Train finished ball non-stop automatic sampling control system and method

Abstract

The invention relates to a train finished ball non-stop automatic sampling control method and system, and belongs to the technical field of automation, the system comprises a robot automatic sampling platform arranged on one side of a train transportation track, and the robot automatic sampling platform is provided with a container and a tipping bucket device; a robot sampling device, a sample collecting device, a tipping bucket device, a PLC control unit and a switch are arranged in the container, and a vehicle number recognition unit, a laser velocimeter and a first laser sensor which are in signal or electric connection with the PLC control unit are arranged outside a rail located on one side of the robot automatic sampling platform. The safety risk problems of vehicle damage, mechanical damage, high-altitude falling and the like existing in manual sampling of the finished train balls in a traditional mode are effectively solved, man-made interference factors are reduced, the sampling randomness and the sampling frequency are improved, the sampling precision is improved, manual sampling is replaced, and unattended operation on site is achieved.

Description

Technical Field

[0001] The invention belongs to the field of automation technology, and in particular relates to a non-stop automatic sampling control system and method for finished ball trains. Background Art

[0002] Finished balls are important raw materials for refining and smelting iron ore in the steel industry, and their quality directly affects the effect and cost of smelting. Sampling is an important part of evaluating the quality of finished balls. At present, the mainstream sampling method of finished balls in China is manual sampling, which has problems such as low sampling efficiency and sample quality being easily affected by human subjectivity, which seriously affects the production efficiency and economic benefits of enterprises. At the same time, manual sampling of finished balls on trains is a "3D" job with repetitive labor operations, which has safety risks such as falling from heights, mechanical injuries, and vehicle injuries. It is not suitable for long-term work of staff and is not conducive to the safe production of enterprises. Summary of the invention

[0003] In order to solve the deficiencies of the prior art, the present invention provides a robot-based automatic sampling control system and method for finished ball trains without stopping.

[0004] The system of the present invention is realized by the following technical scheme: a non-stop automatic sampling control system for finished ball trains, characterized in that it includes: a robot automatic sampling platform arranged on one side of the train transport track, the robot automatic sampling platform is provided with a container and a tipping device, the container is provided with a robot sampling device, a sample collection device, a tipping device, a PLC control unit, and a switch, and a vehicle number recognition unit, a laser speed meter, and a first laser sensor are provided outside the track on one side of the robot automatic sampling platform and are connected to the PLC control unit by signal or electricity.

[0005] The robot sampling device is composed of a robot, a second laser sensor, a suction device, a vacuum pump, and a first electromagnetic valve.

[0006] The sample collecting device is composed of a mixing device and a spiral stirrer therein, an electric gate, a slide rail, an electric trolley, and a material storage barrel.

[0007] The tipping bucket device is composed of a tipping bucket, a first cylinder, a second cylinder, a telescopic slide, a lifting and turning device, a second solenoid valve, a third solenoid valve and an air compressor.

[0008] The present invention provides a method for controlling the automatic sampling of finished balls on a train without stopping based on the above-mentioned automatic sampling control system for finished balls on a train without stopping, which is characterized by comprising the following steps: Step (101), starting the robot-based automatic sampling control system for finished ball trains without stopping, and the robot-based automatic sampling control system for finished ball trains without stopping performs automatic detection. When the automatic detection result is abnormal, the system alarms and notifies the staff to perform inspection and maintenance; Step (102), when the automatic detection result is normal, the following operations are performed: when the train passes through the robot automatic sampling platform, the car number recognition unit recognizes the train number and the car number, the laser speed meter measures the running direction, running speed and current car displacement of the train, the PLC control unit allocates the storage bucket according to the train number, the electric trolley moves the matching storage bucket to the bottom of the electric gate of the mixing device, and the PLC control unit starts the laser rangefinder and the laser speed meter according to the train car number to judge whether the train meets the sampling conditions, so that the train meets the following conditions: the current car has not been sampled, the current train is moving forward, and the speed is less than 6 km / h; If the conditions are not met, the current carriage is filtered and the next carriage is waiting for its arrival; Step (103), the train that meets the conditions of step (102) performs the following operations: the robot rotates to the top of the carriage, the laser rangefinder installed on the robot measures the loading height in the current carriage, the PLC control unit analyzes the loading height, combines the carriage displacement measured by the laser speed meter, selects a suitable sampling position, sends a sampling instruction and coordinates to the robot, the PLC control unit controls the solenoid valve to connect the vacuum pump air source, and at the same time, the robot drives the suction device to move quickly to the sampling position to suck the finished ball, and then drives the suction device to move to the unloading point position, the PLC control unit controls the solenoid valve to disconnect the vacuum pump air source to release the finished ball into the mixing device, and when the sampling is completed, the robot returns to the zero position, and the mixing device starts to work; Step (104), the PLC control unit counts the number of carriages passing through the robot automatic sampling platform according to the carriage number identified by the carriage number recognition unit and the train running direction measured by the laser speed meter, and compares it with the number of carriages of a single train preset by the system. When the counted number of carriages does not reach the system preset number, step (102) is executed while waiting for the next carriage to arrive, and the mixing device stops stirring, the electric valve opens, the sample is unloaded into the storage barrel, the remaining sample is unloaded into the tipping device, and the process returns to step (102) to wait for the next train. Step (105), when the next train arrives, the PLC control unit performs data analysis based on the train running speed and carriage displacement measured by the laser rangefinder and the laser speed meter. When the train speed is lower than 6 km / h and the carriage displacement is greater than 1 m, the PLC control unit controls the tipping device to return the waste materials to the train carriage. In order to prevent the mechanical arm and the tipping device from running at the same time and causing equipment damage, and to avoid sample contamination caused by the mechanical arm grabbing the waste materials, the carriage where the tipping device unloads the waste materials is not sampled. Step (106), during the non-sampling period, when the staff takes samples, they manually control the electric trolley to drive the storage barrel to move to the manual sampling window to take the sample, and then put it back into the storage barrel to complete the automatic sampling of the finished balls.

[0009] The present invention effectively solves the safety risk problems of vehicle injury, mechanical injury, and falling from height in the manual sampling of finished balls on trains under the traditional mode, reduces "3D positions" for enterprises, and reduces human interference factors, improves the randomness of sampling, and effectively prevents problems such as personnel operating errors, confusion of identification, and mixed samples. It can also increase the sampling frequency and increase the sampling accuracy, providing reliable data support for enterprise settlement and production decision-making. This solution uses a manipulator to replace manual sampling, realizes unattended on-site operation, reduces the number of personnel in sampling operation positions, effectively reduces enterprise costs, and helps to improve the inherent safety of the mining process. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions implemented in the present invention, the drawings required for use in the implementation description will be briefly introduced below. Obviously, the drawings described below are only some implementations of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0011] Figure 1 This is a structural diagram of the automatic sampling control system for finished ball trains without stopping the vehicle according to the present invention; Figure 2 for Figure 1 Side view of Figure 3 for Figure 1 A top view of Figure 4 for Figure 3 The structural diagram of the mixing device in FIG. Figure 5 for Figure 3 The structure diagram of the tipping bucket device in FIG. Figure 6 It is the connection diagram of the PLC control unit of the present invention; Figure 7 The present invention is a flow chart of the method for automatically sampling finished ball train products without stopping. DETAILED DESCRIPTION

[0012] The present invention is further described in detail below in conjunction with embodiments.

[0013] Those skilled in the art will appreciate that the following examples are only used to illustrate the present invention and should not be considered to limit the scope of the present invention. If no specific techniques or conditions are specified in the examples, the techniques or conditions described in the literature in the art or the product specifications are used. If the manufacturer of the materials or equipment used is not specified, they are all conventional products that can be purchased.

[0014] Those skilled in the art will appreciate that, unless expressly stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" to another element, it may be directly connected to the other element, or there may be intermediate elements. In addition, the "connection" used here may include wireless connections. The term "and / or" used here includes any unit and all combinations of one or more associated listed items.

[0015] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two. The terms "inside", "upper", "lower", etc., indicating positions or state relationships, are based on the positions or state relationships shown in the 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 position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention.

[0016] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "provided with" 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. For ordinary technicians in this field, the specific meanings of the above terms in the present invention will be understood according to specific circumstances.

[0017] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the field to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0018] like Figure 1 to Figure 6As shown, the non-stop automatic sampling control system for finished ball trains provided by the present invention comprises: a robot automatic sampling platform 1 arranged on one side of the train transport track, the robot automatic sampling platform 1 is provided with a container 2 and a tipping device 13, the container 2 is provided with a robot sampling device 7, a sample collection device 11, a tipping device 13, a PLC control unit 14, and a switch 15, and a vehicle number recognition unit 4, a laser speed meter 5, and a first laser sensor 6 which are signal or electrically connected to the PLC control unit 14 are provided outside the track on one side of the robot automatic sampling platform 1.

[0019] The robot automatic sampling platform 1 includes cement piers and steel structures. There are six cement piers in total, each of which has a directly buried steel cage and four anchor bolts with a thread diameter of more than 360mm, which are used to connect the columns of the steel structure. The steel structure is 2.5m high. The height of the steel structure is designed according to actual needs and is flush with the surface of the train carriage. It is built with I-beams with a size of not less than 350*350mm, six columns, two horizontal beams, and four vertical beams. The platform is built with I-beams that are high in strength, light in weight, and have a high elastic modulus. It can not only bear the weight of the main equipment, but also prevent the robot automatic sampling platform 1 from tipping over when the robot 11 is moving, thereby ensuring the stable operation of the system; A 40m² container 2 is placed on the steel structure of the robot automatic sampling platform 1, and the two are fixed by bolts. There is a canopy 2-1 on the upper part of the container 2, which extends toward the track to prevent the equipment from being attacked by rain and snow; The container 2 is divided into an inner warehouse and an outer warehouse, and a rotating or mobile device such as a robot sampling device 7, a sample collection device 11, and a tipping device 13 are installed in the inner warehouse of the container 2, and a PLC control unit 14, a switch 15 and other equipment are installed in the outer warehouse of the container 2. The inner and outer warehouses are separated by a fence, and a safety door 8 and a manual sampling window 12 are arranged on the fence. An electromagnetic lock 9 and an alarm indicator light 10 are installed on the side of the safety door 8. The internal output relay of the electromagnetic lock 9 is connected to the digital input channel DI0.4 of the PLC control unit 14 through hard wiring, and the power supply of the alarm indicator light 10 is connected in series to the digital output channel DO0.0 of the PLC control unit 14 through hard wiring. The safety door 8 is interlocked with the system control program; under normal circumstances, the staff does not need to enter the inner warehouse. When it is necessary to enter the inner warehouse under special circumstances, the electromagnetic lock 9 on the safety door 8 must be opened, and the staff can enter only when the alarm indicator light 10 flashes. At this time, the robot 7-1, the spiral agitator 11-1, the electric trolley 11-5, and the tipping device 13 are in an emergency stop state to ensure the safety of the staff; Every day, multiple trains are loaded under the finished product warehouse, and the samples are taken by the robot automatic sampling platform 1 before being transported to various steel mills. Due to production conditions, the train may be reversed back and forth during the loading process, and the same carriage 3 will pass the robot automatic sampling platform 1 many times. In order to ensure uniform sampling and improve sampling quality, each carriage 3 is sampled once, and the carriage 3 that has been sampled will not be sampled again.

[0020] In order to distinguish the train number of each train and the carriage number of each carriage 3, a carriage number recognition unit 4 is installed on the outer side of the track upstream (close to the finished product warehouse) of the robot automatic sampling platform 1. When the train 3 passes by, the carriage number recognition unit 4 recognizes the train number and carriage number characters, and sends the data to the PLC control unit 14 in real time through Ethernet communication for statistical analysis, filtering the carriages that have been sampled, so as to achieve sampling once for each carriage, ensure sampling uniformity, and improve sampling quality.

[0021] A laser speed meter 5 is installed on the outer side of the track upstream (near the finished product warehouse) of the robot automatic sampling platform 1. The installation height of the laser speed meter 5 is flush with the flat position in the middle of the carriage, and the lens is perpendicular to the carriage. The Doppler speed measurement principle is used to collect pulses generated by scattered light when the train passes, and the pulse data is transmitted to the high-speed counter channels DI0.0 and DI0.1 of the PLC control unit 14 through hard wiring to realize the detection of train displacement and speed. At the same time, the running direction of the train is judged according to the positive / reverse pulses generated by the laser speed meter 5 when the train moves. For the sake of sampling safety and system stability, it is stipulated that the direction of the train 3 away from the finished product warehouse is positive, and sampling can only be carried out when the train 3 is running in the forward direction and the running speed is less than 6Km / h.

[0022] A first laser sensor 6 is installed on the outer side of the track upstream (near the finished product warehouse) of the robot automatic sampling platform 1. The installation height of the first laser sensor 6 is flush with the flat position in the middle of the carriage, and the lens is perpendicular to the carriage. The internal output relay of the first laser sensor 6 is connected to the digital input channel DI0.5 of the PLC control unit 14 through hard wiring. When the train carriage passes in front of the first laser sensor 6, the internal relay of the first laser sensor 6 is energized. When the gap between the train carriages passes in front of the first laser sensor 6, the internal relay of the first laser sensor 6 is disconnected. The gap between the carriages is used to determine the end of the previous carriage and the beginning of the next carriage, providing data support for the laser speed meter 5 to start calculating the carriage displacement and clearing.

[0023] The robot sampling device 7 is composed of a robot 7-1, a laser rangefinder 7-2, a suction device 7-3, a vacuum pump 7-4, and a first solenoid valve 7-5. The laser rangefinder 7-2 is installed on the robot 7-1 to measure the distance between it and the finished balls in the carriage, and is connected to the analog channel AI0 of the PLC control unit 14 through hard wiring. The distance between the suction cup of the suction device 7-3 installed at the end of the robot 7-1 and the finished balls in the carriage is calculated by the PLC control unit 14 to provide a sampling depth for the robot 7-1. A spring is installed between the end of the robot 7-1 and the suction device 7-3 to form a flexible connection. The length of the suction device 7-3 is designed according to the actual use environment. In principle, the robot 7-1 body is only allowed to move in a space higher than the carriage to prevent the carriage in motion from colliding with the robot 7-1 and causing equipment damage; the end of the suction device 7-3 is disc-shaped, and a plurality of holes are designed on the disc surface in contact with the finished ball. The number of holes is the number of finished balls sucked, which can be designed according to actual needs. After the plurality of holes are gathered into a ventilation path inside the disc, they lead to the other side of the disc, and then connected to the first solenoid valve 7-5 through an air pipe and then connected to the vacuum pump 7-4; The electrical control signal of the first solenoid valve 7-5 is connected to the output channel DO0.1 of the PLC control unit 14. The output signal is judged by the program of the PLC control unit 14 to realize the control of the on and off of the air source; the robot 7-1 communicates with the PLC control unit 14 through Ethernet. When the robot 7-1 receives the action instructions and the end coordinates sent by the PLC control unit 14, it drives the suction device 7-3 to run to the surface of the finished balls transported by the train carriage 3 to quickly absorb the finished balls, and then returns to the designated unloading point to unload the finished balls into the mixing device 11-3.

[0024] The sample collection device 11 is composed of a mixing device 11-3 and a spiral stirrer 11-1 therein, an electric gate 11-2, a slide rail 11-4, an electric trolley 11-5, and a storage barrel 11-6; the mixing device 11-3 is funnel-shaped, and is equipped with a spiral stirrer 11-1 therein, which drives the finished balls to roll to achieve the purpose of mixing, and the control signal of the spiral stirrer 11-1 is connected to the digital output channel DO0.2 of the PLC control unit 14 through hard wiring; An electric gate 11-2 is provided at the bottom of the mixing device 11-3 and is connected to the output channel DO0.3 of the PLC control unit 14 through hard wiring to realize sample collection and unloading of finished balls; during the sampling of the robot 7-1, the spiral stirrer 11-1 in the sample collection device 11 also runs at a slow speed to increase the mixing time so that the sample is fully mixed; After the loading of the current train 3 is completed and all carriages have passed the robot automatic sampling platform 1, the electric gate 11-2 of the sample collection device 11 can be opened to unload the materials, ensuring that the samples are fully mixed and evenly mixed, and also making room for mixing the samples taken out of the next train 3 to prevent sample contamination caused by mixed samples; The slide rail 11-4 is laid from the manual sampling window 12 to the bottom of the electric gate 11-2 and extended for a certain distance. A plurality of storage barrels 11-6 are placed on the electric trolley 11-5 and installed on the slide rail 11-4. The electric trolley 11-5 can move back and forth on the slide rail 11-4, driving the storage barrels 11-6 filled with finished balls to move to the manual sampling window or driving the empty barrels to move to the bottom of the electric gate 11-2 of the mixing device 11-3. The control signal of the electric trolley 11-5 is connected to DO0.4 of the PLC control unit 14 through hard wiring; The storage barrel 11-6 is used to store samples. The number of storage barrels 11-6 is designed according to the type of samples. The size of the storage barrel 11-6 is determined by the sample volume required for testing. Each storage barrel 11-6 matches the same train 3 to prevent sample contamination caused by mixed samples. The movement of the electric trolley 11-5 has a manual control mode. The electric trolley 11-5 can be manually controlled to move the storage barrel 11-6 to the manual sampling window 12, which is convenient for staff to extract samples.

[0025] The tipping bucket device 13 is composed of a tipping bucket 13-1, a first cylinder 13-2, a second cylinder 13-3, a telescopic slide 13-4, a lifting and turning device 13-5, a second solenoid valve 13-6, a third solenoid valve 13-7 and an air compressor 13-8. One end of the telescopic slide 13-4 is fixed to the inner warehouse of the container 2 and connected to the first cylinder 13-2 to control the extension and retraction of the telescopic slide 13-4. The other end of the telescopic slide 13-4 is connected to the lifting and turning device 13-5 and the second cylinder 13-3. The piston rod of the second cylinder 13-3 is connected to the tipping bucket 13-1. The lifting and turning device 13-5 is used to control the lifting and turning of the second cylinder 13-3 and the tipping bucket 13-1. The second cylinder 13-3 is used to control the forward and backward extension and retraction of the tipping bucket 13-1. When the telescopic slide 13-4 and the lifting and turning device 13-5 are in the contracted and descending states respectively, the tipping bucket 13-1 is located directly below the electric gate 11-2 of the sample collection device 11, and a part of the mixed finished balls are unloaded into the storage barrel 11-6 of the mixing device 11-3, and another part of the excess finished balls fall into the tipping bucket 13-1. When the train carriage 3 reverses and passes the robot automatic sampling platform 1, the first cylinder 13-2, the second cylinder 13-3, and the telescopic slide 13-4 extend, and the lifting and turning device 13-5 drives the extended second cylinder 13-3 and the tipping bucket 13-1 to turn over, and the excess part of the finished balls is unloaded into the train carriage 3; In order to prevent the robot from working and sucking samples from the previous train at the same time when the tipping bucket 13-1 is unloading, causing sample mixing and contamination, special regulations are required: when the train is running in the opposite direction, the speed is less than 6Km / h, the carriage displacement is greater than 1m, and the current carriage has been sampled, the remaining part of the finished balls can be returned to the train carriage 3; The air circuit for controlling the action of the first cylinder 13-2 and the second cylinder 13-3 is connected to the second solenoid valve 13-6 and the third solenoid valve 13-7 through the air pipe 13-9 and then to the air compressor 13-8. At the same time, the electrical control signals of the second solenoid valve 13-6 and the third solenoid valve 13-7 are connected to the digital output channels DO0.5 and DO0.6 of the PLC control unit 14 through hard wiring.

[0026] The PLC control unit 14 is the control center of the entire system, which is installed in the inner warehouse of the container 2. It is connected with the vehicle number recognition unit 4, the laser speed meter 5, the first laser sensor 6, and the second laser sensor 7-2 to collect data such as the train number, the train car number, the train running speed, the car displacement and the sampling depth, automatically locate the sampling position and judge the sampling time, interlock the safety door 8, the electromagnetic lock 9, the alarm indicator light 10, and control the robot 7-1, the suction device 7-3, the sample collection device 11 and other equipment to realize data collection, data processing, data storage, data transmission and interlocking control of the entire system; The switch 15 is installed in the inner compartment of the container 2, and is connected to the vehicle number recognition unit 4 and the robot 7-1 through Ethernet. The PLC control unit 14 is connected to the switch 15 through an RJ45 network cable to realize network data transmission and exchange; The camera model of the vehicle number recognition unit 4 is Daheng MARS-3140-3GC-P, the model of the laser speed meter 5 is AIG-LS2000-1000, the model of the first laser sensor 6 and the second laser sensor 7-2 is Keyence LR-TB5000C, the model of the robot 7-1 is ABB6700-150 / 3.20, and the model of the switch 15 is MOXA EDS-316-MM-SC.

[0027] like Figure 7 As shown, the method for automatic sampling of finished balls on a train without stopping based on the automatic sampling control system for finished balls on a train without stopping provided by the present invention comprises the following steps: Step (101), starting the automatic sampling control system for finished ball trains without stopping to perform automatic testing, and when the automatic testing result is abnormal, the system alarms and notifies the staff to perform inspection and maintenance; Step (102), when the automatic detection result is normal, the following operations are performed: when the train passes through the robot automatic sampling platform 1, the car number recognition unit 4 recognizes the train number and the car number of the car 3, the laser speed meter 5 measures the running direction, running speed and current displacement of the car 3 of the train, the PLC control unit 14 allocates the storage barrel 11-6 according to the train number, and the electric trolley moves the matching storage barrel 11-6 to the bottom of the electric gate 11-2 of the mixing device 11-3. At the same time, the PLC control unit 14 starts the laser rangefinder and the laser speed meter 5 according to the train car number, and judges whether the train meets the sampling conditions, so that the train meets the following conditions: the current car has not been sampled, the current train is moving forward, and the speed is less than 6Km / h; If the conditions are not met, the current carriage is filtered and the next carriage is waiting for its arrival; Step (103), the train that meets the conditions of step (102) performs the following operations: the robot 7-1 rotates to the top of the carriage 3, the laser rangefinder 7-2 installed on the robot 7-1 measures the loading height in the current carriage 3, the PLC control unit 14 analyzes the loading height, and selects a suitable sampling position in combination with the displacement of the carriage 3 measured by the laser speed meter 7-2, and sends a sampling instruction and coordinates to the robot 7-1. The PLC control unit 14 controls the solenoid valve 7-5 to connect the vacuum pump 7-4 gas source. At the same time, the robot 7-1 drives the suction device 7-3 to move quickly to the sampling position to absorb the finished ball, and then drives the suction device 7-3 to move to the unloading point. The PLC control unit 14 controls the solenoid valve 7-5 to disconnect the vacuum pump 7-4 gas source to release the finished ball into the mixing device 11-3. When the sampling is completed, the robot 7-1 returns to the zero position, and the mixing device 11-3 starts working at this time; Step (104), the PLC control unit 14 counts the number of carriages 3 passing through the robot automatic sampling platform 1 according to the carriage number identified by the carriage number recognition unit 4 and the train running direction measured by the laser speed meter 5, and compares it with the number of carriages of a single train preset by the system. When the counted number of carriages does not reach the system preset number, step (102) is executed while waiting for the next carriage to arrive, and the mixing device 11-3 stops stirring, the electric valve 11-2 opens, the sample is unloaded into the storage barrel 11-6, and the remaining sample is unloaded into the tipping device 13, and the process returns to step (102) to wait for the next train. Step (105), when the next train arrives, the PLC control unit 14 performs data analysis based on the train running speed and carriage displacement measured by the laser rangefinder 7-2 and the laser speed meter 5. When the train speed is lower than 6 km / h and the carriage displacement is greater than 1 m, the PLC control unit 14 controls the tipping device 13 to return the waste materials to the train carriage 3. In order to prevent the mechanical arm and the tipping device 13 from running at the same time and causing equipment damage, and to avoid sample contamination caused by the mechanical arm grabbing the waste materials, the carriage 3 into which the tipping device 13 unloads the waste materials is not sampled. Step (106), during the non-sampling period, when the staff takes samples, they manually control the electric trolley 11-5 to drive the storage barrel 11-6 to move to the manual sampling window 12 to take out the sample, and then put it back into the storage barrel 11-6 to complete the automatic sampling of the finished balls.

[0028] The present invention adopts advanced technologies such as intelligent sensors, robot control, and PLC control to realize the whole process of automatic sampling of finished balls transported by train without stopping. Mechanization replaces manual operation, effectively solves the safety risks such as falling from heights, vehicle damage, and mechanical damage in the process of manual sampling, and reduces human interference factors, improves the randomness of sampling, effectively prevents problems such as personnel operation errors, confusion of identification, and mixed samples, and can also increase the sampling frequency and sampling accuracy, providing reliable data support for enterprise settlement and production decision-making. At the same time, it improves the production management and safety management of enterprises, and is easy to promote and apply.

[0029] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A non-stop automatic sampling control system for finished ball trains, characterized in that include: A robot automatic sampling platform is arranged on one side of a train transport track, and a container and a tipping device are arranged on the robot automatic sampling platform. The container is provided with a robot sampling device, a sample collection device, a tipping device, a PLC control unit, and a switch. A vehicle number recognition unit, a laser speed meter, and a first laser sensor which are signally or electrically connected to the PLC control unit are arranged outside the track on one side of the robot automatic sampling platform.

2. The automatic sampling control system for finished ball trains without stopping according to claim 1 is characterized in that The robot sampling device is composed of a robot, a second laser sensor, a suction device, a vacuum pump, and a first electromagnetic valve.

3. The automatic sampling control system for finished ball trains without stopping according to claim 1 is characterized in that The sample collecting device is composed of a mixing device and a spiral stirrer therein, an electric gate, a slide rail, an electric trolley, and a material storage barrel.

4. The automatic sampling control system for finished ball trains without stopping according to claim 1 is characterized in that The tipping bucket device is composed of a tipping bucket, a first cylinder, a second cylinder, a telescopic slide, a lifting and turning device, a second solenoid valve, a third solenoid valve and an air compressor.

5. A method for performing automatic sampling of finished ball trains without stopping based on the automatic sampling control system for finished ball trains without stopping according to claim 1, characterized in that: The steps include: Step (101), starting the automatic sampling control system for finished ball trains without stopping to perform automatic testing, and when the automatic testing result is abnormal, the system alarms and notifies the staff to perform inspection and maintenance; Step (102), when the automatic detection result is normal, the following operations are performed: when the train passes through the robot automatic sampling platform, the car number recognition unit recognizes the train number and the car number, the laser speed meter measures the running direction, running speed and current car displacement of the train, the PLC control unit allocates the storage bucket according to the train number, the electric trolley moves the matching storage bucket to the bottom of the electric gate of the mixing device, and the PLC control unit starts the laser rangefinder and the laser speed meter according to the train car number to judge whether the train meets the sampling conditions, so that the train meets the following conditions: the current car has not been sampled, the current train is moving forward, and the speed is less than 6 km / h; If the conditions are not met, the current carriage is filtered and the next carriage is waiting for its arrival; Step (103), the train that meets the conditions of step (102) performs the following operations: the robot rotates to the top of the carriage, the laser rangefinder installed on the robot measures the loading height in the current carriage, the PLC control unit analyzes the loading height, combines the carriage displacement measured by the laser speed meter, selects a suitable sampling position, sends a sampling instruction and coordinates to the robot, the PLC control unit controls the solenoid valve to connect the vacuum pump air source, and at the same time, the robot drives the suction device to move quickly to the sampling position to suck the finished ball, and then drives the suction device to move to the unloading point position, the PLC control unit controls the solenoid valve to disconnect the vacuum pump air source to release the finished ball into the mixing device, and when the sampling is completed, the robot returns to the zero position, and the mixing device starts to work; Step (104), the PLC control unit counts the number of carriages passing through the robot automatic sampling platform according to the carriage number identified by the carriage number recognition unit and the train running direction measured by the laser speed meter, and compares it with the number of carriages of a single train preset by the system. When the counted number of carriages does not reach the system preset number, step (102) is executed while waiting for the next carriage to arrive, and the mixing device stops stirring, the electric valve opens, the sample is unloaded into the storage barrel, the remaining sample is unloaded into the tipping device, and the process returns to step (102) to wait for the next train. Step (105), when the next train arrives, the PLC control unit performs data analysis based on the train running speed and carriage displacement measured by the laser rangefinder and the laser speed meter. When the train speed is lower than 6 km / h and the carriage displacement is greater than 1 m, the PLC control unit controls the tipping device to return the waste materials to the train carriage. In order to prevent the mechanical arm and the tipping device from running at the same time and causing equipment damage, and to avoid sample contamination caused by the mechanical arm grabbing the waste materials, the carriage where the tipping device unloads the waste materials is not sampled. Step (106), during the non-sampling period, when the staff takes samples, they manually control the electric trolley to drive the storage barrel to move to the manual sampling window to take the sample, and then put it back into the storage barrel to complete the automatic sampling of the finished balls.

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