Coal rock powder coal light sheet grinding and polishing integrated machine and grinding and polishing process

Abstract

The application provides a grinding and polishing integrated machine for coal rock powder coal light slices and a grinding and polishing process. The machine comprises a device table body, a mechanical arm, a grinding station and a polishing station which are installed on the top surface of the device table body. A water spray faucet is installed on the grinding station, and a polishing liquid water spray faucet is installed on the polishing station. The mechanical arm comprises a stepping motor, a central control rotating platform driven by the stepping motor, a ball screw assembly, a small arm rotating servo motor connected to the ball screw assembly, a crank slider mechanism and a three-jaw cylinder. The three-jaw cylinder is used for grabbing and polishing the sample in the sample placing sleeve. The integrated machine can automatically grab, move, grind, polish, clean and return the coal rock powder coal light slices to the original position without manual intervention, and realizes the full-automatic grinding and polishing of the coal rock powder coal light slices.

Description

Technical Field

[0001] This invention belongs to the field of coal and rock technology, and relates to the preparation of coal and rock polished sheets, specifically to an integrated grinding and polishing machine and grinding and polishing process for coal and rock pulverized coal polished sheets. Background Technology

[0002] Coal petrology is a long-standing and dynamic discipline. Coal petrographic analysis is widely used in coal resource exploration, coal classification, coal processing and utilization, as well as oil and gas exploration, monitoring of incoming coal quality in coking plants, and prediction of hydrothermal metal deposits. It is a fundamental and significant field. Preparing qualified pulverized coal sections is essential for conducting microscopic coal petrographic analysis.

[0003] For a long time, the preparation of coal and petrification smooth sections has relied on manual grinding and polishing. Manual grinding and polishing places high demands on the experience and physical strength of operators, resulting in low efficiency, a large workload, and unreliable quality of the smooth sections. Substandard smooth sections often adversely affect subsequent coal and petrification analysis results, thus hindering the promotion and application of coal petrology methods. Developing automated grinding and polishing equipment for coal and petrification smooth sections is an important technical approach to achieving rapid and high-quality preparation, and represents the future trend in coal and petrification smooth section preparation. This equipment can reduce the labor intensity of operators and improve the quality of the smooth sections.

[0004] The current field of polishing and grinding coal pulverized coal mainly faces the following three problems: (A) It is impossible to achieve fully automated polishing and grinding of coal pulverized ... Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the purpose of this invention is to provide an integrated grinding and polishing machine and grinding and polishing process for coal and rock pulverized coal, so as to solve the technical problems of complex equipment and process steps in the existing technology.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A grinding and polishing machine for coal and rock pulverized coal includes a machine platform, on the top surface of which a robotic arm, a grinding station, and a polishing station are installed; a water spray nozzle is installed on the grinding station, and a water spray nozzle for spraying polishing liquid is installed on the polishing station.

[0008] The robotic arm includes a stepper motor, which drives the central control rotary platform to rotate. The central control rotary platform is connected to the forearm rotation servo motor through a ball screw assembly. The forearm rotation servo motor drives the crank-slider mechanism to control the three-jaw cylinder to grasp and polish the sample placed in the sample placement sleeve.

[0009] The side wall of the equipment table body is provided with an air inlet, an equipment power supply terminal, a water inlet, a polishing liquid inlet, a dishwashing liquid inlet and a drain outlet; the outer end of the air inlet is connected with an air compressor, and the inner and outer ends of the air inlet are connected with a mechanical arm and a polishing station respectively; the equipment power supply terminal supplies power for the polishing and grinding all-in-one machine; the outer ends of the water inlet, the polishing liquid inlet, the dishwashing liquid inlet and the drain outlet are connected with an external water tank through hoses respectively, and the external water tank is hung on the side wall of the equipment table body; the inner end of the water inlet is connected with a water spray faucet and a polishing liquid spray faucet respectively; the inner end of the polishing liquid inlet is connected with the polishing liquid spray faucet; the inner end of the dishwashing liquid inlet is connected with the polishing liquid spray faucet; and the inner end of the drain outlet is connected with a grinding station and a polishing station respectively.

[0010] The application also has the following technical features:

[0011] The top surface of the equipment table body is also provided with an ultrasonic cleaning station and a sample presetting station.

[0012] The front surface of the equipment table body is also provided with a touch screen with a key, and the touch screen is connected with an electric control system.

[0013] The touch screen is used for realizing human-computer interaction, and the touch screen can also observe the current running state of the equipment running process.

[0014] The electric control system is used for setting and automatically controlling various parameters of the polishing and grinding all-in-one machine; the various parameters of the polishing and grinding all-in-one machine include the polishing and grinding air pressure of the three sleeves of the three-jaw air cylinder, the polishing and grinding speed, the polishing and grinding gripper speed and the polishing and grinding number of turns.

[0015] The electric control system is divided into a motion control part and a switch acquisition part; the motion control part is used for collecting and controlling the motion parts of the mechanical arm, the grinding station and the polishing station; and the switch acquisition part includes a logic controller information processing module, an information acquisition module and an action command sending module, as well as the wiring and power supply and distribution parts of each air path and water path.

[0016] The other side wall of the equipment table body is also provided with an emergency stop button, and the emergency stop button is connected with the electric control system.

[0017] The application also protects a polishing process for coal rock and powder coal optical slices, and the process adopts the polishing and grinding all-in-one machine for coal rock and powder coal optical slices.

[0018] The process includes the following steps:

[0019] Step one, the sample is prepared according to the method of GB / T 16773-2008 coal rock powder coal light sheet; using hot glue method or cold glue method to prepare sample, grinding material is directly pasted on grinding station; polishing material is directly pasted on polishing station.

[0020] Step two, start the grinding and polishing integrated machine of coal rock powder coal light sheet, open the air compressor, and compressed gas provides compressed gas for the grinding and polishing integrated machine through the air inlet.

[0021] Step three, the sample is placed in the sample preset station in sequence, corresponding to the order of the sample placement sleeve.

[0022] Step four, the position of the mechanical arm is calibrated.

[0023] Step five, control the stepping motor to rotate, drive the central control rotating platform to make the mechanical arm move above the sample preset station, the mechanical arm is lowered to the corresponding position of the sample along the Z axis through the ball screw assembly, the air pressure electromagnetic valve is controlled to start, the sample is automatically grabbed by the three-jaw air cylinder, and the mechanical arm is lifted to the initial height along the Z axis.

[0024] Step six, control the stepping motor to rotate, drive the central control rotating platform to make the mechanical arm move to the grinding station, loosen the gripper of the three-jaw air cylinder by the ball screw assembly along the Z axis to 5mm away from the grinding station, control the air pressure electromagnetic valve to start the air pressure control, and the sample is grabbed again according to the set grinding air pressure parameter.

[0025] Step seven, control the spray electromagnetic valve to spray water through the water spray nozzle for 3 seconds, control the grinding station electromagnetic valve to start the grinding station, control the crank slider mechanism by the small arm rotating servo motor to make the three-jaw air cylinder rotate counterclockwise in the reverse direction along the grinding station, and control the spray electromagnetic valve to automatically spray water through the water spray nozzle for 2 seconds every 10-15 seconds.

[0026] Step eight, when the set grinding circle number is reached, control the grinding station electromagnetic valve to stop working, and control the mechanical arm to be lifted along the Z axis and rotate a circle through the small arm to the initial position.

[0027] Step nine, control the stepping motor to rotate, drive the central control rotating platform to make the mechanical arm move above the polishing station, loosen the gripper by the ball screw assembly along the Z axis to 5mm away from the polishing station, control the air pressure electromagnetic valve to start the air pressure control, and the sample is grabbed again according to the set polishing air pressure parameter.

[0028] Step ten, control the spray electromagnetic valve to spray polishing liquid through the polishing liquid spray nozzle for 3 seconds, control the polishing station electromagnetic valve to start the polishing station, control the crank slider mechanism by the small arm rotating servo motor to make the three-jaw air cylinder rotate counterclockwise along the polishing station, and control the spray electromagnetic valve to automatically spray polishing liquid through the polishing liquid spray nozzle for 2 seconds every 10-15 seconds.

[0029] Step eleven, when reaching the set polishing circle number, the polishing station electromagnetic valve stops working, the mechanical arm is lifted along the Z axis and rotates a circle through the small arm to the initial position.

[0030] Step twelve, the step motor is controlled to rotate, the mechanical arm is moved to the ultrasonic cleaning position through the central control rotating platform, the mechanical arm is lowered along the Z axis to 10mm above the bottom of the ultrasonic cleaning position through the ball screw assembly, the air claw is loosened, ultrasonic cleaning is performed for 5-15 seconds, the mechanical arm is lifted along the Z axis and rotated to above the sample preposition station through the central control rotating platform, the sample is placed to the initial position along the Z axis, and the automatic grinding and polishing is completed.

[0031] In step one, the sample height is 9-13mm; the abrasive material is selected from the back adhesive sandpaper with a particle size of 600-2000 mesh; and the polishing material is selected from the polishing cloth with back adhesive of cashmere or nylon.

[0032] In step two, the grinding and polishing air pressure is 0.040-0.150MPa, the grinding speed is 600-1500r / min, the polishing speed is 1200-2000r / min, the grinding and polishing gripper speed is 1-10r / min, and the grinding and polishing circle number is 1-10.

[0033] In step three, the automatic grinding and polishing of three groups of nine samples can be simultaneously performed.

[0034] When the sample is grabbed by the three-claw air cylinder, the flatness adjustment process is performed, the grabbing method of first grabbing, then loosening and finally grabbing again is adopted, and the flatness adjustment process specifically comprises the following steps.

[0035] Step 1, the three-claw air cylinder first grabs the optical film sample, the step motor is controlled to rotate, the mechanical arm is moved to the grinding station or the polishing station through the central control rotating platform, at this time, the flatness between the optical film sample and the grinding station or the polishing station is not adjusted, and the high-pressure gas is not provided to the gas inlet.

[0036] Step 2, the three-claw air cylinder loosens the optical film sample again, the optical film sample is freely placed on the grinding station or the polishing station, the gas inlet is driven to open at the same time, the high-pressure gas is provided to the optical film sample, and the optical film sample is adjusted to be flat with the grinding station or the polishing station under the double action of the high-pressure gas and gravity.

[0037] Step 3, the three-claw air cylinder finally grabs the optical film sample again, and the subsequent grinding and polishing process is performed.

[0038] Compared with the prior art, the present application has the following technical effects:

[0039] (I) The all-in-one machine can automatically grab, move, grind, polish, clean and return the coal rock powder coal optical slice to the original position without manual intervention, and realize the full-automatic grinding and polishing of the coal rock powder coal optical slice.

[0040] (II) The all-in-one machine coal rock powder coal optical slice automatic grinding and polishing equipment creatively adopts a grinding and polishing process to replace the traditional grinding and polishing process, achieves the grinding and polishing effect required by the Coal Rock Analysis Sample Preparation Method (GBT16773-2008), and greatly simplifies the grinding and polishing steps.

[0041] (III) The all-in-one machine solves the problem that the grinding and polishing parameters such as grinding and polishing number and grinding and polishing pressure cannot be quantified, and realizes the quantification of the grinding and polishing parameters.

[0042] (IV) The process of the application can accurately control the grinding and polishing parameters of lignite, bituminous coal, anthracite and coke optical slices by simulating manual grinding and polishing, adopts a grinding and polishing process, and realizes the full-automatic grinding and polishing of the coal rock optical slice.

[0043] (V) The process of the application reduces the operation difficulty, is easy to operate, reduces the dependence on professionalism and experience, reduces the labor intensity and personnel demand, and reduces the labor cost of enterprises. BRIEF DESCRIPTION OF DRAWINGS

[0044] Figure 1 It is a front view structural schematic diagram of the grinding and polishing all-in-one machine for coal rock powder coal optical slice.

[0045] Figure 2 It is a top view structural schematic diagram of the grinding and polishing all-in-one machine for coal rock powder coal optical slice.

[0046] Figure 3 It is a front view structural schematic diagram of the mechanical arm.

[0047] Figure 4 It is a side view structural schematic diagram of the mechanical arm.

[0048] Figure 5 It is a side view structural schematic diagram of the equipment table body.

[0049] Figure 6 It is a compressed air path schematic diagram of the application.

[0050] Figure 7 It is a water path control schematic diagram of the application.

[0051] Figure 8 It is a control framework schematic diagram of the electric control system.

[0052] Figure 9 It is a flowchart of the flatness adjustment process.

[0053] Figure 10(a) is a macroscopic polishing effect diagram without performing flatness adjustment process.

[0054] Figure 10(b) is a macroscopic polishing effect diagram after performing flatness adjustment process.

[0055] Figure 11(a) is a microscopic polishing effect diagram without performing flatness adjustment process.

[0056] Figure 11(b) is a microscopic polishing effect diagram after performing flatness adjustment process.

[0057] The meanings of the various reference numerals in the drawings are as follows: 1 - equipment table body, 2 - mechanical arm, 3 - grinding station, 4 - polishing station, 5 - water spray faucet, 6 - polishing liquid spray faucet, 7 - air inlet, 8 - equipment power supply terminal, 9 - water inlet, 10 - polishing liquid inlet, 11 - dishwashing liquid inlet, 12 - water outlet, 13 - externally mounted water tank, 14 - ultrasonic cleaning station, 15 - sample presetting station, 16 - touch screen, 17 - button, 18 - electric control system, 19 - emergency stop button, 20 - hook.

[0058] 201 - stepper motor, 202 - central control rotary platform, 203 - ball screw assembly, 204 - small arm rotary servo motor, 205 - crank slider mechanism, 206 - three-jaw air cylinder, 207 - sample placement sleeve.

[0059] The specific content of the present application is further explained and described in detail below in conjunction with embodiments. DETAILED DESCRIPTION

[0060] It should be noted that all parts, mechanisms, devices and apparatuses in the present application, if not specifically stated, all use parts, mechanisms, devices and apparatuses known in the prior art.

[0061] There is no automatic coal powder slide polishing machine in the prior art, only a semi-automatic polishing machine, the polishing process needs human intervention, the polishing effect is quite different, and the technical problem of automatic grabbing, moving, grinding, polishing, cleaning and returning to the original position of the coal rock coal powder slide under the condition of no human intervention has not been effectively solved. The present application solves the above problems.

[0062] There are many polishing processes in the prior art, and the four-process preparation method of coal powder slide recommended in the national standard "Coal Rock Analysis Sample Preparation Method" (GBT16773-2008) is mostly used, that is, the grinding process of coarse grinding, fine grinding, fine polishing and fine polishing, while the coal rock coal powder slide automatic polishing equipment of the present application creatively uses a grinding and polishing process instead of the traditional grinding and polishing process. After a large number of experiments, the equipment using the grinding and polishing process can perfectly replace the traditional grinding and polishing process to achieve the grinding and polishing effect required by the "Coal Rock Analysis Sample Preparation Method" (GBT16773-2008).

[0063] The existing grinding and polishing mainly depends on the experience of the grinder to determine the grinding and polishing parameters such as the grinding and polishing number and the grinding and polishing pressure, and the grinding and polishing parameters cannot be quantified, and the present application solves the problem that the grinding and polishing parameters cannot be quantified through a large number of experiments.

[0064] The following gives specific embodiments of the present application, and it should be noted that the present application is not limited to the following specific embodiments, and any equivalent transformation made on the basis of the technical solutions of the present application falls within the protection scope of the present application.

[0065] Embodiment 1:

[0066] The present embodiment gives a grinding and polishing all-in-one machine for coal rock powder coal optical slices, as shown in Figure 1 and Figure 2 , which comprises a device table body 1, a mechanical arm 2, a grinding station 3 and a polishing station 4 are installed on the top surface of the device table body 1; a water spray faucet 5 is installed on the grinding station 3, and a polishing liquid spray faucet 6 is installed on the polishing station 4.

[0067] As shown in Figure 3 and Figure 4 , the mechanical arm 2 comprises a stepping motor 201, the stepping motor 201 drives a central control rotating platform 202 to rotate, the central control rotating platform 202 is connected with a small arm rotating servo motor 204 through a ball screw assembly 203, the small arm rotating servo motor 204 drives a crank slider mechanism 205 to control a three-jaw cylinder 206 to grab and grind and polish the sample in a sample placing sleeve 207.

[0068] As shown in Figure 5 , air inlets 7, device power supply terminals 8, water inlets 9, polishing liquid inlets 10, detergent inlets 11 and drain outlets 12 are arranged on the side wall of the device table body 1.

[0069] As shown in Figure 6 , the outer end of the air inlet 7 is connected with an air compressor, and the inner and outer ends of the air inlet 7 are connected with the mechanical arm 2 and the polishing station 4 respectively; the device power supply terminals 8 supply power to the grinding and polishing all-in-one machine.

[0070] As shown in Figure 7 , the outer end of the water inlet 9, the outer end of the polishing liquid inlet 10, the outer end of the detergent inlet 11 and the outer end of the drain outlet 12 are respectively connected with an external water tank 13 through a hose, the external water tank 13 is hung on the side wall of the device table body 1; the inner end of the water inlet 9 is respectively connected with the water spray faucet 5 and the polishing liquid spray faucet 6; the inner end of the polishing liquid inlet 10 is connected with the polishing liquid spray faucet 6; the inner end of the detergent inlet 11 is connected with the polishing liquid spray faucet 6; and the inner end of the drain outlet 12 is respectively connected with the grinding station 3 and the polishing station 4.

[0071] In the embodiment, the equipment table body 1 is supported by a bottom support frame and a shell structure as a support part of the whole equipment platform, including an internal welded frame, an outer shell, a foot pad and a mounting plane on the frame.

[0072] In the embodiment, the external water tank 13 is hung on the hooks 20 on the side wall of the equipment table body 1.

[0073] In the embodiment, the central control rotary table 202 includes a toothed cross-roller bearing and a fixed seat, and is used for controlling the up-down movement of the horizontal arm.

[0074] In the embodiment, the crank slider mechanism 205 is used for the cooperation of the whole horizontal plane rotation and the end mechanical arm rotation to realize the accurate positioning of the end position. Preferably, the crank slider mechanism 205 adopts a commonly known crank slider mechanism.

[0075] In the embodiment, the three-jaw gas cylinder 206 is used for the active flexible control of three gas cylinders of the flexible parallel end effector acting on the gas medium.

[0076] In the embodiment, the sample placing sleeve 207 contains a floating mechanism of a platform universal bolt cooperating with a spring, and cooperates with the three-jaw gas cylinder 206 to realize the sample grabbing and the flexible polishing and grinding of the human hand.

[0077] As a preferred scheme of the embodiment, the top surface of the equipment table body 1 is further provided with an ultrasonic cleaning station 14 and a sample pre-setting station 15.

[0078] As a preferred scheme of the embodiment, the front surface of the equipment table body 1 is further provided with a touch screen 16 with a button 17, and the touch screen 16 is connected with an electric control system 18.

[0079] As a preferred scheme of the embodiment, the touch screen 16 is used for realizing the human-computer interaction, and the touch screen 16 can also observe the current running state of the equipment running process.

[0080] As a preferred scheme of the embodiment, as shown in Figure 8 The electric control system 18 is used for setting and automatically controlling various parameters of the polishing and grinding integrated machine, and the various parameters of the polishing and grinding integrated machine include the polishing and grinding gas pressure, the polishing and grinding speed, the polishing and grinding gripper speed and the polishing and grinding number of the three sleeves of the three-jaw gas cylinder.

[0081] Further preferably, as shown in Figure 8As shown, the electric control system 18 is divided into a motion control part and a switch acquisition part; the motion control part is used for motion acquisition and control of the mechanical arm 2, the grinding station 3 and the polishing station 4; the switch acquisition part includes a logic controller information processing module, an information acquisition module and an action command sending module, as well as wiring of each gas circuit and water circuit and power supply and distribution parts.

[0082] As a preferred scheme of the present embodiment, the other side wall of the equipment table body 1 is further provided with an emergency stop button 19 connected with the electric control system 18.

[0083] In the present embodiment, each motion motor of the motion control part and the logic control of the switch acquisition part are communicated and controlled through an Ethernet to realize information transmission. The emergency stop button can realize one-key emergency stop protection of each motion mechanism, and the touch screen can realize process selection.

[0084] In the present embodiment, the end manipulator, the mechanical arm, the grinding three-station, the polishing station and the mechanical arm Z-axis lifting are all realized through a driver driven motor. Acquisition of the current position of the motor is realized through the driver to convert and transmit information to a PLC, i.e. a programmable logic controller, the PLC sends the electric signal to the motor driver through a communication protocol, and the motor driver processes and outputs information to the motor to run at a specified target position and target speed, etc.

[0085] In the present embodiment, the logic controller and the acquisition module are completed by using a mature PLC system. The acquisition module includes a digital quantity I / O module and an analog quantity I / O module, the digital quantity mainly includes a start signal, a gas pressure detection, an electromagnetic valve and the like. The analog quantity is mainly used for adjusting the gas pressure of the three sleeves of the three-jaw cylinder to a constant value during the grinding and polishing process after the three-jaw cylinder grasps the sample. In order to ensure control accuracy, the control accuracy is improved by increasing feedforward and friction compensation.

[0086] In the present embodiment, the components using compressed gas as power in the equipment include a three-jaw cylinder, a sleeve pushing device and polishing liquid stirring. The gas pressure of the three-jaw cylinder and the polishing liquid is constant after adjustment, and the pressure of the sleeve pushing device is modified according to different process setting parameters. Therefore, when selecting the pneumatic components, a set of proportional valves are used to realize the function of adjusting different pressures of different processes in addition to commonly used gas triple components, electromagnetic valves and gas pressure detection switches.

[0087] Embodiment 2:

[0088] The present embodiment gives a grinding and polishing process of a coal rock powder coal optical slice, which adopts the grinding and polishing all-in-one machine of the coal rock powder coal optical slice given in the above embodiment 1.

[0089] The process includes the following steps:

[0090] Step one, the sample is prepared according to the method of GB / T 16773-2008 coal rock powder coal light sheet; using hot glue method or cold glue method to prepare sample, sample height is 9-13mm; grinding material selection particle size is 600-2000 purpose of back adhesive sandpaper, directly pasted on grinding station 3; polishing material selected cashmere or nylon belt polishing cloth, directly pasted on polishing station 4.

[0091] Step two, start coal rock powder coal light sheet grinding and polishing integrated machine, open air compressor, compressed gas through the air inlet 7 for grinding and polishing integrated machine to provide compressed gas, according to the sample of coal kind, select the corresponding automatic grinding and polishing mode in the touch screen 16; or in the touch screen 16 to select the free grinding and polishing mode, set the grinding and polishing gas pressure for 0.040-0.150MPa, grinding speed is 600-1500r / min, polishing speed is 1200-2000r / min, grinding, polishing speed is 1-10r / min, grinding, polishing number is 1-10.

[0092] Step three, the sample is placed in the sample preposition station 15 in order, corresponding to the order of the sample placement sleeve 207, can carry out automatic grinding and polishing of 3 groups of 9 samples at the same time, select the sample group which needs to be ground and polished in the touch screen 16.

[0093] Step four, select the touch screen 16 device self calibration function, calibrate the position of the mechanical arm 2.

[0094] Step five, select the touch screen 16 automatic grinding and polishing function, the electric control system 18 controls the step motor 201 to rotate, drives the central control rotating platform 202 to make the mechanical arm 2 move above the sample preposition station 15, the mechanical arm 2 is lowered to the corresponding position of the sample along the Z axis through the ball screw assembly 203, the control air pressure electromagnetic valve is started, the sample is automatically grabbed through the three jaw air cylinder 206, the mechanical arm 2 is lifted to the initial height along the Z axis.

[0095] Step six, the electric control system 18 controls the step motor 201 to rotate, drives the central control rotating platform 202 to make the mechanical arm 2 move to the grinding station 3, the mechanical arm 2 is lowered to 5mm away from the grinding station 3 along the Z axis through the ball screw assembly 203, the three jaw air cylinder 206 is loosened, the electric control system 18 controls the air pressure electromagnetic valve to start the air pressure control, the sample is grabbed again according to the set grinding air pressure parameter.

[0096] Step seven, the electric control system 18 controls the spray electromagnetic valve to spray water through the water spray head 5 for 3 seconds, controls the grinding station electromagnetic valve to start the grinding station 3, controls the three jaw air cylinder 206 to rotate counterclockwise through the crank slider mechanism 205 by the small arm rotating servo motor 204, the electric control system 18 controls the spray electromagnetic valve to spray water automatically through the water spray head 5 for 2 seconds every 10-15 seconds.

[0097] Step eight, the total number of grinding laps and the number of grinding laps completed are recorded and displayed on the touch screen 16, and when the set number of grinding laps is reached, the electric control system 18 controls the grinding station solenoid valve to stop working, and controls the mechanical arm 2 to simultaneously lift along the Z axis and rotate one circle through the small arm to the initial position.

[0098] Step nine, the electric control system 18 controls the stepping motor 201 to rotate, drives the central control rotating platform 202 to move the mechanical arm 2 above the polishing station 4, and the mechanical arm 2 is lowered by 5mm along the Z axis through the ball screw assembly 203 to loosen the air claw, the electric control system 18 controls the air pressure solenoid valve to start air pressure control, and re-performs sample grabbing according to the set polishing air pressure parameter.

[0099] Step ten, the electric control system 18 controls the spraying solenoid valve to spray the polishing liquid through the polishing liquid spray faucet 6 for 3 seconds, controls the polishing station solenoid valve to start the polishing station 4, controls the crank slider mechanism 205 through the small arm rotating servo motor 204, so that the three-claw air cylinder 206 rotates along the polishing station 4 in a counterclockwise direction, and the electric control system 18 controls the spraying solenoid valve to automatically spray the polishing liquid through the polishing liquid spray faucet 6 every 10-15 seconds for 2 seconds.

[0100] Step eleven, the total number of polishing laps and the number of polishing laps completed are recorded and displayed on the touch screen 16, and when the set number of polishing laps is reached, the electric control system 18 controls the polishing station solenoid valve to stop working, and controls the mechanical arm 2 to simultaneously lift along the Z axis and rotate one circle through the small arm to the initial position.

[0101] Step twelve, the electric control system 18 controls the stepping motor 201 to rotate, drives the central control rotating platform 202 to move the mechanical arm 2 to the ultrasonic cleaning position 14, and the mechanical arm 2 is lowered by 10mm along the Z axis through the ball screw assembly 203 to loosen the air claw from the bottom of the ultrasonic cleaning position 14, and the ultrasonic cleaning is performed for 5-15 seconds, and the mechanical arm 2 is lifted along the Z axis and rotated through the central control rotating platform 202 to above the sample pre-positioning station 15, and is lowered along the Z axis to place the sample in the initial position, that is, the automatic grinding and polishing is completed.

[0102] In this embodiment, the electric control system 18 can select a free grinding and polishing mode, if only grinding parameters are set, steps nine, ten and eleven are not performed, and if only polishing parameters are set, steps six, seven and eight are not performed.

[0103] As a preferred scheme of the embodiment, as shown in Figure 9 The flatness adjustment process is performed when the three-claw air cylinder 206 grabs the sample, the flatness adjustment process adopts a grabbing method of first grabbing, then loosening, and finally grabbing again, and specifically includes the following steps:

[0104] Step 1, the three-jaw pneumatic cylinder 206 first clamps the optical film sample, the electric control system 18 controls the stepping motor 201 to rotate, and drives the central control rotating platform 202 to move the mechanical arm 2 on the grinding station 3 or the polishing station 4, at this time, the flatness between the optical film sample and the grinding station 3 or the polishing station 4 is not adjusted, and the air inlet 7 does not provide high-pressure gas;

[0105] Step 2, the three-jaw pneumatic cylinder 206 releases the optical film sample again, so that the optical film sample is freely placed on the grinding station 3 or the polishing station 4, while the electric control system 18 drives the air inlet 7 to open, and provides high-pressure gas for the optical film sample, so that the optical film sample realizes flatness with the grinding station 3 or the polishing station 4 under the dual action of high-pressure gas and gravity;

[0106] Step 3, the three-jaw pneumatic cylinder 206 clamps the optical film sample for the last time, and executes the subsequent grinding and polishing process.

[0107] As shown in FIGS. 10(a), 10(b), 11(a) and 11(b), after the flatness adjustment process of the embodiment is executed, the grinding and polishing effect is obviously improved.

[0108] Application Examples 1 to 6:

[0109] The following application examples give a grinding and polishing process for a coal rock powder coal optical film based on Embodiment 2. Specifically, according to the sample condition, a unique set of grinding and polishing parameters is explored for single coal, mixed coal and coke of different metamorphic degrees, and the corresponding grinding and polishing gas pressure, grinding and polishing speed, grinding and polishing number of circles, etc. can be input in the automatic grinding and polishing machine touch screen 4. The specific grinding and polishing parameters are shown in Table 1.

[0110] Table 1 Fixed grinding and polishing parameters

[0111]

[0112] Application Example 1:

[0113] A cold glue powder coal optical film is made by using lignite powder, the grit size of sandpaper is 1500 mesh, the grinding gas pressure is set to 0.050 MPa, the grinding speed is 600 r / min, the grinding gripper speed is 2 r / min, the grinding number of circles is 4, the polishing gas pressure is 0.070 MPa, the polishing station speed is 2000 r / min, the polishing gripper speed is 2 r / min, and the polishing number of circles is 4. The whole sample grinding time is within 5 min, the prepared powder coal optical film is observed under a microscope, the sample surface is flat, there is no obvious protrusion, indentation, the coal particle surface microcomponent boundary is clear, and there is no obvious scratch, and the one-time sample rate is 100%.

[0114] Application Example 2:

[0115] The hot glue pulverized coal light sheet is made by using bituminous coal powder, the sand paper granularity is 1200 meshes, the grinding air pressure is set to 0.070 Mpa, the grinding speed is 900 r / min, the grinding grab hand rotating speed is 2 r / min, the grinding circle number is 2, the polishing air pressure is 0.100 Mpa, the polishing working position rotating speed is 1800 r / min, the polishing grab hand rotating speed is 2 r / min, and the polishing circle number is 4. The whole sample grinding time is within 5 min, the prepared pulverized coal light sheet is observed under a microscope, the sample surface is smooth, there is no obvious protrusion and indentation, the microscopic component boundary of the coal particle surface is clear, there is no obvious scratch, and the one-time sample rate is 100%.

[0116] Application Example 3

[0117] The cold glue pulverized coal light sheet is made by using bituminous coal powder, the sand paper granularity is 1500 meshes, the grinding air pressure is set to 0.080 Mpa, the grinding speed is 1200 r / min, the grinding grab hand rotating speed is 3 r / min, the grinding circle number is 2, the polishing air pressure is 0.120 Mpa, the polishing working position rotating speed is 2000 r / min, the polishing grab hand rotating speed is 2 r / min, and the polishing circle number is 4. The whole sample grinding time is within 5 min, the prepared pulverized coal light sheet is observed under a microscope, the sample surface is smooth, there is no obvious protrusion and indentation, the microscopic component boundary of the coal particle surface is clear, there is no obvious scratch, and the one-time sample rate is 100%.

[0118] Application Example 4

[0119] The hot glue pulverized coal light sheet is made by using bituminous coal powder, the sand paper granularity is 1500 meshes, the grinding air pressure is set to 0.100 Mpa, the grinding speed is 1200 r / min, the grinding grab hand rotating speed is 3 r / min, the grinding circle number is 4, the polishing air pressure is 0.140 Mpa, the polishing working position rotating speed is 2000 r / min, the polishing grab hand rotating speed is 4 r / min, and the polishing circle number is 4. The whole sample grinding time is within 5 min, the prepared pulverized coal light sheet is observed under a microscope, the sample surface is smooth, there is no obvious protrusion and indentation, the microscopic component boundary of the coal particle surface is clear, there is no obvious scratch, and the one-time sample rate is 100%.

[0120] Application Example 5

[0121] The cold glue pulverized coal light sheet is made by using bituminous coal powder, the sand paper granularity is 1500 meshes, the grinding air pressure is set to 0.080 Mpa, the grinding speed is 1200 r / min, the grinding grab hand rotating speed is 3 r / min, the grinding circle number is 2, the polishing air pressure is 0.120 Mpa, the polishing working position rotating speed is 2000 r / min, the polishing grab hand rotating speed is 2 r / min, and the polishing circle number is 4. The whole sample grinding time is within 5 min, the prepared pulverized coal light sheet is observed under a microscope, the sample surface is smooth, there is no obvious protrusion and indentation, the microscopic component boundary of the coal particle surface is clear, there is no obvious scratch, and the one-time sample rate is 100%.

[0122] Example 6:

[0123] The coke powder was used to make cold glue coke polished section. The grit size of the sand paper was 1500 mesh. The grinding air pressure was set to 0.120 MPa, the grinding speed was 900 r / min, the grinding grab speed was 1 r / min, the grinding number of laps was 4 laps, the polishing air pressure was 0.150 MPa, the polishing work station speed was 1800 r / min, the polishing grab speed was 2 r / min, and the polishing number of laps was 4 laps. The entire sample grinding time was within 5 min. The coke polished section prepared was observed under a microscope. The sample surface was flat, without obvious protrusions, indentations, coke particle surface microscopic component boundaries were clear, without obvious scratches, and the one-time sample forming rate was 100%.

Claims

1. A grinding and polishing process for pulverized coal sheets, characterized in that, This process uses an integrated grinding and polishing machine for coal and rock pulverized coal. The coal and rock pulverized coal grinding and polishing integrated machine includes a machine platform (1), a mechanical arm (2), a grinding station (3) and a polishing station (4) installed on the top surface of the machine platform (1); a water spray nozzle (5) is installed on the grinding station (3), and a polishing liquid spray nozzle (6) is installed on the polishing station (4). The robotic arm (2) includes a stepper motor (201), which drives the central control rotating platform (202) to rotate. The central control rotating platform (202) is connected to the forearm rotation servo motor (204) through a ball screw assembly (203). The forearm rotation servo motor (204) drives the crank slider mechanism (205) to control the three-jaw cylinder (206) to grasp and polish the sample in the sample placement sleeve (207). The equipment platform (1) is provided with an air inlet (7), a power supply terminal (8), a water inlet (9), a polishing liquid inlet (10), a detergent inlet (11), and a drain outlet (12) on its side wall; the outer end of the air inlet (7) is connected to an air compressor, and the inner end of the air inlet (7) is connected to the robotic arm (2) and the polishing station (4) respectively; the power supply terminal (8) supplies power to the integrated grinding and polishing machine; the outer ends of the water inlet (9), the polishing liquid inlet (10), the detergent inlet (11), and the drain outlet (12) are provided with an air inlet (7), a power supply terminal (8), a power supply terminal (8), a power supply terminal (9), a power supply terminal (10), a power supply terminal (11), and a drain outlet (12). The outer ends of the water inlet (12) are connected to the external water tank (13) via hoses, and the external water tank (13) is suspended on the side wall of the equipment platform (1); the inner ends of the water inlet (9) are connected to the water spray faucet (5) and the polishing liquid spray faucet (6); the inner ends of the polishing liquid inlet (10) are connected to the polishing liquid spray faucet (6); the inner ends of the detergent inlet (11) are connected to the polishing liquid spray faucet (6); the inner ends of the drain outlet (12) are connected to the grinding station (3) and the polishing station (4). The top surface of the equipment platform (1) is also equipped with an ultrasonic cleaning station (14) and a sample pre-positioning station (15). The front of the equipment platform (1) is also provided with a touch screen (16) with buttons (17), and the touch screen (16) is connected to the electronic control system (18); The process includes the following steps: Step 1: Prepare coal-rock powder light film according to GB / T 16773-2008; use hot glue method or cold glue method to prepare the sample, and directly paste the grinding material on the grinding station (3); directly paste the polishing material on the polishing station (4); Step 2: Start the integrated grinding and polishing machine for coal and rock pulverized coal, turn on the air compressor, and provide compressed gas to the integrated grinding and polishing machine through the air inlet (7); Step 3: The samples are placed in the sample pre-positioning station (15) in sequence, corresponding to the order of the sample placement sleeve (207); Step 4: Calibrate the position of the robotic arm (2); Step 5: Control the stepper motor (201) to rotate, drive the central control rotating platform (202) to move the robotic arm (2) above the sample preset position (15), the robotic arm (2) descends along the Z-axis to the corresponding position of the sample through the ball screw assembly (203), control the pneumatic solenoid valve to start, automatically grab the sample through the three-jaw cylinder (206), and the robotic arm (2) is raised along the Z-axis to the initial height; Step 6: Control the stepper motor (201) to rotate, drive the central control rotating platform (202) to move the robotic arm (2) to the grinding station (3). The robotic arm (2) descends along the Z-axis through the ball screw assembly (203) to a distance of 5mm from the grinding station (3) to release the gripper of the three-jaw cylinder (206). Control the pneumatic solenoid valve to start the pneumatic control and re-grab the sample according to the set grinding pneumatic pressure parameters. Step 7: Control the spray solenoid valve to spray water for 3 seconds through the water spray nozzle (5), control the grinding station solenoid valve to start the grinding station (3), control the crank slider mechanism (205) through the arm rotation servo motor (204) to make the three-jaw cylinder (206) rotate counterclockwise along the grinding station (3), and control the spray solenoid valve to automatically spray water for 2 seconds through the water spray nozzle (5) every 10 to 15 seconds; Step 8: When the set number of grinding revolutions is reached, control the solenoid valve of the grinding station to stop working, and control the robotic arm (2) to lift along the Z-axis and rotate the forearm one revolution to the initial position. Step 9: Control the stepper motor (201) to rotate, drive the central control rotating platform (202) to move the robotic arm (2) above the polishing station (4). The robotic arm (2) descends along the Z-axis through the ball screw assembly (203) to a distance of 5mm from the polishing station (4) to release the air gripper. Control the air pressure solenoid valve to start the air pressure control and re-grab the sample according to the set polishing air pressure parameters. Step 10: Control the spray solenoid valve to spray polishing liquid for 3 seconds through the polishing liquid faucet (6), control the polishing station solenoid valve to start the polishing station (4), control the crank slider mechanism (205) through the arm rotation servo motor (204) to make the three-grip cylinder (206) rotate counterclockwise along the polishing station (4), and control the spray solenoid valve to automatically spray polishing liquid for 2 seconds every 10-15 seconds through the polishing liquid faucet (6); Step 11: When the set number of polishing cycles is reached, control the solenoid valve of the polishing station to stop working, and control the robotic arm (2) to lift along the Z-axis and rotate the forearm one revolution to the initial position. Step 12: Control the stepper motor (201) to rotate, drive the central control rotating platform (202) to move the robotic arm (2) to the ultrasonic cleaning station (14). The robotic arm (2) descends along the Z-axis through the ball screw assembly (203) to release the air gripper 10mm away from the bottom of the ultrasonic cleaning station (14). Perform ultrasonic cleaning for 5-15 seconds. The robotic arm (2) is lifted along the Z-axis and rotated through the central control rotating platform (202) to the sample pre-positioning station (15). It descends along the Z-axis to place the sample in the initial position, thus completing the automatic polishing. When the sample is gripped by the three-jaw cylinder (206), a flatness adjustment process is performed. The flatness adjustment process adopts a gripping method of first gripping, then releasing, and finally gripping again. Specifically, it includes the following steps: Step 1: The three-jaw cylinder (206) first grips the light sheet sample, controls the stepper motor (201) to rotate, drives the central control rotating platform (202) to make the robotic arm (2) move on the grinding station (3) or polishing station (4). At this time, the flatness between the light sheet sample and the grinding station (3) or polishing station (4) is not adjusted, and the air inlet (7) does not provide high-pressure gas. Step 2: The three-jaw cylinder (206) releases the light sheet sample again, so that the light sheet sample is freely placed on the grinding station (3) or polishing station (4). At the same time, the air inlet (7) is driven to open, providing high-pressure gas to the light sheet sample, so that the light sheet sample can achieve flatness with the grinding station (3) or polishing station (4) under the dual action of high-pressure gas and gravity. Step 3: The three-jaw cylinder (206) grips the light sheet sample for the last time and performs the subsequent grinding and polishing process.

2. The grinding and polishing process for coal and rock pulverized coal sheets as described in claim 1, characterized in that, The touch screen (16) is used to realize human-computer interaction. The touch screen (16) can also observe the current running status of the device operation process.

3. The grinding and polishing process for coal and rock pulverized coal sheets as described in claim 1, characterized in that, The electronic control system (18) is used to set and automatically control various parameters of the grinding and polishing machine; the various parameters of the grinding and polishing machine include the grinding and polishing air pressure, grinding and polishing speed, grinding and polishing gripper speed and grinding and polishing rotation number of the three sleeves of the three-claw cylinder.

4. The grinding and polishing process for coal and rock pulverized coal sheets as described in claim 3, characterized in that, The electrical control system (18) is divided into two main parts: motion control and switch acquisition. The motion control part is used for the acquisition and control of the moving parts of the robotic arm (2), grinding station (3) and polishing station (4). The switch acquisition part includes a logic controller information processing module, an information acquisition module and an action command sending module, as well as the wiring and power supply parts of each air and water circuit.

5. The grinding and polishing process for coal and rock pulverized coal sheets as described in claim 1, characterized in that, An emergency stop button (19) is also provided on the other side wall of the equipment platform (1), and the emergency stop button (19) is connected to the electrical control system (18).

6. The grinding and polishing process for coal and rock pulverized coal sheets as described in claim 1, characterized in that, In step one, the sample height is 9-13 mm; the abrasive material is selected as adhesive-backed sandpaper with a particle size of 600-2000 mesh; and the polishing material is selected as cashmere or nylon polishing cloth with adhesive backing. In step two, the grinding and polishing air pressure is set to 0.040-0.150 MPa, the grinding speed to 600-1500 r / min, the polishing speed to 1200-2000 r / min, the grinding and polishing gripper speed to 1-10 r / min, and the number of grinding and polishing revolutions to 1-10 revolutions. In step three, automatic polishing of 3 groups of 9 samples can be performed simultaneously.

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