An automated metallographic inspection system based on a double-positioning tray

Abstract

The present invention discloses an automated metallographic inspection system based on a double-positioning tray, which includes a tray, a rack, a first gripper, an automatic sample preparation machine, a visual positioning device, a second gripper, and a microscope; the tray is transferred between the first gripper and the second gripper. The tray includes a chassis and a front positioning, a back positioning, and a specimen fixing position provided on the chassis. A first positioning mechanism is provided on the rack and the automatic sample preparation machine, and a second positioning mechanism is provided on the visual positioning device and the microscope. The first positioning mechanism is connected in alignment with the back positioning of the tray, and the second positioning mechanism is connected in alignment with the front positioning of the tray. The advantages of the present invention are: through the double-positioning structure of the tray, during the processes of sample preparation, corrosion, visual positioning, drying, and microscopic scanning, the tray can always maintain a proper orientation, realizing full automation of the metallographic inspection process while ensuring smooth operation of each station and making the whole process more efficient.

Description

Technical Field

[0001] The present invention relates to an automated metallographic inspection system, in particular to an automated metallographic inspection system based on a double-positioning tray, belonging to the technical field of automation. Background Art

[0002] Metallography refers to the chemical composition of a metal or alloy and the physical and chemical states of various components within the alloy. The overall process of metallographic inspection in steel enterprises is mainly divided into two major processes: manual sample preparation (sampling, embedding, grinding, polishing, etching) and manual grading (manual observation, analysis, and recording reports).

[0003] Currently, both traditional manual sample preparation and manual grading face problems such as high work intensity and long inspection cycles, and cannot meet the current production efficiency of steel enterprises. At the same time, steel enterprises also face problems such as long training cycles and high costs when training metallographic inspection personnel. Therefore, how to reduce the labor intensity of metallographic inspection and improve inspection efficiency has become an important constraint affecting the development of steel enterprises in recent years. Summary of the Invention

[0004] Object of the Invention: Aiming at the above problems, the object of the present invention is to provide an automated metallographic inspection system based on a double-positioning tray, which can realize automatic sample preparation for steel metallographic inspection and automatic acquisition of its microscopic images.

[0005] Technical Solution: An automated metallographic inspection system based on a double-positioning tray includes a tray, a rack, a first gripper, an automatic sample preparation machine, a vision positioning device, a second gripper, and a microscope; the first gripper and the second gripper are respectively fixed on different robot bodies, the tray is transferred between the first gripper and the second gripper, the moving range of the first gripper covers the rack and the automatic sample preparation machine, the moving range of the second gripper covers the vision positioning device and the microscope, the tray includes a chassis and a front positioning, a back positioning, and a specimen fixing position arranged on the chassis, a first positioning mechanism is arranged on the rack and the automatic sample preparation machine, a second positioning mechanism is arranged on the vision positioning device and the microscope, the first positioning mechanism is connected in alignment with the back positioning of the tray, the second positioning mechanism is connected in alignment with the front positioning of the tray, and the specimen fixing position is used to install a specimen; the vision positioning device is configured to collect a regional image of the specimen fixing position on the tray and obtain the metallographic image acquisition coordinates of the specimen from within the regional image, and the microscope is configured to collect the metallographic structure image of the specimen according to the metallographic image acquisition coordinates and at a preset magnification.

[0006] The principle of the present invention is as follows: During use, first, the sample is manually fixed onto the tray, and then the tray is fixed onto the rack. The first positioning mechanism of the rack and the back positioning of the tray form a fixation, completing the manual loading operation of the tray. Secondly, the first gripper reaches the rack under the drive of the robot body, removes the tray from the rack, and transfers it to the automatic sample preparation machine. The automatic sample preparation machine receives the tray through its first positioning mechanism and completes the sample preparation operation, that is, operations such as grinding and polishing are performed on the surface of the sample on the tray. After sample preparation is completed, the first gripper removes the tray from the automatic sample preparation machine under the drive of the robot body and transfers it to the second gripper. After the second gripper receives the tray, it moves it to the vision positioning device. The vision positioning device first forms a fixation with the front positioning of the tray through its second positioning mechanism, then performs image acquisition on the fixed position area of the sample on the tray, and obtains the metallographic image acquisition coordinates of the sample from the acquired area image. After obtaining the coordinates, the second gripper removes the tray from the vision positioning device and moves it to the microscope. The second positioning mechanism of the microscope and the front positioning of the tray form a fixation. The microscope acquires the metallographic structure image of the sample according to this coordinate and at a preset magnification, thereby completing the automatic acquisition of the metallographic structure image of the sample. Finally, the second gripper removes the sample that has completed image acquisition from the microscope and sends it out, completing the entire automated metallographic inspection process. In this structure, multiple automated loading and unloading operations are achieved through a dual positioning structure. During the process of loading from the rack to the automatic sample preparation machine for sample preparation, the same side of the tray is used for positioning, and during the process of sample positioning by the vision positioning device and microscope scanning, the other side of the tray is used for positioning, separating the positioning of the sample preparation process and the scanning process, and enabling the tray to always maintain an appropriate orientation, avoiding the influence of the sample preparation process on the positioning and scanning process, and greatly improving the system working accuracy on the premise of realizing automated metallographic inspection.

[0007] Furthermore, an automatic etching machine is also included. The first positioning mechanism is provided on the automatic etching machine, and the movement range of the first gripper covers the automatic etching machine. In some metallographic inspection works, such as grain size inspection, decarburization inspection, etc., it is also necessary to perform etching operations on the surface of the sample. In this structure, the same side positioning is used for both etching operations and sample preparation operations, so as to better control the depth of immersion in the etching solution.

[0008] Further, it further includes an information verification device. An operation code is provided on the front of the chassis. The operation code includes the corrosion operation information of the specimen. The information verification device includes a support base, a barcode scanner, and a fixing member. The moving range of the first jaw covers the support base. The fixing member and the first positioning mechanism are respectively fixed on the support base. The barcode scanner is installed on the fixing member and faces the first positioning mechanism to scan the operation code on the tray after the first positioning mechanism and the back positioning of the tray are fixed. Since whether to perform corrosion operation on the specimen and what kind of corrosive agent to use for corrosion operation are both set in batches manually in advance during the metallographic inspection process, therefore, in order to avoid errors during the inspection process, after the automatic sample maker completes sample preparation, this verification link is added. The operation code is scanned by the barcode scanner for review to ensure the accuracy of the corrosion operation.

[0009] Further, it further includes a drying oven. A plurality of the second positioning mechanisms are arranged in the drying oven. The moving range of the second jaw covers the drying oven. In this structure, in order to prevent the surface of the specimen after sample preparation from being oxidized during the waiting process for microscope scanning, therefore, this station is set up. The specimen after sample preparation is placed in the drying oven for drying, and then the specimen is taken out of the drying oven after the image of the specimen on the microscope is scanned.

[0010] Further, the front positioning includes a central column and a pin hole. The central column is fixed on the front of the chassis. The pin hole is opened on the chassis. The second positioning mechanism adopts a cylindrical sleeve. A pin shaft is installed on the sleeve. The central column is in alignment and matching with the central hole of the sleeve. The pin hole is in alignment and matching with the pin shaft.

[0011] Further, the back positioning includes a positioning groove and a special-shaped cam. The positioning groove is opened on the back of the chassis. The special-shaped cam is arranged in the positioning groove and its height does not exceed the notch of the positioning groove. The first positioning mechanism adopts a positioning disc. A special-shaped groove is opened on the positioning disc. The positioning disc is in alignment and matching with the positioning groove. The special-shaped groove is in alignment and matching with the special-shaped cam.

[0012] Further, it further includes a ground rail. The robot body fixing the first jaw is installed on the ground rail to expand its moving range.

[0013] Furthermore, a ring groove is provided on the neck of the center column, and the first clamp includes a base, an outer tube, an inner tube, a cylinder, and a steel ball. The cylinder and the outer tube are fixed on the base, and spindle holes are respectively provided on the outer tube and the inner tube. The inner tube is inserted into the spindle hole of the outer tube and is connected to the cylinder. The center column is inserted into the spindle hole of the inner tube, and a slope is provided on the spindle hole of the outer tube. A tapered hole is provided on the side wall of the inner tube, and the steel ball is inserted into the tapered hole, and its two sides are respectively exposed outside the tapered hole. The height of the tapered hole is matched with the slope and the ring groove, so that the steel ball can be inserted into the ring groove through the limit of the slope.

[0014] Furthermore, the second gripper includes a flange, a pneumatic finger, a connecting rod, and a chuck. One end of the flange is connected to the robot body, and the other end is connected to the pneumatic finger. The pneumatic finger has at least three fingers, and each finger is connected to the chuck through a connecting rod. All the chucks are respectively clamped to the outer circle of the chassis to form a fixed structure. In this structure, all the chucks are synchronously driven to open or close by the pneumatic finger to perform the material tray picking and placing operation.

[0015] Furthermore, the visual positioning device includes a workbench, a support column, an industrial camera, and a light source. The support column and the second positioning mechanism are respectively fixed on the workbench, and the industrial camera and the light source are respectively fixed on the support column. The industrial camera, the light source, and the second positioning mechanism are arranged in sequence from top to bottom, and the industrial camera and the light source are both facing the second positioning mechanism.

[0016] Beneficial effect: Compared with the prior art, the advantages of the present invention are: through the dual positioning structure, the material tray can always maintain a suitable orientation during sample preparation, corrosion, visual positioning, drying, and microscopic scanning, thereby achieving full automation of the metallographic inspection process and ensuring smooth operation of each workstation, making the entire process more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the front structure of the feed tray;

[0019] Figure 3 This is a schematic diagram of the back structure of the tray;

[0020] Figure 4 is a schematic diagram of the three-dimensional structure of the first positioning mechanism;

[0021] Figure 5 is a schematic diagram of the three-dimensional structure of the first clamping jaw;

[0022] Figure 6 for Figure 5Cross-sectional view of the left structure;

[0023] Figure 7 is Figure 6 an enlarged schematic view of position A in

[0024] Figure 8 a three-dimensional structure schematic diagram of the material rack;

[0025] Figure 9 a three-dimensional structure schematic diagram of the information verification device;

[0026] Figure 10 a three-dimensional structure schematic diagram of the second positioning mechanism;

[0027] Figure 11 a three-dimensional structure schematic diagram of the second jaw;

[0028] Figure 12 a three-dimensional structure schematic diagram at the drying oven;

[0029] Figure 13 a three-dimensional structure schematic diagram of the vision positioning device;

[0030] Figure 14 a three-dimensional structure schematic diagram of the microscope. Detailed implementation manners

[0031] The present invention will be further illustrated below in conjunction with the accompanying drawings and specific embodiments. These embodiments are only used to illustrate the present invention and not to limit the scope of the present invention.

[0032] An automated metallographic inspection system based on a double-positioning tray, as shown in the attached Figure 1 figures, includes a tray 1, a material rack 2, a first jaw 3, an automatic sample preparation machine 4, a vision positioning device 5, a second jaw 6, a microscope 7, a first positioning mechanism 8, a second positioning mechanism 9, an automatic etching machine 10, an information verification device 11, a drying oven 12, and a ground rail 13.

[0033] As shown in the attached Figure 2 , 3As shown in the figure, the tray 1 adopts a double-positioning structure, which specifically includes a chassis 1a and a front positioning 1b, a back positioning 1c, a specimen fixing position 1d, and an operation code 1e provided on the chassis 1a. The front positioning 1b specifically includes a central column 1b-1 and a pin hole 1b-2. The central column 1b-1 is fixed on the front of the chassis 1a. A ring groove 1b-3 is provided at the neck of the central column 1b-1. The pin hole 1b-2 is provided on the chassis 1a. The back positioning specifically includes a positioning groove 1c-1 and a special-shaped cam 1c-2. The positioning groove 1c-1 is provided on the back of the chassis 1a. The special-shaped cam 1c-2 is arranged in the positioning groove 1c-1, and its height does not exceed the notch of the positioning groove 1c-1. The specimen fixing position 1d is provided on the chassis 1a for installing specimens. Specifically, after the specimen is fixed to the tray 1, the surface to be processed and inspected should slightly protrude from the back of the chassis 1a. In this embodiment, to improve the inspection efficiency, a plurality of specimen fixing positions 1d are evenly distributed around the central column 1b-1, and specimens are respectively installed in each specimen fixing position 1d. The operation code 1e is provided on the front of the chassis 1a. The operation code 1e includes the corrosion operation information of the specimen. In this embodiment, a two-dimensional code form is preferably adopted.

[0034] In this embodiment, first, the first jaw 3 is used for automatic positioning and transfer during the sample preparation process, and the specific structure is as follows:

[0035] The material rack 2, the automatic sample preparation machine 4, the information verification device 11, and the automatic corrosion machine 10 are arranged in a production line layout. The ground rail 13 is arranged along the direction of the production line, and a robot body is carried above it and connected to the first jaw 3 through the robot body. The operation range of the first jaw 3 covers the material rack 2, the automatic sample preparation machine 4, the information verification device 11, and the automatic corrosion machine 10 to realize the transfer of the tray 1 between the material rack 2, the automatic sample preparation machine 4, the information verification device 11, and the automatic corrosion machine 10.

[0036] First positioning mechanisms 8 are respectively provided on the material rack 2, the automatic sample preparation machine 4, the information verification device 11, and the automatic corrosion machine 10. The first positioning mechanisms 8 are connected in alignment with the back positioning 1c of the tray 1. In this embodiment, as shown in the appendix Figure 4 As shown, the first positioning mechanism 8 preferably adopts a positioning disk. A special-shaped groove 8a is provided on the positioning disk. The positioning disk is in alignment and matching with the positioning groove 1c-1, and the special-shaped groove 8a is in alignment and matching with the special-shaped cam 1c-2. When fixing to the back positioning 1c, the positioning disk can be inserted into the positioning groove 1c-1, and the special-shaped cam 1c-2 is inserted into the special-shaped groove 8a to form a fixation. As shown in the appendix Figures 5 to 7As shown, the first clamp 3 specifically includes a base 3a, an outer cylinder 3b, an inner cylinder 3c, a cylinder 3d, and a steel ball 3e. The cylinder 3d and the outer cylinder 3b are fixed on the base 3a, the base 3a is fixedly connected to the robot body, the outer cylinder 3b and the inner cylinder 3c are respectively provided with spindle holes, the inner cylinder 3c is inserted into the spindle hole of the outer cylinder 3b, and is connected to the cylinder 3d, the center column 1b-1 is inserted into the spindle hole of the inner cylinder 3c, the spindle hole of the outer cylinder 3b is provided with a slope 3b-1, the side wall of the inner cylinder 3c is provided with a tapered hole 3c-1, the steel ball 3e is inserted into the tapered hole 3c-1, and its two sides are respectively exposed outside the tapered hole 3c-1, the height of the tapered hole 3c-1 is matched with the slope 3b-1 and the annular groove 1b-3, so that the steel ball 3e can be inserted into the annular groove 1b-3 through the limit of the slope 3b-1. When the first clamping jaw 3 clamps the material tray 1, it is first clamped into the central column 1b-1 through the inner tube 3c, and then the cylinder 3d contracts. The steel ball 3e is clamped into the annular groove 1b-3 under the limiting extrusion of the slope 3b-1, thereby completing the clamping action of the first clamping jaw 3. When unloading, the first clamping jaw 3 moves to the material rack 2, the automatic sample making machine 4, the information verification device 11, and the automatic etching machine 10 respectively, and the cylinder is pushed out to place the material tray on the first positioning mechanism 8.

[0037] When the material rack 2, the automatic sample making machine 4, the information verification device 11, and the automatic etching machine 10 specifically carry the material tray, the structure is as follows:

[0038] Rack 2 as attached Figure 8 As shown, a grid structure is adopted, and a first positioning mechanism 8 is respectively arranged in each grid. When the material tray 1 is loaded, it can be fixed in each grid respectively to realize the loading of the whole batch of samples.

[0039] A first positioning mechanism 8 is respectively provided at the entrance and the exit of the automatic sample making machine 4. When loading, the first clamp 3 places a single material tray into the first positioning mechanism 8 at the entrance of the automatic sample making machine 4. When unloading, the first clamp 3 takes the material tray from the first positioning mechanism 8 at the exit of the automatic sample making machine 4. Since the position is fixed, it can be accurately positioned. In this embodiment, the automatic sample making machine 4 is configured to first take the material tray 1 from the first positioning mechanism 8 at its entrance, and then perform automated sample grinding and polishing operations on the sample to be processed surface protruding from the back of the material tray 1 in small amounts. Finally, after completing the grinding and polishing operations, the material tray 1 is transferred to the first positioning mechanism 8 at its exit. The automatic sample making machine in the prior art can achieve this function as long as it is equipped with the first positioning mechanism 8 of this embodiment.

[0040] The setting method of the first positioning mechanism 8 of the automatic etching machine 10 is the same as that of the automatic sample making machine 4. In this embodiment, the automatic etching machine 10 is configured to first remove the tray 1 from the first positioning mechanism 8 at its inlet, and then perform an automated etching operation on the surface of the sample to be processed that slightly protrudes from the back of the tray 1. Multiple etching schemes can be configured as required. Finally, after the etching operation is completed, the tray 1 is transported to the first positioning mechanism 8 at its outlet. Currently, as long as the first positioning mechanism 8 of this embodiment is configured in the automatic etching machine in the prior art, this function can be achieved.

[0041] The information verification device 11 is as shown in the appendix Figure 9 and specifically includes a support base 11a, a barcode scanner 11b, and a fixing member 11c. The fixing member 11c is fixed on the support base 11a, the barcode scanner 11b is installed on the fixing member 11c, the first positioning mechanism 8 inside the information verification device 11 is arranged on the support base 11a and is located below the barcode scanner 11b. The barcode scanner 11b faces the first positioning mechanism 8 to scan the operation code 1e on the tray 1 after the back positioning 1c of the first positioning mechanism 8 and the tray 1 is fixed. In this embodiment, the operation code 1e can be input in a pre-grouped batch manner, that is, when loading the tray, the etching operation content corresponding to the tray is input into the operation code. The information verification device can be used as both an instruction input and a command verification. When used as an instruction input, after the barcode scanner scans the operation code, according to the scanned result, it sends the corresponding etching operation information to the automatic etching machine for subsequent etching operations. When used as a command verification, the automatic etching machine uses a preset etching instruction. After the barcode scanner scans the operation code, it compares the scanned etching operation content with the preset etching instruction. If it is correct, the operation proceeds normally. If there are differences, it will automatically alarm and transfer to the manual link.

[0042] Secondly, in this embodiment, the second gripper 6 realizes full-automatic positioning and transportation during the image acquisition process, and the specific structure is as follows:

[0043] The second gripper 6 is installed on another robot body, and the tray 1 is transferred between the first gripper 3 and the second gripper 6. The visual positioning device 5, the drying oven 12, and the microscope 7 are arranged around the robot body on which the second gripper 6 is installed. The moving range of the second gripper 6 covers the visual positioning device 5, the drying oven 12, and the microscope 7 to realize the transfer of the tray 1 between the visual positioning device 5, the drying oven 12, and the microscope 7.

[0044] Second positioning mechanisms 9 are respectively arranged on the visual positioning device 5, the drying oven 12, and the microscope 7. The second positioning mechanism 9 is connected in alignment with the front positioning 1b of the tray 1. In this embodiment, as shown in the appendix Figure 10As shown, the second positioning mechanism 9 preferably adopts a cylindrical sleeve, on which a pin shaft 9a is installed. The central column 1b-1 is in alignment and matching with the central hole 9b of the sleeve, and the pin hole 1b-2 is in alignment and matching with the pin shaft 9a. In this embodiment, as shown in the appendix Figure 11 As shown, the second jaw 6 includes a flange 6a, a pneumatic finger 6b, a connecting rod 6c, and a chuck 6d. One end of the flange 6a is connected to the robot body, and the other end is connected to the pneumatic finger 6b. The pneumatic finger 6b has at least three fingers, and each finger is respectively connected to the chuck 6d through the connecting rod 6c. All the chucks 6d respectively clamp the outer circle of the chassis 1a to form a fixation. When receiving the tray 1 transferred by the first jaw 3, the chuck 6d can be opened by the pneumatic finger 6b to directly clamp the outer circle of the tray. After being transferred in place, the pneumatic finger 6b releases the chuck 6d, and the tray 1 can be released to realize the alignment and installation of the tray with the visual positioning device 5, the drying oven 12, and the microscope 7.

[0045] When the visual positioning device 5, the drying oven 12, and the microscope 7 specifically carry the tray, the structure is as follows:

[0046] As shown in the appendix Figures 12 to 13 As shown, the visual positioning device 5 includes a workbench 5a, a support column 5b, an industrial camera 5c, a light source 5d, and a rotation drive 5e. The second positioning mechanism 9 inside the visual positioning device 5 is fixed to the workbench 5a through the rotation drive 5e. The support column 5b is also fixed to the workbench 5a. The industrial camera 5c and the light source 5d are respectively fixed to the support column 5b. The industrial camera 5c, the light source 5d, and the second positioning mechanism 9 are arranged at intervals from top to bottom in sequence, and both the industrial camera 5c and the light source 5d face the second positioning mechanism 9. The rotation drive 5e drives the second positioning mechanism 9 to rotate, driving the multiple specimen fixing positions 1d on the tray 1 to respectively reach the shooting positions of the industrial camera 5c. In this embodiment, the visual positioning device 5 is configured to sequentially collect the regional images of the multiple specimen fixing positions 1d on the tray 1 and obtain the metallographic image acquisition coordinates of each specimen from the regional images.

[0047] The drying oven 12 is also fixed to the workbench 5a, and multiple second positioning mechanisms 9 are arranged inside it. In this embodiment, the drying oven 12 is configured to carry multiple trays through the second positioning mechanism 9 and perform a sealed drying operation to prevent the specimens on the surface from reacting with air for a long time and undergoing oxidation reactions.

[0048] As shown in the appendix Figure 14As shown, it includes a microscope body 7a and a microscope drive 7b. The second positioning mechanism 9 inside the microscope drive 7b is fixed on the microscope drive 7b, and the microscope drive 7b is fixed on the microscope body 7a. In this embodiment, the microscope 7 is configured to collect the metallographic structure images of the specimens according to the metallographic image acquisition coordinates and at a preset magnification. Specifically, the microscope drive 7b includes a lateral microscope drive 7b-1, a longitudinal microscope drive 7b-2, and a rotary microscope drive 7b-3. The longitudinal microscope drive is fixed on the microscope body, the longitudinal microscope drive is installed on the lateral microscope drive, the rotary microscope drive is installed on the longitudinal microscope drive, and the second positioning mechanism 9 is fixed on the rotary microscope drive. The lateral microscope drive and the longitudinal microscope drive can, on the one hand, move the second positioning mechanism 9 out of the microscope body for loading the tray, and on the other hand, move the second positioning mechanism 9 into the microscope body for microscopic scanning and shooting operations. During the shooting process, the rotary microscope drive cooperates with the lateral microscope drive and the longitudinal microscope drive to move the tray, and successively deliver each received metallographic image acquisition coordinate to the shooting position of the microscope body, so as to successively collect the metallographic structure images of the specimens.

[0049] When the automated metallographic inspection system of this embodiment is in use, first, the metallographic specimens are manually fixed at multiple specimen fixing positions on the tray, and the tray is respectively fixed to the first positioning mechanism 8 on the rack to complete the initial loading operation.

[0050] Then, the first jaw 3 reaches the position passing through the rack under the drive of the robot body. The inner cylinder of the first jaw 3 is inserted into the central column of the tray, and the cylinder contracts. The steel ball 3e is clamped into the annular groove 1b-3 under the limiting extrusion of the ramp portion 3b-1, thus completing the clamping action of the first jaw 3.

[0051] After that, the first jaw 3 transports the tray to the automatic sample preparation machine 4. The first positioning mechanism 8 at the entrance of the automatic sample preparation machine 4 receives the tray and performs automated sample grinding and polishing operations. After the grinding and polishing operations are completed, the automatic sample preparation machine transports the tray to the first positioning mechanism 8 at its exit.

[0052] After that, the first jaw 3 removes the tray from the first positioning mechanism 8 at the exit of the automatic sample preparation machine 4 again and transports it to the information verification device 11, places it on the first positioning mechanism 8 of the information verification device 11, and scans the operation code 1e through the barcode scanner 11b to identify the corrosion operation content of the tray.

[0053] After the scanning is completed, the first gripper 3 removes the tray from the first positioning mechanism 8 of the information verification device 11 again, and transports it to the first positioning mechanism 8 at the entrance of the automatic etching machine 10. The automatic etching machine performs corresponding etching operations according to the received etching operation content instructions, and transports the tray to the first positioning mechanism 8 at its exit after the etching operation is completed.

[0054] After that, the first gripper 3 removes the tray from the first positioning mechanism 8 at the exit of the automatic etching machine and transfers it to the second gripper 6.

[0055] Then, driven by the robot body, the second gripper 6 reaches the vision positioning device, places the tray on the second positioning mechanism 9 of the vision positioning device 5, and completes the fixation of the tray through the alignment of the central column and the central hole, and the pin shaft and the pin hole.

[0056] After that, the industrial camera and the light source are started synchronously. First, the area image of the first specimen fixed position 1d is collected, and the metallographic image acquisition coordinates of the specimen are obtained from the area image. Then the second positioning mechanism 9 drives the tray to rotate by a fixed angle. This rotation angle is preset according to the circumferential uniform distribution quantity of the specimen fixed positions. For example, if there are 6 specimen fixed positions evenly distributed in a circle, the preset angle is 60°. After the rotation of the preset angle is completed, the area image of the second specimen fixed position 1d is collected, and the metallographic image acquisition coordinates of the second specimen are obtained from the area image, and so on in turn until the metallographic image acquisition coordinates of each specimen are obtained.

[0057] After that, the second gripper 6 removes the tray from the second positioning mechanism 9 of the vision positioning device again, and moves it to the second positioning mechanism 9 of the microscope 7, and the tray is carried by the second positioning mechanism 9 of the microscope 7.

[0058] After that, the microscope drive drives the tray into the microscope body, and according to the received metallographic image acquisition coordinates of each specimen, and according to the preset magnification, the magnification scanning is carried out in turn to obtain the metallographic structure image acquisition of all specimens, thereby completing the entire automated metallographic inspection process.

[0059] In this embodiment, through the double-positioning structure of the tray, during the sample preparation, etching, vision positioning, drying, and microscopic scanning processes, the tray can always maintain a suitable orientation, realizing the full automation of the metallographic inspection process, ensuring smooth operation of each station, and making the whole process more efficient.

Claims

1. An automated metallographic inspection system based on a double-positioning tray, characterized in that: it includes a tray (1), a rack (2), a first gripper (3), an automatic sample preparation machine (4), a vision positioning device (5), a second gripper (6), and a microscope (7); the first gripper (3) and the second gripper (6) are respectively fixed on different robot bodies, the tray (1) is transferred between the first gripper (3) and the second gripper (6), the activity range of the first gripper (3) covers the rack (2) and the automatic sample preparation machine (4), the activity range of the second gripper (6) covers the vision positioning device (5) and the microscope (7), the tray (1) includes a chassis (1a) and a front positioning (1b), a back positioning (1c), and a sample fixing position (1d) provided on the chassis (1a), the rack (2) and the automatic sample preparation machine (4) are provided with a first positioning mechanism (8), the vision positioning device (5) and the microscope (7) are provided with a second positioning mechanism (9), the first positioning mechanism (8) is connected in alignment with the back positioning (1c) of the tray (1), the second positioning mechanism (9) is connected in alignment with the front positioning (1b) of the tray (1), and the sample fixing position (1d) is used to install a sample; the vision positioning device (5) is configured to collect a regional image of the sample fixing position (1d) on the tray (1) and obtain the metallographic image acquisition coordinates of the sample from within the regional image, and the microscope (7) is configured to collect the metallographic structure image of the sample according to the metallographic image acquisition coordinates at a preset magnification.

2. The automated metallographic inspection system based on a double-positioning tray according to claim 1, characterized in that: it further includes an automatic etching machine (10), the automatic etching machine (10) is provided with the first positioning mechanism (8), and the activity range of the first gripper (3) covers the automatic etching machine (10).

3. The automated metallographic inspection system based on a double-positioning tray according to claim 2, characterized in that: it further includes an information verification device (11), an operation code (1e) is provided on the front of the chassis (1a), the operation code (1e) includes the etching operation information of the sample, the information verification device (11) includes a support base (11a), a barcode scanner (11b), and a fixing member (11c), the activity range of the first gripper (3) covers the support base (11a), the fixing member (11c) and the first positioning mechanism (8) are respectively fixed on the support base (11a), the barcode scanner (11b) is installed on the fixing member (11c) and faces the first positioning mechanism (8) to scan the operation code (1e) on the tray (1) after the first positioning mechanism (8) is fixed to the back positioning (1c) of the tray (1).

4. The automated metallographic inspection system based on a double-positioning tray according to claim 1, characterized in that: It also comprises a drying box (12), wherein a plurality of the second positioning mechanisms (9) are arranged in the drying box (12), and the movable range of the second clamping jaws (6) covers the drying box (12).

5. An automated metallographic inspection system based on a dual positioning tray according to any one of claims 1 to 4, Features: The positive positioning (1b) comprises a center column (1b-1) and a pin hole (1b-2); the center column (1b-1) is fixed to the front of the chassis (1a); the pin hole (1b-2) is provided on the chassis (1a); the second positioning mechanism (9) adopts a cylindrical sleeve, a pin shaft (9a) is installed on the sleeve, the center column (1b-1) is aligned with the center hole (9b) of the sleeve, and the pin hole (1b-2) is aligned with the pin shaft (9a).

6. An automated metallographic inspection system based on a dual positioning tray according to any one of claims 1 to 4, Features: The back positioning (1c) comprises a positioning groove (1c-1) and a special-shaped cam (1c-2); the positioning groove (1c-1) is provided on the back of the chassis (1a); the special-shaped cam (1c-2) is arranged in the positioning groove (1c-1), and its height does not exceed the notch of the positioning groove (1c-1); the first positioning mechanism (8) adopts a positioning plate, the positioning plate is provided with a special-shaped groove (8a), the positioning plate is aligned with the positioning groove (1c-1), and the special-shaped groove (8a) is aligned with the special-shaped cam (1c-2).

7. The automatic metallographic inspection system based on a dual positioning tray according to claim 1, Features: It also comprises a ground rail (13), on which a robot body for fixing the first clamping claw (3) is mounted, so as to expand its range of motion.

8. The automatic metallographic inspection system based on double positioning trays according to claim 5, Features: The neck of the center column (1b-1) is provided with an annular groove (1b-3). The first clamping jaw (3) comprises a base (3a), an outer tube (3b), an inner tube (3c), a cylinder (3d), and a steel ball (3e). The cylinder (3d) and the outer tube (3b) are fixed on the base (3a). The outer tube (3b) and the inner tube (3c) are provided with spindle holes respectively. The inner tube (3c) is inserted into the spindle hole of the outer tube (3b) and connected to the cylinder (3d). The center column (1b-1) is inserted into the inner tube The main shaft hole of the outer cylinder (3c) is provided with a ramp portion (3b-1), the side wall of the inner cylinder (3c) is provided with a tapered hole (3c-1), the steel ball (3e) is inserted into the tapered hole (3c-1), and its two sides are respectively exposed outside the tapered hole (3c-1), and the height of the tapered hole (3c-1) is aligned with the ramp portion (3b-1) and the annular groove (1b-3), so that the steel ball (3e) is inserted into the annular groove (1b-3) through the limit of the ramp portion (3b-1).

9. An automated metallographic inspection system based on a double-positioning tray according to claim 8, characterized in that: The second jaw (6) includes a flange (6a), a pneumatic finger (6b), a connecting rod (6c), and a chuck (6d). One end of the flange (6a) is connected to the robot body, and the other end is connected to the pneumatic finger (6b). The pneumatic finger (6b) has at least three fingers, and each finger is respectively connected to the chuck (6d) through a connecting rod (6c). All the chucks (6d) respectively clamp the outer circle of the chassis (1a) to form a fixation.

10. An automated metallographic inspection system based on a double-positioning tray according to claim 1, characterized in that: The visual positioning device (5) includes a workbench (5a), a support column (5b), an industrial camera (5c), and a light source (5d). The support column (5b) and the second positioning mechanism (9) are respectively fixed on the workbench (5a). The industrial camera (5c) and the light source (5d) are respectively fixed on the support column (5b). The industrial camera (5c), the light source (5d), and the second positioning mechanism (9) are sequentially arranged at intervals from top to bottom, and both the industrial camera (5c) and the light source (5d) face the second positioning mechanism (9).

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