A robot clamping device for pneumatic sampling

Abstract

The present invention provides a robotic clamp device for pneumatic sample delivery and sampling, comprising a clamp body, the clamp body including clamps symmetrically arranged on left and right sides, one end of each clamp connected to a clamp control mechanism, the clamp control mechanism controlling the opening or closing of the two clamps, and the clamp control mechanism connected to a robot via a connector; a suction cup, an object detection sensor, and a temperature sensor connected to the outside of one of the clamps, the detection end of the temperature sensor being arranged toward the adsorption end of the suction cup; a junction box, a solenoid valve group disposed within the junction box, the solenoid valve group being electrically connected to the clamp control mechanism, and a position detection sensor disposed on the outer wall of the junction box. The present invention can simultaneously meet the sample suction function and the sample box clamping function, can ensure the stability of the working state, and is suitable for application in laboratory chemical analysis automatic lines in fields such as steel, cement, and chemical industry.

Description

Technical Field

[0001] The present invention relates to the technical field of pneumatic sample delivery, and in particular to a robot clamping device used for pneumatic sample delivery and sampling. Background Art

[0002] To ensure consistent product quality, industries like metallurgy, cement, and foundry require rapid sampling, delivery, analysis, and testing, along with timely feedback of results, during the entire process. To address this, factories often use pneumatic sample delivery systems to quickly transport samples between production workshops and laboratories. In these systems, robots are typically used to transport samples or sample boxes, and the robot's clamping mechanism plays a crucial role. However, existing robotic clamping mechanisms are unable to simultaneously absorb and grip samples or sample boxes, limiting their usefulness. Therefore, improvements to this technology are urgently needed. Summary of the Invention

[0003] The object of the present invention is to provide a robot clamping device for pneumatic sample delivery and sampling, so as to solve some problems existing in the prior art.

[0004] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: a robotic clamp device for pneumatic sampling and delivery, comprising: a clamp body, the clamp body comprising clamps symmetrically arranged on the left and right sides, one end of the two clamps being connected to a clamp control mechanism, the clamp control mechanism controlling the opening or closing of the two clamps, the clamp control mechanism being connected to the robot through a connecting piece; a suction cup, an object detection sensor and a temperature sensor being connected to the outer side of one of the clamps, the detection end of the temperature sensor being arranged toward the adsorption end of the suction cup; a junction box, a solenoid valve group being arranged in the junction box, the solenoid valve group being electrically connected to the clamp control mechanism, and a position detection sensor being arranged on the outer side wall of the junction box.

[0005] Furthermore, the clamp control mechanism is a wide air gripper, a pneumatic finger or a gear rack symmetrical linear mechanism.

[0006] Furthermore, the connecting piece is a connecting flange or a quick robot end.

[0007] Furthermore, the suction cup is one of a vacuum suction cup, a Bernoulli suction cup or an electromagnetic suction cup.

[0008] Furthermore, when the suction cup is a vacuum suction cup, a vacuum generator is provided inside the junction box, and the vacuum generator is connected to the vacuum suction cup and the solenoid valve group.

[0009] Furthermore, the object detection sensor is a suction cup sensor or a proximity sensor.

[0010] Furthermore, the position detection sensor is a pressure switch or a pneumatic position confirmation switch.

[0011] After adopting the above technical solution, compared with the existing technology, it has the following beneficial effects: it can simultaneously meet the sample absorption function and the sample box clamping function, can ensure the stability of the working state, and is suitable for application in laboratory chemical analysis automatic lines in fields such as steel, cement, and chemical industry, and has great promotion value. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the clamp body 1 of the present invention;

[0014] Figure 2 This is a front view of the clamp body 1 of the present invention;

[0015] Figure 3 is a top view of the clamp body 1 of the present invention;

[0016] Figure 4 It is a schematic diagram of the three-dimensional structure of the junction box 2 in the present invention;

[0017] Figure 5 It is a left side view of the junction box 2 of the present invention;

[0018] Figure 6 It is a front view of the junction box 2 in the present invention.

[0019] Explanation of the accompanying symbols: 1. Clamp body; 11. Clamp; 12. Wide air gripper; 13. Connecting flange; 14. Vacuum suction cup; 15. Suction cup sensor; 16. Temperature sensor; 2. Junction box; 21. Vacuum generator; 22. Solenoid valve group; 23. Pressure switch. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0021] In view of the problems existing in the prior art, the present invention provides a robot clamping device for pneumatic sample delivery and sampling. The present invention is described in detail below with reference to the accompanying drawings.

[0022] See Figures 1-6 As shown, the technical solution adopted in this specific embodiment is: a robot clamp device for pneumatic sampling and delivery consists of a clamp body 1 and a junction box 2, the clamp body 1 includes clamps 11 symmetrically arranged on the left and right sides, one end of the two clamps 11 is connected to a wide air gripper 12, and the two clamps 11 are controlled by the wide air gripper 12 to realize the opening and closing actions, and the wide air gripper 12 is connected to the robot through a connecting flange 13.

[0023] A vacuum suction cup 14, a suction cup sensor 15, and a temperature sensor 16 are connected to the outside of one of the clamps 11. The vacuum suction cup 14 and the outer wall of the clamp 11 to which it is connected are perpendicular to each other, with the suction port of the vacuum suction cup 14 facing vertically downward. The vacuum suction cup 14 uses negative pressure airflow to draw the sample from the sample box. The suction cup sensor 15 is a photoelectric sensor used to detect the correct position of the vacuum suction cup 14 when drawing the sample. The detection end of the temperature sensor 16 is positioned toward the suction end of the vacuum suction cup 14.

[0024] The junction box 2 includes a vacuum generator 21 disposed within the box body. The vacuum generator 21 is connected to the vacuum suction cup 14. A solenoid valve assembly 22 is also disposed within the junction box 2. The solenoid valve assembly 22 is used to control the operation of the wide air gripper 12 and the vacuum generator 21. A pressure switch 23 is connected to the outer wall of the junction box 2. The pressure switch 23 is used to detect negative pressure.

[0025] It should be specifically explained that a groove is provided on the clamping surface of the clamp 11 , and the groove has an integrally formed anti-slip pattern.

[0026] The clamping device can absorb samples of various shapes and appearances, including but not limited to molten iron samples, racket-shaped steel samples, and stamp-shaped samples. The action and control process of the clamping device to absorb the sample are as follows:

[0027] S1, the solenoid valve group 22 controls the wide air gripper 12 to be in a closed state;

[0028] S2. After the robot moves into position, the suction cup sensor 15 detects the position of the vacuum suction cup 14. If the robot posture or the sample posture is incorrect, the suction cup sensor 15 returns an abnormal signal and will not perform subsequent operations.

[0029] S3, the solenoid valve group 22 controls the vacuum generator 21 to generate negative pressure, and the vacuum suction cup 14 sucks the sample; at this time, the pressure switch 23 detects the vacuum pressure. If it does not meet the set value, it will return an abnormal signal and interrupt the operation;

[0030] S4: The robot moves to transfer the sample. During this period, the pressure switch 23 continuously detects the vacuum pressure to ensure that the vacuum cup 14 is in a correct suction state. At the same time, the temperature sensor 16 detects the sample and transmits the parameters to the upstream system.

[0031] S5. After the sample reaches the designated position, the electromagnetic valve group 22 controls the vacuum generator 21 to stop working; the vacuum suction cup 14 loses vacuum and separates from the sample.

[0032] The clamping device can clamp automatic sample boxes, including but not limited to automatic steel sample boxes, automatic iron sample boxes, automatic slag sample boxes, and automatic gas sample boxes. The action and control process of the clamping device clamping the sample box are as follows:

[0033] S1, the solenoid valve group 22 controls the wide air claw 12 to be in the open state;

[0034] S2: After the robot moves to its designated position, the solenoid valve group 22 controls the wide air gripper 12 to close;

[0035] S3, the robot moves to transfer the sample box;

[0036] S4. After the sample box reaches the designated position, the solenoid valve group 22 controls the wide air gripper 12 to open and separate from the sample box.

[0037] It should be noted that the wide air gripper 12 can also be replaced by a pneumatic finger or a gear rack symmetrical linear mechanism. (Clamp opening and closing control device)

[0038] The connecting flange 13 can be replaced by a quick robot end. (Connector)

[0039] The vacuum chuck 14 can also be replaced by a Bernoulli chuck or an electromagnetic chuck. (Chuck)

[0040] The suction cup sensor may be replaced by a proximity sensor.

[0041] The pressure switch 23 can be replaced by a pneumatic position confirmation switch.

[0042] Specifically, the solenoid valve assembly 22 has multiple threaded connections and is equipped with a muffler to reduce noise and improve the workshop environment. A T-shaped pipe joint is also located inside the junction box 2. One end of the T-shaped pipe joint is connected to one end of the pressure switch 23 or the pneumatic position confirmation switch, and the other end is connected to the vacuum generator 21.

[0043] This device automates the placement and retrieval of specimens and sample boxes, making it suitable for use in industrial automation production lines, such as automated chemical analysis lines in laboratories in the steel, cement, and chemical industries. Automated lines must handle a wide variety of specimens in various shapes and sizes, making the functional integration of the gripping device crucial. This device can reliably handle the suction, gripping, and transfer of a variety of common metal specimens and sample boxes. It is equipped with multiple safety features, and all pneumatic components are monitored by sensors to ensure proper operation.

[0044] In the description of the present invention, unless otherwise specified, “plurality” means two or more; the orientations or positional relationships indicated by terms such as “upper”, “lower”, “left”, “right”, “inside”, “outside”, “front end”, “rear end”, “head” and “tail” are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0045] The above description is only used to illustrate the technical solution of the present invention and is not intended to limit it. Other modifications or equivalent substitutions made to the technical solution of the present invention by ordinary technicians in this field should be included in the scope of the claims of the present invention as long as they do not depart from the spirit and scope of the technical solution of the present invention.

Claims

1. A robot clamping device for pneumatic sampling, characterized in that: include: A clamp body, the clamp body including clamps symmetrically arranged on the left and right sides, one end of the two clamps being connected to a clamp control mechanism, the clamp control mechanism controlling the opening or closing of the two clamps, the clamp control mechanism being connected to the robot via a connector, the clamps clamping the sampling box; a suction cup, an object detection sensor, and a temperature sensor being connected to the outer side of one of the clamps, the detection end of the temperature sensor being arranged toward the adsorption end of the suction cup, and the suction cup sucking the sample; A junction box is provided with a solenoid valve group, the solenoid valve group is electrically connected to the clamp control mechanism, and a position detection sensor is provided on the outer side wall of the junction box.

2. The robot clamping device for pneumatic sampling according to claim 1 is characterized in that: The clamp control mechanism is a wide air gripper, a pneumatic finger or a gear rack symmetrical travel linear mechanism.

3. The robot clamping device for pneumatic sampling according to claim 1 is characterized in that: The connecting piece is a connecting flange or a quick robot end.

4. The robot clamping device for pneumatic sampling according to claim 1 is characterized in that: The suction cup is one of a vacuum suction cup, a Bernoulli suction cup or an electromagnetic suction cup.

5. The robot clamping device for pneumatic sampling according to claim 4 is characterized in that: When the suction cup is a vacuum suction cup, a vacuum generator is provided inside the junction box, and the vacuum generator is connected to the vacuum suction cup and the electromagnetic valve group.

6. The robot clamping device for pneumatic sampling according to claim 1 is characterized in that: The object detection sensor is a suction cup sensor or a proximity sensor.

7. The robot clamping device for pneumatic sampling according to claim 1 is characterized in that: The position detection sensor is a pressure switch or a pneumatic position confirmation switch.

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