting mechanism (2i). The positioning pin (2h) and the positioning pin hole (1e) are aligned. The mechanism (2i) pops out the positioning pin (2h) and engages it in the positioning pin hole (1e) to form a rotation limit; the elastic limiting mechanism (2i) includes a spring (2i-1) and a screw (2i-2). The positioning pin (2h) is provided with a retaining ring (2h-1) and has an installation horizontal hole (2h-2). The screw (2i-2) is inserted laterally into the installation vertical hole (2b-2) and passes through the installation horizontal hole (2h-2) to form a mechanical limit for the positioning pin (2h); the installation vertical hole (2b-2) is a countersunk hole. The spring (2i-1) is installed in the countersunk hole and is limited and compressed by the retaining ring (2h-1);The drive mechanism (2g) includes a motor (2g-1), a small pulley (2g-2), a conveyor belt (2g-3), and a large pulley (2g-4). The motor (2g-1) is fixed on the base (2a). The small pulley (2g-2) is installed at the output end of the motor (2g-1). The large pulley (2g-4) is sleeved on the outer cylinder (2b). The conveyor belt (2g-3) rotates around the small pulley (2g-2) and the large pulley (2g-4).

2. The automatic sample loading and unloading device according to claim 1, characterized in that: The mechanical gripper (2) also includes a positioning ring (2j) and a first positioning sensor (2k). The positioning ring (2j) is fixed on the positioning pin (2h), and the first positioning sensor (2k) is fixed on the base (2a) and faces the positioning ring (2j).

3. The automatic sample loading and unloading device according to claim 1, characterized in that: The mechanical gripper also includes a second positioning sensor (2m), which is fixed on the base (2a) and faces the rotating tray (1).

4. The automatic sample loading and unloading device according to claim 1, characterized in that: The positioning pin holes (1e) are evenly distributed around the central column (1b) on the chassis (1a). The mounting vertical holes (2b-2), positioning pins (2h), and elastic limiting mechanisms (2i) correspond one-to-one with the positioning pin holes (1e).

5. The automatic sample loading and unloading device according to claim 1, characterized in that: Multiple conical holes (2c-1) are evenly distributed along the circumference of the inner cylinder (2c), and the steel balls (2e) correspond one-to-one with the conical holes (2c-1).

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