An automated sampling production line

Abstract

The application discloses an automatic sampling production line, which comprises a package barrel appearance inspection unit, a package barrel bolt dismounting unit, a package barrel clamp dismounting unit, a package barrel cover dismounting unit and a sampling unit which are sequentially arranged on a conveying roller way. Through the work of the above-mentioned unit stations, the application realizes unmanned sampling of nuclear raw materials, reduces the safety risk brought to the operator by radioactive material sampling, improves the nuclear energy production efficiency, and the efficient, automatic and unmanned sampling production line improves the sampling quality and analysis result, and is adapted to the nuclear energy automation production requirement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of sampling of barrel nuclear raw materials, in particular to an automatic sampling production line. BACKGROUND

[0002] Energy is a guarantee resource for the development of human society and economy, and nuclear energy, as a clean, safe, reliable, economic and mature energy, is an inevitable choice for the sustainable development of human society and economy. In the production process of nuclear energy related raw materials, the material quality is extremely harsh, and each barrel of raw material needs to be sampled and analyzed and the data is recorded to ensure the safety and controllability of production. At present, for the sampling and analysis of barrel nuclear raw materials, the opening, sampling and other work are basically manually operated. Nuclear raw materials are radioactive, and manual sampling method makes the risk of radiation pollution of operators high, which causes certain damage to the health of operators, and the efficiency is low, the weight of the sampled core cannot be accurately determined, and the sampled core cannot fully represent the actual quality of the raw materials at different depths, and the analysis results of the sampled core are greatly affected by personal experience and the depth of the sampled raw materials. Therefore, the manual opening and sampling process has poor production environment and low automation, which cannot meet the increasing production capacity demand. SUMMARY

[0003] Therefore, in view of the shortcomings of the prior art, the present application provides an automatic sampling production line to overcome the disadvantages of the manual opening and sampling process in the prior art, reduce the participation of manual labor in the sampling process, reduce the safety risk of operators, improve the production efficiency, and meet the production requirements of automatic sampling.

[0004] To solve the above technical problems, the technical scheme provided by the present application is as follows:

[0005] An automatic sampling production line comprises a packaging barrel appearance inspection unit, a packaging barrel bolt dismounting unit, a packaging barrel clamp dismounting unit, a packaging barrel cover dismounting unit and a sampling unit arranged in sequence on a conveying roller. The packaging barrel appearance inspection unit inspects the appearance of the barrel to be sampled, so that the subsequent bolt dismounting, clamp dismounting and cover dismounting actions can be performed even if the appearance is deformed. The barrel that passes the inspection of the packaging barrel appearance inspection unit is sequentially subjected to the actions of the packaging barrel bolt dismounting unit, the packaging barrel clamp dismounting unit and the packaging barrel cover dismounting unit to complete the opening action of the barrel, and then the sampling unit performs the sampling operation of the nuclear raw material in the barrel. After the sampling is completed, the actions of the packaging barrel cover dismounting unit, the packaging barrel clamp dismounting unit and the packaging barrel bolt dismounting unit are performed to complete the closing action of the barrel, thereby completing the automatic opening, sampling and closing operations of the barrel and realizing the automatic production of the sampling operation.

[0006] Further, the above-mentioned package barrel appearance inspection unit comprises a package barrel centering positioning device and a visual device, the package barrel centering positioning device comprises clamping arms symmetrically arranged on the side of the package barrel for clamping the package barrel and a rotating support base for lifting the package barrel away from the roller, and the visual device comprises an intelligent camera. Further, the clamping arm is internally provided with a driving wheel.

[0007] The clamping arm of the package barrel centering positioning device clamps the round barrel and aligns the axis of the round barrel with the center of the two clamping arms during clamping, positions the round barrel, and then the rotating support base is lifted to lift the round barrel away from the roller. The driving wheel arranged in the clamping arm rotates to rotate the round barrel along the axis, and the intelligent camera arranged at the top of the round barrel takes photos of the top of the round barrel at all times and synchronously compares the taken photos with the standard clamp to judge whether the shape of the taken clamp is deformed in real time. When the round barrel is rotated to the position of the clamp bolt, the same principle is used to judge whether the shape of the bolt is deformed. Through the detection of the visual device, the round barrel with deformed clamp and bolt can be defined as defective products and stored separately in the subsequent station, enter the temporary storage station, and at the same time, the qualified round barrel enters the automatic cover opening sampling station.

[0008] Further, the above-mentioned package barrel bolt dismounting unit comprises an industrial robot and a bolt assembly tool head assembled on the industrial robot.

[0009] The above-mentioned package barrel clamp dismounting unit comprises an industrial robot and a clamp assembly tool head assembled on the industrial robot.

[0010] The above-mentioned package barrel cover dismounting unit comprises an industrial robot and a barrel cover assembly tool head assembled on the industrial robot.

[0011] The above-mentioned sampling unit comprises an industrial robot and a sampling tool head assembled on the industrial robot.

[0012] The industrial robot is a multi-joint mechanical hand or multi-degree-of-freedom machine device for the industrial field, which can automatically perform work and is a machine that realizes various functions by its own power and control ability.

[0013] The bolt assembly tool head is a tool for automatically dismounting and mounting the connecting bolt of the clamp, and its structure mainly comprises a pressing mechanism, a clamping mechanism, a bolt power head and the like. The pressing mechanism and the clamping mechanism are fixedly connected to the bottom plate, and the bolt power head is connected to the pressing mechanism and the clamping mechanism fixedly connected to the bottom plate. Before dismounting the bolt, the nut is clamped to keep the nut fixed during dismounting, facilitating the dismounting of the bolt. The pressing mechanism carries the bolt power head to realize the dismounting and mounting of the bolt.

[0014] The clamp assembly tool head is a tool for automatically disassembling the clamp, which comprises a moving mechanism and a righting mechanism fixed on the frame symmetrically, and a pressing mechanism fixed on the frame, and a clamping head connected to the moving mechanism. The clamping head is responsible for fixing the bolt interface of the clamp, and after the bolt is removed, the clamp bolt interface is pulled open to make the clamp separate from the barrel mouth. The righting mechanism is responsible for righting the clamp to prevent it from shaking up and down during the opening process. The pressing mechanism is responsible for pressing the barrel cover to prevent the barrel cover from moving.

[0015] The barrel cover assembly tool head is a tool for automatically disassembling the barrel cover, which mainly comprises a limiting pin and a suction cup. The suction cup adsorbs and pulls the barrel cover upward, and the limiting pin is used to limit the movement of the barrel cover during the adsorption process of the suction cup.

[0016] The sampling tool head is a tool for automatically sampling the barrel nuclear raw material. Its structure can be the spiral sampler structure disclosed in the patent CN110361228A, or the sampling tool structure disclosed in the patent with the same name "a sampler and an automatic sampling equipment" applied by the applicant on the same day, which comprises a support, a servo motor, a sampling column and a sampling shell. The servo motor and the sampling shell are fixed on the support respectively, the sampling column is sleeved in the sampling shell and connected with the servo motor, a sampling groove is formed in the sampling column, a sampling port is formed in the sampling shell, and a vibrator is installed at the end of the sampling shell. The servo motor drives the sampling column to rotate, so that the sampling port of the sampling groove on the sampling column is closed by the sampling shell to form a closed chamber with a certain volume for containing sample powder, thereby completing the quantitative sampling operation.

[0017] Of course, the bolt assembly tool head, the clamp assembly tool head, the barrel cover assembly tool head and the sampling tool head in the present application are not limited to the above structures. Any tool head capable of automatically disassembling the bolt, the clamp and the barrel cover and sampling the barrel nuclear raw material in the prior art can be used as the tool head of the present application.

[0018] The present application realizes the automatic opening of the nuclear raw material barrel cover and sampling by using the industrial robot with different tool heads.

[0019] Further, the bolt assembly tool head, the clamp assembly tool head, the barrel cover assembly tool head and the sampling tool head are connected with the industrial robot through the robot tool quick change device. The robot tool quick change device is a general product in the market, which can connect different media such as gas, electrical signal, liquid, video and ultrasonic wave from the robot arm to the end tool head, realize the quick switching between various tool heads, and make the application of the robot more flexible. The robot tool quick change device comprises a robot side for being installed on the robot arm, and a tool side for being installed on the end tool head, which quickly realizes the communication of electricity, gas and liquid between the robot and the execution tool.

[0020] Further, the conveying roller is provided with a transplanting device capable of changing the direction of the roller. The transplanting device comprises a transplanting roller, a roller rotating mechanism for driving the rotation of the transplanting roller, and a roller shaft driving mechanism for driving the rotation of the roller shaft. The conveying roller is used for conveying the barrels at each working station of the sampling production line, effectively connecting each working station to form an automatic system for mutual cooperation between the working stations. The transplanting device is used for changing the conveying direction of the barrels, so that the barrels detected as defective products by the appearance inspection unit of the packaged barrels are conveyed to the temporary storage roller, thereby avoiding the influence of the defective barrels on the operation of the sampling production line.

[0021] Compared with the prior art, the automatic sampling production line provided by the present application realizes unmanned sampling of nuclear raw materials, reduces the safety risks brought by sampling of radioactive materials to the operators, and improves the nuclear energy production efficiency. The efficient, automatic and unmanned sampling production line improves the sampling quality and analysis results, and is suitable for the requirements of nuclear energy automation production. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 The structure schematic diagram of the automatic sampling production line provided by the present application is shown in Fig. 1.

[0023] Figure 2 The structure schematic diagram of the automatic sampling production line provided by the present application is shown in Fig. 1. Figure 1 The structure schematic diagram of the automatic sampling production line provided by the present application is shown in Fig. 1.

[0024] Figure 3 The structure schematic diagram of the packaging barrel centering and positioning device provided by the present application is shown in Fig. 4.

[0025] Figure 4 The structure schematic diagram of the vision device provided by the present application is shown in Fig. 5.

[0026] Figure 5 The structure schematic diagram of the transplanting device provided by the present application is shown in Fig. 6.

[0027] Figure 6 The structure schematic diagram of the conveying roller provided by the present application is shown in Fig. 7.

[0028] Figure 7 The structure schematic diagram of the packaging barrel bolt dismounting device provided by the present application is shown in Fig. 8.

[0029] Figure 8 The structure schematic diagram of the packaging barrel clamp dismounting device provided by the present application is shown in Fig. 9.

[0030] Figure 9 The structure schematic diagram of the packaging barrel cover dismounting device provided by the present application is shown in Fig. 10.

[0031] Figure 10Structure diagram of the sampling device provided in Embodiment 1 of the present application;

[0032] Figure 11 Structure diagram of the bolt assembly tool head provided in Embodiment 1 of the present application;

[0033] Figure 12 Structure diagram of the clamp assembly tool head provided in Embodiment 1 of the present application;

[0034] Figure 13 Structure diagram of the barrel cover assembly tool head provided in Embodiment 1 of the present application;

[0035] Figure 14 Structure diagram of the sampling tool head provided in Embodiment 1 of the present application.

[0036] Markings in the figure:

[0037] 1-first conveying roller table; 2-first centering positioning device; 3-vision device; 4-second centering positioning device; 5-packaging barrel bolt dismounting device; 6-packaging barrel clamp dismounting device; 7-first tool head storage rack; 8-third centering positioning device; 9-packaging barrel barrel cover dismounting device; 10-sampling device; 11-second tool head storage rack; 12-sample core collecting device; 13-first transfer device; 14-second transfer device; 15-third transfer device; 16-second conveying roller table; 17-fourth transfer device; 18-fifth transfer device; 19-sixth transfer device; 20-third conveying roller table; 21-fourth conveying roller table; 22-fifth conveying roller table;

[0038] 101-roller shaft driving mechanism; 102-roller shaft; 103-side plate; 104-fixed support;

[0039] 201-transfer roller table; 202-roller table rotating mechanism; 203-roller shaft driving mechanism; 2011-side plate; 2012-roller shaft; 204-rotating base;

[0040] 301, 302-clamping arms; 303-rotating support base; 304-driving wheel; 305-lifting screw rod;

[0041] 401-intelligent camera; 402-mounting arm;

[0042] 501, 601, 701, 801-bases; 502, 602, 702, 802-industrial robots; 504, 604, 704, 804-robot tool quick-change devices; 503-bolt assembly tool head; 603-clamp assembly tool head; 703-barrel cover assembly tool head; 803-sampling tool head;

[0043] 5031 - pressing mechanism; 5032 - clamping mechanism; 5033 - bolt power head; 5034 - base plate;

[0044] 6031 - frame; 6032 / 6033 - moving mechanism; 6034 / 6035 - righting mechanism; 6036 - pressing mechanism; 6037 / 6038 - clamping head; 6039 - clamp;

[0045] 7031 - base plate; 7032 - limit pin; 7033 - suction cup;

[0046] 8031 - support; 8032 - servo motor; 8033 - vibrator; 8034 - sampling shell; 8035 - sampling column. DETAILED DESCRIPTION

[0047] In order to make the technical personnel in the art better understand the technical solutions of the present application, the present application will be further described in detail below in combination with the drawings and specific embodiments. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0048] Example 1: see Figure 1 , Figure 2The embodiment provides an automatic sampling production line, which comprises a first conveying roller way 1 for conveying a nuclear raw material barrel, a first centering positioning device 2, a vision device 3, a second centering positioning device 4, a packaging barrel bolt dismounting device 5, a packaging barrel clamp dismounting device 6, a first tool head storage rack 7, a third centering positioning device 8, a packaging barrel cover dismounting device 9, a sampling device 10, a second tool head storage rack 11 and a sample core collecting device 12 which are sequentially arranged on both sides of the first conveying roller way 1 along a roller conveying direction, a first transplanting device 13 is arranged on the first conveying roller way 1 between the first centering positioning device 2 and the second centering positioning device 4, a second transplanting device 14 is arranged on the first conveying roller way 1 between the second centering positioning device 4 and the third centering positioning device 8, and a third transplanting device 15 is arranged on the first conveying roller way 1 between the third centering positioning device 8 and an output port of the first conveying roller way. A second conveying roller way 16 parallel to the first conveying roller way 1 is arranged outside the first conveying roller way 1, a fourth transplanting device 17, a fifth transplanting device 18 and a sixth transplanting device 19 are arranged on the second conveying roller way 2 and correspond to positions of the first transplanting device 13, the second transplanting device 14 and the third transplanting device 15 on the first conveying roller way 1 respectively, the first transplanting device 13 and the fourth transplanting device 17 are connected through a third conveying roller way 20, the second transplanting device 14 and the fifth transplanting device 18 are connected through a fourth conveying roller way 21, and the third transplanting device 15 and the sixth transplanting device 19 are connected through a fifth conveying roller way 22.

[0049] The sampling production line in the embodiment uses conveying roller ways to realize the function of conveying the barrel between working stations, the conveying roller ways effectively connect the working stations to form an automatic system in which the working stations cooperate with each other. The conveying roller ways in the embodiment comprise the first conveying roller way 1, the second conveying roller way 16, the third conveying roller way 20, the fourth conveying roller way 21 and the fifth conveying roller way 22, and the structure is shown in Figure 6 The conveying roller way is composed of a roller shaft driving mechanism 101, roller shafts 102, side plates 103, fixed supports 104 and the like, a plurality of roller shafts are installed on the side plates, the side plates are fixed on the fixed supports, and the roller shaft driving mechanism is fixed on the side of the side plate. In the embodiment, the roller shaft driving mechanism 101 adopts a roller shaft driving motor.

[0050] The sampling production line in the embodiment uses transplanting devices to change the conveying direction of the barrel, and the structure is shown in Figure 5As shown, the transplanting device includes a transplanting roller 201, a roller rotation mechanism 202 for driving the rotation of the transplanting roller, and a roller shaft driving mechanism 203 for driving the rotation of the roller shaft of the transplanting roller. The transplanting roller 201 includes a side plate 2011 and a plurality of roller shafts 2012 fixed on the side plate. The roller shaft driving mechanism 203 is fixed on the side plate 2011. The side plate is fixed on a rotating base 204. The rotating base 204 is fixed with the roller rotation mechanism 202. In this embodiment, the roller rotation mechanism 202 is a roller rotation motor, and the roller shaft driving mechanism 203 is a roller shaft driving motor. The roller shaft driving motor provides power for the rotation of the roller shaft, and the barrel is transmitted from one end of the roller to the other end. The roller rotation motor drives the rotation of the transplanting device along the central axis, changes the transmission direction of the barrel, and transmits the barrel to different stations. In this embodiment, the transplanting device includes a first transplanting device 13, a second transplanting device 14, a third transplanting device 15, a fourth transplanting device 17, a fifth transplanting device 18, and a sixth transplanting device 19.

[0051] In this embodiment, the sampling production line uses a packaging barrel centering and positioning device and a vision device 3 to detect the appearance of the packaging barrel, so as to avoid the deformation of the appearance, which causes the subsequent bolt, clamp, and barrel cover disassembly actions to be unable to be performed. Referring to Figure 3 , the packaging barrel centering and positioning device includes clamping arms 301 and 302 symmetrically arranged on the side of the packaging barrel for clamping the packaging barrel, and a rotating support base 303 for lifting the packaging barrel away from the roller. When the barrel reaches the set position, the clamping arms 301 and 302 clamp the outside of the barrel at the same time, and the barrel axis is aligned with the centers of the two clamping arms during the clamping process, so as to position the barrel. Then the rotating support base 303 is lifted to lift the barrel away from the roller. Both clamping arms are provided with a driving wheel 304, which can make the barrel rotate freely along the axis when the driving wheel rotates. In this embodiment, the rotating support base 303 can be lifted and lowered by a lifting screw 305. Referring to Figure 4, the visual device 3 is mainly composed of an intelligent camera 401 and a mounting arm 402. The intelligent camera 401 is installed at the end of the L-shaped mounting arm 402. When the drum reaches the position, the drum is centered and positioned by the centering positioning device, then the lifting screw 305 lifts the drum, and then slowly rotates the drum along its axis. The intelligent camera 401 takes pictures of the hoop at the top of the drum at all times, and synchronously compares the photographed pictures with the standard hoop to judge whether the shape of the photographed hoop is deformed in real time. When the drum rotates to the bolt position of the hoop, the same principle is used to judge whether the shape of the bolt is deformed. Through the above visual detection, the drum with deformed hoop and bolt can be defined as defective products, and stored separately in the subsequent station, into the temporary storage station, and the qualified drum enters the automatic cover opening sampling station. In this embodiment, the first centering positioning device 2 and the visual device 3 form a packaging barrel appearance inspection unit to detect the appearance of the packaging barrel. The second centering positioning device 4 is used in the packaging barrel bolt dismounting unit and the packaging barrel hoop dismounting unit to position and fix the packaging barrel. The third centering positioning device 8 is used in the packaging barrel cover dismounting unit and the sampling unit to position and fix the packaging barrel. The structures of the first centering positioning device 2, the second centering positioning device 4 and the third centering positioning device 8 are the same as those of the packaging barrel centering positioning device shown in Figure 3 .

[0052] Referring to Figure 7 , the packaging barrel bolt dismounting device 5 described in this embodiment includes an industrial robot 502 fixed on a base 501 and a bolt assembly tool head 503 assembled on the industrial robot 502. The bolt assembly tool head 503 is connected with the industrial robot 502 through a robot tool quick change device 504.

[0053] Referring to Figure 8 , the packaging barrel hoop dismounting device 6 described in this embodiment includes an industrial robot 602 fixed on a base 601 and a hoop assembly tool head 603 assembled on the industrial robot 602. The hoop assembly tool head 603 is connected with the industrial robot 602 through a robot tool quick change device 604.

[0054] Referring to Figure 9 , the packaging barrel cover dismounting device 9 described in this embodiment includes an industrial robot 702 fixed on a base 701 and a cover assembly tool head 703 assembled on the industrial robot 702. The cover assembly tool head 703 is connected with the industrial robot 702 through a robot tool quick change device 704.

[0055] Referring to Figure 10The sampling device 10 in the embodiment includes an industrial robot 802 fixed on a base 801 and a sampling tool head 803 assembled on the industrial robot 802. The sampling tool head 803 is connected with the industrial robot 802 through a robot tool quick-change device 804.

[0056] The industrial robots 502, 602, 702 and 802 are all six-axis industrial robots with a load of 50 Kg and standardized products.

[0057] The robot tool quick-change devices 504, 604, 704 and 804 include a robot quick-change device and a tool quick-change device. The robot quick-change device is installed at the end of the sixth axis of the industrial robot, and the tool quick-change device is installed at the end of the tool head. Through the connection of the robot tool quick-change device, the quick switching between various tool heads can be realized.

[0058] Referring to Figure 11 The bolt assembly tool head 503 includes a pressing mechanism 5031, a clamping mechanism 5032 and a bolt power head 5033. The pressing mechanism 5031 and the clamping mechanism 5032 are fixedly connected on a bottom plate 5034, the bolt power head 5033 is connected with the pressing mechanism 5031, and the tool quick-change device of the robot tool quick-change device 504 is installed on the bottom plate 5034. When disassembling the bolt on the clamp, the clamping mechanism 5032 clamps the nut to keep the nut fixed during the disassembly process, the pressing mechanism 5031 fixes the clamp to prevent the clamp from moving during the disassembly process, and the bolt power head 5033 rotates forward or reversely to realize the disassembly or assembly of the bolt.

[0059] Referring to Figure 12 The clamp assembly tool head 603 includes moving mechanisms 6032 and 6033 and righting mechanisms 6034 and 6035 which are symmetrically fixed on a rack 6031, and a pressing mechanism 6036 fixed on the rack 6031. The moving mechanism 6032 is connected with a clamping head 6037, and the moving mechanism 6033 is connected with a clamping head 6038. When disassembling the clamp, the bolt assembly tool head 503 has removed the bolts of the bolt interface of the clamp, the pressing mechanism 6036 is responsible for pressing the barrel cover to prevent the barrel cover from moving, the clamping head 6037 and the clamping head 6038 are responsible for fixing the bolt interface of the clamp 6039, the moving mechanism 6032 and the moving mechanism 6033 reversely move to pull apart the bolt interface of the clamp 6039, so that the clamp is separated from the barrel opening to realize the disassembly of the clamp. The righting mechanisms 6034 and 6035 are responsible for righting the clamp to prevent the clamp from shaking up and down during the opening of the clamp. Similarly, the moving mechanism 6032 and the moving mechanism 6033 move towards each other to assemble the clamp to the barrel.

[0060] Referring to Figure 13The bucket cover assembly tool head 703 includes a limiting pin 7032 and a suction cup 7033 mounted on the bottom plate 7031, the suction cup 7033 adsorbs the bucket cover and pulls it upward to realize automatic opening of the bucket cover of the round barrel, and the suction cup 7033 can also place the bucket cover on the barrel mouth of the round barrel to realize automatic closing of the bucket cover of the round barrel, and the limiting pin 732 is used to limit the movement of the bucket cover during the adsorption process of the suction cup.

[0061] Referring to Figure 14 The sampling tool head 803 includes a support 8031, a servo motor 8032, a sampling column 8035 and a sampling shell 8034, the servo motor 8032 and the sampling shell 8034 are fixed on the support 8031 respectively, the sampling column 8035 is sleeved in the sampling shell 8034 and connected with the servo motor 8032, the sampling column 8035 is provided with a sampling groove, the sampling shell 8034 is provided with a sampling port, and the end of the sampling shell 8034 is provided with a vibrator 8033. The servo motor 8032 drives the sampling column 8035 to rotate, so that the sampling shell can close the groove of the sampling groove on the sampling column 8035 to form a certain volume of closed cavity for accommodating sample powder and completing quantitative sampling operation. In use, the servo motor rotates the sampling column to make the sampling groove overlap with the sampling port of the sampling shell, the sampling groove is in an open state, the sampling tool head is inserted into the round barrel to a specified depth, and the sampling tool head is rotated forward and backward to make the sample powder fully enter the sampling groove. After sampling is completed, the servo motor rotates the sampling column again to make the groove of the sampling groove deviate from the sampling port of the sampling shell, so that the sampled sample is closed in the cavity. The sampling tool head is inserted into a specified container, the sampling column is rotated to make the sampling groove overlap with the sampling port of the sampling shell, the sampling groove is in an open state, the vibrator is turned on to pour the sample into the container, and automatic sampling is completed.

[0062] The sampling process of the sampling production line provided in the embodiment will be described below by taking sampling of uranium raw material (U3O8) as an example.

[0063] The round barrel to be sampled is manually transported to the first transmission roller 1, positioned by the first centering positioning device 2, and subjected to appearance detection of the hoop and bolts on the top of the round barrel by the visual device 3. If abnormalities are found, the round barrel is made to enter the temporary storage area through the first transplanting device 13, the third transmission roller 20, the fourth transplanting device 17 and the second transmission roller 16.

[0064] The round barrel that passes the detection of the visual device 1 is made to enter the second centering positioning device 4 by the first transplanting device 13, and the bolt dismounting and hooping dismounting devices 5 and 6 are cooperated to automatically dismount the bolts and the hoop, the bolt assembly tool head 503 (with bolts) dismounted from the bolts and the hooping assembly tool head 603 (with a hoop) dismounted from the hoop are placed on the first tool head storage rack 7 for subsequent use.

[0065] The barrel with the bolts and the clamps disassembled continues to be transmitted forward to the third centering and positioning device 8, and the barrel is positioned by the third centering and positioning device 8. The barrel cover disassembling and assembling device 9 moves the barrel cover of the barrel, realizes automatic cover opening, then the sampling device 10 quantitatively takes out the sample core in the barrel, and the barrel cover disassembling and assembling device 9 covers the barrel. The sampling device 10 pours the quantitative sample core taken out into the sample core collecting device 12 for collection.

[0066] After the sampling is completed, the barrel cover disassembling and assembling device 9 and the sampling device 10 respectively place the barrel cover assembling tool head 703 and the sampling tool head 803 on the second tool head storage rack 11, and then the mechanical hands of the industrial robots of the barrel cover disassembling and assembling device 9 and the sampling device 10 respectively abut against the bolt assembling tool head 503 with the bolts and the clamp assembling tool head 603 with the clamps on the first tool head storage rack 7, and the clamps and the bolts are sequentially assembled to the top of the barrel, and the covering of the barrel is completed. The barrel covered is transferred into the subsequent station through the first transmission roller way 1.

[0067] In the bolt and clamp disassembling link, if the bolt or the clamp is not disassembled, the barrel can enter the temporary storage area through the second transplanting device 14, the fourth transmission roller way 21, the fifth transplanting device 18 and the second transmission roller way 16.

[0068] In the barrel covering link, if the barrel is not covered, the barrel can enter the temporary storage area through the third transplanting device 15, the fifth transmission roller way 22, the sixth transplanting device 19 and the second transmission roller way 16.

[0069] The above shows and describes the basic principles and main features of the present application and the advantages of the present application, and it is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be realized in other specific forms without departing from the spirit or basic features of the present application; therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application, and any reference signs in the claims should not be regarded as limiting the claims involved.

[0070] Although the embodiments of the present application have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to the embodiments without departing from the principles and spirits of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. An automated sampling production line characterized by: The package barrel appearance inspection unit, the package barrel bolt dismounting unit, the package barrel clamp dismounting unit, the package barrel cover dismounting unit and the sampling unit are sequentially arranged on the conveying roller way. The package barrel bolt dismounting unit comprises an industrial robot and a bolt assembling tool head assembled on the industrial robot, the bolt assembling tool head comprises a pressing mechanism, a clamping mechanism and a bolt power head, the pressing mechanism and the clamping mechanism are fixedly connected on a bottom plate, and the bolt power head is connected with the pressing mechanism. The package barrel clamp dismounting unit comprises an industrial robot and a clamp assembling tool head assembled on the industrial robot, the clamp assembling tool head comprises a moving mechanism and a righting mechanism which are fixedly arranged on a rack in a left-right symmetry mode, and a pressing mechanism fixedly arranged on the rack, and a clamping head connected on the moving mechanism. The package barrel cover dismounting unit comprises an industrial robot and a cover assembling tool head assembled on the industrial robot, the cover assembling tool head comprises a limiting pin and a suction cup. The sampling unit comprises an industrial robot and a sampling tool head assembled on the industrial robot. The conveying roller way is provided with a transplanting device capable of changing the direction of the roller way, the transplanting device comprises a transplanting roller way, a roller way rotating mechanism for driving the transplanting roller way to rotate and a roller shaft driving mechanism for driving the roller shaft of the transplanting roller way to rotate, the transplanting roller way comprises a side plate and a plurality of roller shafts fixedly installed on the side plate, the roller shaft driving mechanism is fixedly installed on the side surface of the side plate, the side plate is fixed on a rotating base, and the roller way rotating mechanism is fixedly installed on the rotating base.

2. An automated sampling line according to claim 1, characterized in that: The package barrel appearance inspection unit comprises a package barrel centering positioning device and a visual device, the package barrel centering positioning device comprises clamping arms arranged on the side surface of the package barrel for clamping the package barrel and a rotating support base for lifting the package barrel away from the roller way, and the visual device comprises an intelligent camera.

3. An automated sampling line according to claim 2, wherein: The clamping arm is provided with a driving wheel.

4. An automated sampling production line according to claim 1, characterized in that: The bolt assembling tool head, the clamp assembling tool head, the cover assembling tool head and the sampling tool head are connected with the industrial robot through a robot tool quick-change device.

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