Mineral sample putting workstation

Abstract

The invention belongs to the technical field of fire assaying, and discloses a mineral sample putting workstation which comprises a workbench, a feeding module and a manipulator are arranged on the workbench, and the feeding module comprises a lifting mechanism and a taking mechanism; the lifting mechanism is provided with a feeding layer and a discharging layer which are used for placing sample trays, the lifting mechanism is connected with the electric cylinder, and the electric cylinder is used for driving the lifting mechanism to move up and down on the workbench; the material taking mechanism comprises a conveying air cylinder, the conveying air cylinder is connected with a connecting frame, a binding air cylinder is arranged on the connecting frame, and a plug pin is arranged at the movable end of the binding air cylinder; a sample cup and a pin seat matched with the bolt are arranged on the sample tray; and an end effector is arranged on the manipulator. During use, only weighed sample trays need to be manually fed into the operation window, the whole process is automatically operated, the space utilization rate is high due to the integrated double-layer bin position design, and the putting process of the mechanical arm is stable and efficient.

Description

Technical Field

[0001] The invention belongs to the technical field of fire assaying, and in particular relates to a mineral sample placing workstation. Background Art

[0002] Fire assay is the application of geochemical principles to mineral exploration. The purpose is to use chemical methods to help customers locate the geographical location of sedimentary deposits and the extension of discovered deposits. Exploration geochemistry includes the analysis of the following samples: cores, rocks, river sediments, soils, glacial debris or vegetation, etc.

[0003] The main process steps of fire assay include sampling, melting, baking pan assay, weighing, gold and silver separation, weighing, etc. Among them, sample placement belongs to the melting stage, which is mainly the process of adding the sample and other solvents into the clay crucible and mixing them into the furnace for heating and melting. At present, the sample placement of fire assay is still done by manual weighing and placement. The weighed sample is added to the crucible containing the solvent with a cup and the residue on the inner wall of the cup is brushed with a brush; therefore, the cup and brush used for placement have residues, which cannot guarantee the consistency of the weighing data and the placement data, resulting in deviations in the experimental results; the sample placed in the crucible may stir up dust containing heavy metal ingredients, which will cause irreversible damage after inhalation by the human body. Although the operators are equipped with suction tables and masks, it is still difficult to completely avoid such damage; the degree of automation is low, and the efficiency of manual placement and transportation is low; the space used on site is large and the space utilization rate is low.

[0004] The above description of the background technology is only for facilitating an in-depth understanding of the technical solution of the present invention (such as the technical means used, the technical problems solved and the technical effects produced), and should not be regarded as an admission or any form of implication that the information constitutes prior art already known to those skilled in the art. Summary of the invention

[0005] The present invention aims to solve the above technical problems at least to a certain extent. To this end, the present invention aims to provide a mineral sample delivery workstation.

[0006] The technical solution adopted by the present invention is:

[0007] A mineral sample placement workstation comprises a workbench, on which a loading module and a manipulator are provided, the loading module comprising a lifting mechanism and a material taking mechanism; the lifting mechanism is provided with a loading layer and a lowering layer for placing a sample tray, the lifting mechanism is connected to an electric cylinder, and the electric cylinder is used to drive the lifting mechanism to move up and down on the workbench; the material taking mechanism comprises a conveying cylinder, the conveying cylinder is connected to a connecting frame, a binding cylinder is provided on the connecting frame, and a latch is provided on the movable end of the binding cylinder; a sample cup and a pin seat cooperating with the latch are provided on the sample tray; the manipulator is provided with an end effector, and the end effector comprises a cup lifting mechanism and a cup clamping mechanism.

[0008] Preferably, the upper material layer is provided with an upper layer blocker, an upper layer in-place sensor, an upper layer backstop and a height measuring sensor; the lower material layer is provided with a lower layer blocker, a lower layer in-place sensor and a lower layer backstop; the upper layer in-place sensor and the lower layer in-place sensor are used to detect whether the sample tray is in place, and the height measuring sensor is used to detect whether the sample tray is displaced too high.

[0009] Preferably, the sample tray is provided with an identification code, and the material loading layer is provided with a barcode scanner for reading the identification code. The workbench is provided with a weighing platform, and the weighing platform is located on one side of the manipulator.

[0010] Preferably, the material picking mechanism further comprises a material picking position sensor, and the material picking position sensor is arranged at the material picking position.

[0011] Preferably, the workbench is covered with a cover shell, and an operation window is provided on the cover shell opposite to the loading module. The cup clamping mechanism comprises a grabbing mechanical claw and a rotating assembly capable of driving the grabbing mechanical claw to rotate.

[0012] The beneficial effects of the present invention are:

[0013] A mineral sample delivery workstation provided by the present invention organically integrates robot technology, automatic control technology, sensor technology, etc. Manually, only the weighed sample tray is sent into the operation window. The entire workstation space is closed to prevent dust from escaping. The whole process is automatically operated. The integrated double-layer bin design has high space utilization, and the robot delivery process is stable and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the appearance of the mineral sample delivery workstation of the present invention.

[0015] Figure 2 It is a schematic diagram of the internal structure of the mineral sample delivery workstation of the present invention.

[0016] Figure 3 Schematic diagram of a sample tray of the present invention.

[0017] Figure 4 It is a schematic diagram of the feeding module of the present invention.

[0018] Figure 5 It is a schematic diagram of the lifting mechanism of the present invention.

[0019] Figure 6 It is a schematic diagram of the material taking mechanism of the present invention.

[0020] Figure 7 Schematic diagram of the end effector of the present invention.

[0021] In the figure: 1-workbench; 2-feeding module; 21-lifting mechanism; 210-barcode scanner; 211-feeding layer; 212-feeding layer; 213-upper layer blocker; 214-upper layer in-place sensor; 215-upper layer backstop; 216-height sensor; 217-lower layer blocker; 218-lower layer in-place sensor; 219-lower layer backstop; 22-material picking mechanism; 221-conveying cylinder; 222-connecting frame; 223-binding cylinder; 224-latch; 225-material picking in-place sensor; 3-manipulator; 31-end effector; 311-cup lifting mechanism; 312-cup clamping mechanism; 4-sample tray; 41-sample cup; 42-pin holder; 43-identification code; 5-electric cylinder; 6-weighing table; 7-cover. DETAILED DESCRIPTION

[0022] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention. The components of the embodiments of the present invention generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations.

[0023] In the present invention, unless otherwise clearly stipulated and limited, terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal connection of two elements.

[0024] like Figures 1 to 7 As shown, a mineral sample delivery workstation of the present embodiment is installed on the side of the conveyor line, which includes a workbench 1 and a sample tray 4. A loading module 2 and a manipulator 3 are provided on the workbench 1. The loading module 2 includes a lifting mechanism 21 and a picking mechanism 22; the lifting mechanism 21 is provided with an upper layer 211 and a lower layer 212 for placing the sample tray 4, the lifting mechanism 21 is connected to the electric cylinder 5, and the electric cylinder 5 is used to drive the lifting mechanism 21 to move up and down on the workbench 1; the upper layer 211 and the lower layer 212 form an integrated double-layer bin design with high space utilization; the upper layer 211 is used for loading and storing materials, and the lower layer 212 is used to complete the unloading of the empty sample tray.

[0025] The material taking mechanism 22 includes a conveying cylinder 221, which is connected to a connecting frame 222, on which two binding cylinders 223 are arranged opposite to each other, and a latch 224 is arranged on the movable end of the binding cylinder 223. The material taking mechanism 22 also includes a material taking position sensor 225, which is arranged at the material taking position. The sample tray 4 is provided with a sample cup 41 and a pin seat 42 that cooperates with the latch 224.

[0026] The manipulator 3 is provided with an end effector 31 , which includes a cup lifting mechanism 311 and a cup clamping mechanism 312 . The cup clamping mechanism 312 includes a grabbing mechanical claw and a rotating component capable of driving the grabbing mechanical claw to rotate.

[0027] The upper material layer 211 is provided with an upper layer stopper 213 , an upper layer in-position sensor 214 , an upper layer backstop 215 and a height sensor 216 ; the lower material layer 212 is provided with a lower layer stopper 217 , a lower layer in-position sensor 218 and a lower layer backstop 219 .

[0028] An identification code 43 is disposed on the sample tray 4 , and a code scanner 210 for reading the identification code 43 is disposed on the material loading layer 211 .

[0029] A weighing platform 6 is provided on the workbench 1 and is located on one side of the manipulator 3. The weighing platform 6 is used to compare the weighing data before and after the sample is placed, and the difference is calculated in time to make a corresponding compensation mechanism to ensure the accuracy of the experimental data.

[0030] The workbench 1 is covered with a cover shell 7, and an operation window is provided on the cover shell 7 relative to the feeding module 2. The cover shell 7 can ensure a closed automated working space, prevent the operator from directly contacting harmful and toxic substances, and ensure the safety of the operator.

[0031] The working principle and process of the mineral sample delivery workstation are as follows: manually deliver the sample tray 4 equipped with the sample cup 41 to the entrance of the loading module 2 through the operating window on the cover 7, and manually push the sample tray 4 to the lifting mechanism 21. During loading, the electric cylinder 5 drives the lifting mechanism 21 to descend so that the loading layer 211 is flush with the surface of the workbench 1, and the sample tray 4 is pushed into the loading layer 211 until it is blocked by the upper blocker 213. The upper in-place sensor 214 detects that the sample tray 4 is in place, and the upper return stop 215 is lifted to limit the sample tray 4 front and back. The sample tray 4 is manually released and withdrawn to the outside of the equipment cover 7. The barcode scanner 210 scans the identification code 43 on the sample tray 4 to read the information, and the height sensor 216 detects whether the sample cup 41 is over-displaced when the sample tray 4 moves.

[0032] The binding cylinders 223 on both sides of the material taking mechanism 22 extend simultaneously, inserting the latch pin 224 into the pin seat 42 on the sample tray 4 to complete the binding with the sample tray 4, and the conveying cylinder 221 retracts backwards, dragging the sample tray 4 to the material taking station of the material taking mechanism 22 to complete the positioning, at this time, the material loading layer 211 of the lifting mechanism 21 is vacant, and manual material loading continues to store a sample tray on the material loading layer 211 of the lifting mechanism 21;

[0033] After the sample tray 4 reaches the material taking station, the material taking position sensor 225 is triggered, and the manipulator 3 drives the end effector 31 to move. The cup lifting mechanism 311 on the end effector 31 lifts the sample cup 41 containing the sample and places it on the weighing platform 6 for weighing. The weighing data is uploaded to the system. After the weighing is completed, the end effector 31 switches to the cup clamping mechanism 312. The gripping mechanical claw of the cup clamping mechanism 312 can be clamped and rotated 180°. The cup clamping mechanism 312 clamps the sample cup 41 and moves it to the crucible tray on the conveyor line. The cup clamping mechanism 312 moves to the top of the specified crucible. The grabbing mechanical claw on the cup clamping mechanism 312 rotates 180° so that the mouth of the sample cup 41 faces downward, and the sample in the sample cup 41 is poured into the crucible. After the pouring is completed, the grabbing mechanical claw on the cup clamping mechanism 312 rotates 180° again so that the mouth of the sample cup 41 faces upward, and the end effector 31 moves to the top of the weighing platform 6, and the empty sample cup is placed on the weighing platform 6 to weigh the empty sample cup after pouring. The weighing system uploads the weighing data again. After the weighing is completed, the end effector 31 switches to the cup lifting mechanism 311, and lifts the empty sample cup after pouring and puts it into its original position on the sample tray 4.

[0034] After all the sample cups 41 on the sample tray 4 are emptied, the manipulator 3 stops moving, the electric cylinder 5 drives the lifting mechanism 21 to rise so that the lower material layer 212 is flush with the table surface of the workbench 1, and the conveying cylinder 221 on the picking mechanism 22 pushes the sample tray 4 into the lower material layer 212 until it is blocked by the lower layer blocker 217. The lower layer in-place sensor 218 detects the sample tray 4, and the lower layer return stop 219 is lifted to limit the sample tray 4 front and back. The binding cylinder 223 drives the latch 224 to retract at the same time to release the binding with the empty sample tray, and the lifting mechanism 21 descends to make the upper material layer 211 flush with the table surface, and the sample tray 4 stored on it continues to circulate and is conveyed to the picking position of the picking mechanism 22.

[0035] The present invention is not limited to the above-mentioned optional implementation modes. Anyone can derive other various forms of products under the inspiration of the present invention. However, no matter what changes are made in the shape or structure, all technical solutions that fall within the scope defined by the claims of the present invention fall within the protection scope of the present invention.

Claims

1. A mineral sample delivery workstation, characterized in that: The invention comprises a workbench (1), wherein a loading module (2) and a manipulator (3) are provided on the workbench (1), wherein the loading module (2) comprises a lifting mechanism (21) and a material taking mechanism (22); the lifting mechanism (21) is provided with a loading layer (211) and a loading layer (212) for placing a sample tray (4), the lifting mechanism (21) is connected to an electric cylinder (5), and the electric cylinder (5) is used to drive the lifting mechanism (21) to move up and down on the workbench (1); the material taking mechanism (22) comprises a conveying cylinder (221), the conveying cylinder (221) is connected to a connecting frame (222), a binding cylinder (223) is provided on the connecting frame (222), and a latch (224) is provided on the movable end of the binding cylinder (223); a sample cup (41) and a pin seat (42) matched with the latch (224) are provided on the sample tray (4); and an end effector (31) is provided on the manipulator (3).

2. The mineral sample delivery workstation according to claim 1, characterized in that: The upper material layer (211) is provided with an upper layer blocker (213), an upper layer in-place sensor (214), an upper layer backstop (215) and a height measuring sensor (216); the lower material layer (212) is provided with a lower layer blocker (217), a lower layer in-place sensor (218) and a lower layer backstop (219); the upper layer in-place sensor (214) and the lower layer in-place sensor (218) are used to detect whether the sample tray (4) is in place, and the height measuring sensor (216) is used to detect whether the sample tray (4) is over-displaced.

3. The mineral sample delivery workstation according to claim 1 or 2, characterized in that: The sample tray (4) is provided with an identification code (43), and the material loading layer (211) is provided with a code scanner (210) for reading the identification code (43).

4. The mineral sample delivery workstation according to claim 1, characterized in that: A weighing platform (6) is provided on the workbench (1), and the weighing platform (6) is located on one side of the manipulator (3).

5. The mineral sample delivery workstation according to claim 1, characterized in that: The material taking mechanism (22) further comprises a material taking position sensor (225), and the material taking position sensor (225) is arranged at the material taking position.

6. The mineral sample delivery workstation according to claim 1, characterized in that: The workbench (1) is covered with a cover shell (7), and the cover shell (7) is provided with an operation window opposite to the loading module (2).

7. The mineral sample delivery workstation according to claim 1, characterized in that: The end effector (31) comprises a cup lifting mechanism (311) and a cup clamping mechanism (312).

8. The mineral sample delivery workstation according to claim 7, characterized in that: The cup clamping mechanism (312) comprises a grabbing mechanical claw and a rotating component capable of driving the grabbing mechanical claw to rotate.

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