Automatic sampling robot

Abstract

The invention discloses an automatic sampling robot which comprises a sampling device, a discharging device and a crushing device, the sampling device comprises a material taking head and a driving mechanism, the material taking head is installed on the driving mechanism and driven by the driving mechanism to act, the material taking head is used for dipping a sample, and the discharging device is used for discharging the sample. The sample reaches a discharging position under the action of the driving mechanism, and the sample is solidified before reaching the discharging position; the unloading device is arranged corresponding to the unloading position, and the unloading device is used for operating the sample on the material taking head reaching the unloading position, so that the sample on the material taking head is separated from the material taking head; the crushing device comprises a container and a crushing mechanism, the container is arranged corresponding to the lower part of the discharging position and is used for accommodating the sample, and the crushing mechanism is arranged corresponding to the container and is used for crushing the sample in the container. According to the invention, automatic sampling is realized, dangers caused by manual operation are avoided, and the sampling efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of robot application, and in particular relates to a robot which can automatically sample calcium carbide in calcium carbide production. Background Art

[0002] In the production of calcium carbide, the detection of the gas emission of calcium carbide is an important indicator for guiding production, adjusting production processes, and calibrating the quality of calcium carbide. It can be obtained by calculating the carbon and nitrogen content in calcium carbide and considering the conversion rate of chemical reactions. The gas emission of calcium carbide refers to the volume of acetylene gas generated by the reaction of a unit mass of calcium carbide with water, which is usually used to measure the quality of calcium carbide. Calcium carbide (the main component is calcium carbide) reacts with water to generate acetylene gas. The gas emission of calcium carbide is obtained by measuring the volume of acetylene gas generated by the reaction of a certain mass of calcium carbide with water and converting it into the volume under standard conditions. Operation steps: 1. Sample preparation: Take a representative calcium carbide sample, crush it and pass it through a 10-20 mesh sieve. After mixing evenly, quickly weigh a certain amount (accurate to 0.01g) of calcium carbide sample and put it into the gas generator. 2. Device connection and inspection: Connect the gas generator, gas collection device and gas measuring device in sequence, check the air tightness of the device, and ensure that there is no leakage in the system. 3. Reaction and gas collection: Slowly add excess distilled water to the gas generator through a separatory funnel to allow calcium carbide and water to fully react. The generated acetylene gas enters the gas measuring device after purification. 4. Reading and recording: After the reaction is completed, wait for the gas temperature and pressure in the gas measuring device to stabilize, and then read and record the volume of the gas. At the same time, record the ambient temperature and atmospheric pressure during the experiment.

[0003] At present, in the prior art, sampling is required for each furnace during the production process of calcium carbide. In the prior art, a long-handled spoon is usually used to manually break the hard shell on the surface of the calcium carbide pot, and then sampling is performed. After sampling, the sample is manually peeled off from the sampling spoon, and then crushed and sieved, and finally sent to the laboratory for testing. In this process, the manual sampling is close to the calcium carbide pot, which will be damaged by thermal radiation, and the calcium carbide liquid splashes during the sampling process, causing burns. In addition, each furnace of calcium carbide production produces 8-9 pots of calcium carbide, and sampling needs to be performed in different pots to ensure the consistency of the samples.

[0004] Therefore, how to achieve automatic sampling, avoid the dangers brought by manual operation, and improve sampling efficiency is a technical problem that the industry urgently needs to solve. Summary of the invention

[0005] A main purpose of the present invention is to provide an automatic sampling robot that can realize automatic sampling, avoid the dangers caused by manual operation, and improve the sampling efficiency.

[0006] In order to achieve the above-mentioned invention object, the present invention adopts the following technical scheme:

[0007] As one aspect of the present invention, an automatic sampling robot is provided, the robot is used for calcium carbide sampling operation, the sample comes from a calcium carbide pot, and the sample in the calcium carbide pot is calcium carbide liquid, comprising:

[0008] A sampling device, the sampling device comprising a sampling head and a driving mechanism, the sampling head is mounted on the driving mechanism and moves under the driving of the driving mechanism, the sampling head is used to dip the sample and reach a discharge position under the action of the driving mechanism, and the sample solidifies before reaching the discharge position;

[0009] A discharge device, the discharge device is arranged corresponding to the discharge position, and the discharge device operates the sample on the material taking head that reaches the discharge position, so that the sample on the material taking head is separated from the material taking head;

[0010] The crushing device comprises a container and a crushing mechanism. The container is arranged below the unloading position and is used to accommodate the sample. The crushing mechanism is arranged corresponding to the container and is used to crush the sample in the container.

[0011] As an embodiment of the present invention, the sampling device includes a moving mechanism and a connecting rod rotating mechanism, the connecting rod rotating mechanism is installed on the moving mechanism, and the material taking head is installed on the output part of the connecting rod rotating mechanism.

[0012] As shown in one embodiment of the present invention, the connecting rod rotation mechanism includes a driver, an output rod, a transition rod and a rotating rod, the driver is fixedly mounted on the moving mechanism, the output rod is connected to the output part of the driver, the two ends of the transition rod are respectively hinged to the output rod and the rotating rod, one end of the rotating rod is hingedly mounted on the moving mechanism, and the other end is installed with the material picking head.

[0013] As shown in one embodiment of the present invention, the sampling device includes a hanging rail and a transverse telescopic mechanism, the hanging rail is fixed, the transverse telescopic mechanism includes a transverse part and a telescopic part, the transverse part rollingly cooperates with the hanging rail, the telescopic part is installed below the transverse part, and the material taking head is installed below the telescopic part.

[0014] As in one embodiment of the present invention, the unloading device includes a clamping mechanism, which includes two opposite clamping blocks, a guide rod and a driving member, wherein the clamping block is mounted on the guide rod and has relative clamping grooves, the two clamping grooves cooperate to clamp the full circumferential side of the material taking head, and the driving member drives the two clamping blocks to move relative to each other along the guide rod.

[0015] As shown in one embodiment of the present invention, the unloading device includes a lifting mechanism and a clamping mechanism, the lifting mechanism includes a bracket, a guide frame and a lifting cylinder, the guide frame and the lifting cylinder are installed on the bracket, the clamping mechanism is installed on the guide frame, and the output part connected to the lifting cylinder is connected to the clamping mechanism to drive the clamping mechanism to move along the guide frame.

[0016] As shown in one embodiment of the present invention, the unloading device includes a cleaning mechanism, and the cleaning mechanism includes a mounting frame, a driving motor and a grinder. The mounting frame is installed on the clamping mechanism, and the driving motor is installed on the mounting frame. The grinder is connected to the output part of the driving motor to rotate and grind the end of the material picking head.

[0017] As in one embodiment of the present invention, the sampling device includes a multi-axis motion mechanism and a quick-change joint. The quick-change joint is installed on a driving arm of the multi-axis motion mechanism, and the quick-change joint cooperates with the material taking head for rapid assembly and disassembly.

[0018] As in one embodiment of the present invention, the quick-change connector includes a connecting flange, a sleeve and two top columns, the sleeve is connected and arranged on one side of the connecting flange, and the two top columns are symmetrically arranged inside the sleeve; the material picking head is connected to a quick plug, and the quick plug is provided with double-sided or multi-sided connecting grooves, the quick plug is inserted into the sleeve, and the top column is rotatably matched with the connecting groove so that the quick plug can be quickly rotated to connect the quick-change connector.

[0019] As in one embodiment of the present invention, a long positioning block is arranged on the material taking head, and the automatic sampling robot also includes a placing device for positioning the material taking head, the placing device includes a frame, a guide sleeve and an installation groove body, the guide sleeve and the installation groove body are both arranged on the frame body, and the guide sleeve corresponds to the installation groove body, the installation groove body cooperates with the long positioning block, and the guide sleeve is sleeved on the material taking head.

[0020] As shown in one embodiment of the present invention, the unloading device includes an eccentric vibrating mechanism, which includes a fixed frame, a power source, an eccentric rotating shaft, an extension rod, a vibration frame, a vibration arm and a vibration head. The fixed frame is fixedly arranged, the power source is fixedly installed on the fixed frame, the input end of the eccentric rotating shaft is transmission-connected to the output part of the power source, one end of the extension rod is connected to the eccentric rotating shaft, and the other end is hinged to the vibration frame, the vibration frame is movably installed on the fixed frame, one end of the vibration arm is connected to the vibration frame, and the other end is connected to the vibration head, and the vibration head vibrates to act on the sample on the material taking head.

[0021] As in one embodiment of the present invention, the robot also includes a conveyor belt, a vibrating screening machine and a material collecting device. The input end of the conveyor belt is arranged corresponding to the crushing device, the output end of the conveyor belt is arranged corresponding to the vibrating screening machine, and the material collecting device is arranged corresponding to the unloading device, including a material collecting valve, a material collecting barrel and a material collecting funnel. The material collecting funnel is connected and arranged on the upper part of the material collecting barrel, and the material collecting valve controls the switch of the material collecting barrel.

[0022] It can be seen from the above technical solution that the advantages and positive effects of the automatic sampling robot of the present invention are:

[0023] In the present invention, a driving mechanism is used to drive the material taking head to dip the sample, and then the sample of the material taking head is dropped by a discharging device, and the sample is crushed by a crushing device to realize automatic sampling, avoid the danger caused by manual operation, and improve the sampling efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained like these drawings without paying creative work.

[0025] Figure 1 This is a schematic diagram of the robot structure of the first embodiment of the automatic sampling robot of the present invention.

[0026] Figure 2 This is a schematic structural diagram of the robot sampling device of the first embodiment of the automatic sampling robot of the present invention.

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the robot unloading device of the first embodiment of the automatic sampling robot of the present invention.

[0028] Figure 4 This is a schematic diagram of the robot structure of the second embodiment of the automatic sampling robot of the present invention.

[0029] Figure 5 This is a schematic diagram of the three-dimensional structure of the robot sampling device of the second embodiment of the automatic sampling robot of the present invention.

[0030] Figure 6 This is a schematic diagram of the top view of the robot sampling device of the second embodiment of the automatic sampling robot of the present invention.

[0031] Figure 7 This is a schematic diagram of the three-dimensional structure of the robot material picking head of the second embodiment of the automatic sampling robot of the present invention.

[0032] Figure 8This is a schematic structural diagram of the robot unloading device of the second embodiment of the automatic sampling robot of the present invention.

[0033] Fig. 9 This is a schematic diagram of the robot structure of the third embodiment of the automatic sampling robot of the present invention.

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the robot quick-change joint of the third embodiment of the automatic sampling robot of the present invention.

[0035] Fig.11 This is a schematic diagram of the three-dimensional structure of the robot material picking head of the third embodiment of the automatic sampling robot of the present invention.

[0036] Fig.12 This is a schematic structural diagram of different matching positions of the robot quick-change connector and the material taking head of the third embodiment of the automatic sampling robot of the present invention.

[0037] Fig.13 This is a schematic diagram of the three-dimensional structure of the robot placement device of the third embodiment of the automatic sampling robot of the present invention.

[0038] Fig.14 This is a schematic diagram of the three-dimensional structure of the eccentric rapping mechanism of the automatic sampling robot in the third embodiment of the present invention.

[0039] Description of the figure number:

[0040] 1. First embodiment of the robot;

[0041] 11. Sampling device;

[0042] 111. Take the material head;

[0043] 112. Connecting rod rotating mechanism;

[0044] 1121, driver;

[0045] 1122, output rod;

[0046] 1123, transition rod;

[0047] 1124, rotating rod;

[0048] 1125. Encoder;

[0049] 12. Discharging device;

[0050] 121. Clip mechanism;

[0051] 1210, card holder;

[0052] 1211, first clamping block;

[0053] 1212, second clamping block;

[0054] 1213, guide rod;

[0055] 1214, driving member;

[0056] 122. Lifting mechanism;

[0057] 1221, lifting cylinder;

[0058] 1222, guide frame;

[0059] 1223, bracket;

[0060] 13. Crushing device;

[0061] 14. Aggregate device;

[0062] 141. Aggregate valve;

[0063] 142. Collecting barrel;

[0064] 143. Aggregate hopper;

[0065] 15. Conveyor belt;

[0066] 16. Vibrating screening machine;

[0067] 17. Support part;

[0068] 18. Mobile unit;

[0069] 19. Cleaning agencies;

[0070] 191. Sander;

[0071] 192. Driving motor;

[0072] 193, mounting frame;

[0073] 2. Second embodiment of the robot;

[0074] 21. Sampling device;

[0075] 210, take the material head;

[0076] 2101, lateral guidance;

[0077] 2102, left and right orientation;

[0078] 2103, sampling arm;

[0079] 2104, chain mounting shaft;

[0080] 211, hanging rail;

[0081] 212. Transverse telescopic mechanism;

[0082] 2121, transverse movement;

[0083] 21211, hanging motor;

[0084] 21212, driving wheel;

[0085] 21213, passive wheel;

[0086] 21214, hanging seat;

[0087] 2122, telescopic part;

[0088] 21221, guiding mechanism;

[0089] 21222, lifting drive components;

[0090] 21223, transmission chain;

[0091] 21224, driving sprocket;

[0092] 21225, passive sprocket;

[0093] 22. Discharging device;

[0094] 220, card holder;

[0095] 221, first clamping block;

[0096] 222, second clamping block;

[0097] 223, guide rod;

[0098] 224, driving member;

[0099] 23. Crushing device;

[0100] 24. Aggregate device;

[0101] 25. Vibrating screening machine;

[0102] 26. Cleaning agencies;

[0103] 27. Fixed frame;

[0104] 3. The robot of the third embodiment;

[0105] 31. Sampling device;

[0106] 310, take the material head;

[0107] 3101, sampling arm;

[0108] 3102, connection slot;

[0109] 3103, long positioning block;

[0110] 3104, material taking department;

[0111] 311. Multi-axis motion mechanism;

[0112] 312, quick-change connector;

[0113] 3121, connecting flange;

[0114] 3122, casing;

[0115] 3123, top column;

[0116] 32. Eccentric rapping mechanism;

[0117] 320, fixed frame;

[0118] 321. Power source;

[0119] 322, eccentric shaft;

[0120] 323. Extension rod;

[0121] 324, vibration rack;

[0122] 325, vibrating arm;

[0123] 326, vibrating head;

[0124] 33. Crushing device;

[0125] 34. Aggregate device;

[0126] 35. Vibrating screening machine;

[0127] 36. Frame;

[0128] 37. Display device;

[0129] 371, guide sleeve;

[0130] 372. Install the tank. DETAILED DESCRIPTION

[0131] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present invention will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted.

[0132] In the following description of different examples of the present invention, reference is made to the accompanying drawings, which form a part of the present invention and in which different exemplary structures, systems and steps that can implement multiple aspects of the present invention are shown by way of example. It should be understood that other specific schemes of components, structures, exemplary devices, systems and steps can be used, and structural and functional modifications can be made without departing from the scope of the present invention. Moreover, although the terms "top", "bottom", "front", "rear", "side", etc. may be used in this specification to describe different exemplary features and elements of the present invention, these terms are used herein only for convenience, such as the direction of the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the present invention.

[0133] First embodiment

[0134] Figure 1 This is a schematic diagram of the robot structure of the first embodiment of the automatic sampling robot of the present invention.

[0135] like Figure 1 As shown, the robot 1 of the first embodiment includes a sampling device 11, a discharge device 12, a crushing device 13, a collecting device 14, a conveyor belt 15, a vibrating screen 16, a supporting device 17, a moving mechanism 18 and a cleaning mechanism 19. Among them, the sampling device 11 is used to dip the sample, the discharge device 12 is used to solidify the sample dipped by the sampling device 11 and then unload it from the sampling device 11, the crushing device 13 is used to crush the taken solidified sample, the collecting device 14 is used to collect the sample, the conveyor belt 15 is used to transport the crushed sample to the vibrating screen 16, and the vibrating screen 16 is used to vibrate and screen the crushed sample.

[0136] In this embodiment, the robot 1 of the first embodiment is applied to the calcium carbide sampling operation, and the sample comes from the calcium carbide pot 10. The sample in the calcium carbide pot 10 is calcium carbide liquid, which is dipped by the material taking head 111. After the calcium carbide liquid is dipped by the material taking head 111, it can react with gases such as carbon dioxide in the air, causing the calcium carbide liquid to solidify quickly.

[0137] Figure 2 This is a schematic structural diagram of the robot sampling device of the first embodiment of the automatic sampling robot of the present invention.

[0138] like Figure 2As shown, in this embodiment, the sampling device 11 includes a moving mechanism and a connecting rod rotating mechanism 112. The moving mechanism includes a supporting portion 17 and a moving portion 18. The moving portion 18 is connected and arranged at the bottom of the supporting portion 17 to facilitate the movement of the supporting portion 17. The moving portion 18 is driven by a motor to drive the wheels so that the supporting portion 17 moves back and forth between the sampling position and the unloading position. The connecting rod rotating mechanism 112 is installed on the supporting portion 17 of the moving mechanism, and the material taking head 111 is installed at the output portion of the connecting rod rotating mechanism 112.

[0139] In this embodiment, the connecting rod rotating mechanism 112 includes a driver 1121, an output rod 1122, a transition rod 1123 and a rotating rod 1124. The driver 1121 is fixedly mounted on the support portion 17 of the mobile mechanism. The output rod 1122 is connected to the output portion of the driver 1121. The driver 1121 can be a motor. The two ends of the transition rod 1123 are respectively hinged to the output rod 1122 and the rotating rod 1124. One end of the rotating rod 1124 is hingedly mounted on the support portion 17 of the mobile mechanism, and the other end is installed with the material taking head 111. The connecting rod rotating mechanism 112 drives the material taking head from the sampling position to the unloading position, wherein the sampling position is to extend into the calcium carbide pot 10, and the unloading position is to be obliquely backward and upward to enter the unloading device 12.

[0140] In this embodiment, the driver 1121 can be a motor, and is also connected to the encoder 1125 to determine the position of the material head 111, and then obtain the movement trajectory of the material head 111 in real time for control. The material head 111 maintains a certain speed before being transported to the sampling position to ensure that the material head 111 has a smashing action on the calcium carbide pot 10 to break the hard shell on the surface of the calcium carbide pot 10. After the shell is broken, the calcium carbide liquid sticks to the material head 111, and the driver 1121 continues to move to drive the material head 111 to the unloading position. The speed should be slow during this process to prevent the calcium carbide liquid from splashing.

[0141] Figure 3 It is a schematic diagram of the three-dimensional structure of the robot unloading device of the first embodiment of the automatic sampling robot of the present invention.

[0142] like Figure 3As shown, in this embodiment, the unloading device 12 includes a clamping mechanism 121 and a lifting mechanism 122. The clamping mechanism 121 includes two opposite first clamping blocks 1211, a second clamping block 1212, a guide rod 1213 and a driving member 1214. The guide rod 1213 and the driving member 1214 are installed on the clamping frame 1210, and the clamping frame 1210 is installed on the lifting mechanism 122. The first clamping block 1211 and the second clamping block 1212 are installed on the guide rod 1213, and have relative clamping grooves. The two clamping grooves cooperate to clamp the full circumferential side of the material taking head 11. The shape of the clamping groove is adapted to the cross-sectional shape of the material taking head 111, and can be square, circular, elliptical, polygonal, etc. The driving member 1214 can be a cylinder, which drives the first clamping block 1211 and the second clamping block 1212 to move relative to each other along the guide rod 1213.

[0143] In this embodiment, the lifting mechanism 122 includes a bracket 1223, a guide frame 1222 and a lifting cylinder 1221. The guide frame 1222 and the lifting cylinder 1221 are mounted on the bracket 1223, the clamping frame 1210 of the clamping mechanism 121 is mounted on the guide frame 1222, and the output part connected to the lifting cylinder 1221 is connected to the clamping frame 1210 of the clamping mechanism 121, driving the clamping mechanism 121 to move along the guide frame 1222.

[0144] In this embodiment, the unloading device 12 also includes a cleaning mechanism 19. The cleaning mechanism 19 includes a mounting frame 193, a drive motor 192 and a grinder 191. The mounting frame 193 is mounted on the clamping frame 1210 of the clamping mechanism 121, the drive motor 192 is mounted on the mounting frame 193, and the grinder 191 is connected to the output part of the drive motor 192 to rotate and grind the end of the material taking head 111. The grinder 191 can be a component such as a grinding wheel, which grinds the residual sample at the end of the material taking head 111 to remove the residue and avoid sample confusion, which affects the accuracy of sampling.

[0145] In this embodiment, when the material taking head 111 moves to the unloading position, the lifting cylinder 1221 drives the cleaning mechanism 19 to descend. Then the driving member 1214 drives the first clamping block 1211 and the second clamping block 1212 to clamp the material taking head 111. The first clamping block 1211 and the second clamping block 1212 are designed to imitate the material taking head 111, and the first clamping block 1211 and the second clamping block 1212 are made with tooth-like features inside to facilitate unloading. At the same time, the driving motor 192 drives the grinding wheel 3-42 to rotate and clean the head position of the material taking head 111. After the head cleaning is completed, the lifting cylinder 1221 drives the cleaning mechanism 19 to rise so as to remove the sample on the material taking head 111.

[0146] In this embodiment, the collecting device 14 includes a collecting valve 141, a collecting barrel 142 and a collecting funnel 143. The calcium carbide sample pulled down by the unloading device 12 falls freely into the collecting funnel 143, and slides along the collecting barrel 142 to the position of the collecting valve 141. The sampling device 11 reciprocates to sample, and after all the sampling of a single furnace is completed, the moving part 18 moves to the top of the crushing device 13, the collecting valve 141 is actuated to discharge, and the sample slides into the crushing device 13 for crushing. The crushed sample is transported to the vibrating screening machine 16 for screening through the conveyor belt 15.

[0147] Second embodiment

[0148] Figure 4 This is a schematic diagram of the robot structure of the second embodiment of the automatic sampling robot of the present invention.

[0149] like Figure 4 As shown, the robot 2 of the second embodiment includes a sampling device 21, a discharging device 22, a crushing device 23, a collecting device 24, a vibration screening machine 25 and a cleaning mechanism 26. Among them, the sampling device 21 is used to dip the sample, the discharging device 22 is used to solidify the sample dipped by the sampling device 21 and then unload it from the sampling device 21, the crushing device 23 is used to crush the solidified sample taken, the collecting device 24 is used to collect the sample, the vibration screening machine 25 is used to vibrate and screen the broken sample, and the cleaning mechanism 26 is used to clean the material head 210.

[0150] In this embodiment, the robot 2 of the second embodiment is applied to the calcium carbide sampling operation, and the sample comes from the calcium carbide pot (refer to the first embodiment), and the sample in the calcium carbide pot is calcium carbide liquid, which is dipped by the material taking head 210. The calcium carbide liquid is a mixture formed by the reaction of calcium carbide (calcium carbide) and water, and its main components are calcium hydroxide and acetylene. After the calcium carbide liquid is dipped by the material taking head 210, it can react with gases such as carbon dioxide in the air, which will cause the calcium carbide liquid to solidify quickly.

[0151] Figure 7 This is a schematic diagram of the three-dimensional structure of the robot material picking head of the second embodiment of the automatic sampling robot of the present invention.

[0152] like Figure 7 As shown, in this embodiment, the material taking head 210 is composed of a lateral guide 2101, a left and right guide 2102, a sampling arm 2103 and a chain mounting shaft 2104.

[0153] Figure 5 This is a schematic diagram of the three-dimensional structure of the robot sampling device of the second embodiment of the automatic sampling robot of the present invention.

[0154] Figure 6 This is a schematic diagram of the top view of the robot sampling device of the second embodiment of the automatic sampling robot of the present invention.

[0155] like Figure 5 and Figure 6 As shown, in this embodiment, the sampling device 21 includes a hanging rail 211 and a transverse telescopic mechanism 212. The hanging rail 211 is fixedly arranged and suspended above the calcium carbide pot. The transverse telescopic mechanism 212 includes a transverse moving part 2121 and a telescopic part 2122. The transverse moving part 2121 rolls with the hanging rail, the telescopic part 2122 is installed below the transverse moving part 2121, and the material taking head 210 is installed below the telescopic part 2122.

[0156] In this embodiment, the transverse moving part 2121 includes a hanging motor 21211, a driving wheel 21212, a passive wheel 21213 and a hanging seat 21214. The passive wheel 21213 is installed on the hanging seat 21214. The hanging motor 21211 drives the two driving wheels 21212 to realize the translation of the transverse moving part 2121 on the hanging rail 211.

[0157] In this embodiment, the telescopic part 2122 includes a guide mechanism 21221, a lifting drive component 21222, a transmission chain 21223, a driving sprocket 21224 and a passive sprocket 21225. The guide mechanism 21221 has a groove-shaped feature and cooperates with the left and right guides 2102 and the lateral guide 2101 to realize the guiding cooperation between the material taking head 210 and the telescopic part 2122, so that the material taking head 210 can move up and down smoothly along the telescopic part 2122. The transmission chain 21223 bypasses the driving sprocket 21224 and the passive sprocket 21225 and is fixed on the chain mounting shaft 2104, and the chain mounting shaft 2104 can be adjusted up and down to tighten the transmission chain 21223. The lifting drive component 21222 can be a motor, a hydraulic motor, etc., which drives the material taking head 210 to move up and down along the telescopic part 2122 through the transmission chain 21223. Other power transmission methods, such as gear racks, etc., can also be used in other ways.

[0158] Figure 8 This is a schematic structural diagram of the robot unloading device of the second embodiment of the automatic sampling robot of the present invention.

[0159] like Figure 8As shown, in this embodiment, the unloading device 22 includes two opposite first clamping blocks 221, a second clamping block 222, a guide rod 223 and a driving member 224. The guide rod 223 and the driving member 224 are mounted on the clamping frame 220, and the clamping frame 220 is mounted on the fixing frame 27. The first clamping block 221 and the second clamping block 222 are mounted on the guide rod 223, and have relative clamping grooves. The two clamping grooves cooperate to clamp the full circumferential side of the material taking head 210. The shape of the clamping groove is adapted to the cross-sectional shape of the material taking head 210, and can be square, circular, elliptical, polygonal, etc. The driving member 224 can be a cylinder, which drives the first clamping block 221 and the second clamping block 222 to move relative to each other along the guide rod 1213. When the material taking head 210 is lowered to the position, the driving member 224 is actuated to drive the first clamping block 221 and the second clamping block 222 to clamp the material taking head 210 , and the material taking head 210 moves upward to remove the sample stuck on the material taking head 210 .

[0160] In this embodiment, a cleaning mechanism 26 is also installed on the fixed frame 27. The cleaning mechanism 19 has a cleaning motor to drive a grinding wheel to grind the bottom of the sampling arm material head 210 to clean the bottom sample to remove residues and avoid sample confusion that affects the accuracy of sampling.

[0161] In this embodiment, the transverse telescopic mechanism 212 drives the material taking head 210 to move to the sampling position along the hanging rail 211, and the telescopic part 2122 drives the material taking head 210 to descend, and the material taking head 210 takes samples in the calcium carbide pot. After the sampling is completed, the telescopic part 2122 drives the material taking head 210 to rise, and the transverse part 2121 moves to the unloading position. The telescopic part 2122 drives the material taking head 210 to descend to the corresponding position, and the unloading device 22 is actuated to unload, and then the transverse part 2121 moves to the cleaning mechanism 19 to clean the sample at the bottom of the material taking head 210. After the sample pulled down by the unloading device 22 falls freely to the collecting device 24, it directly or indirectly enters the crushing device 23 for crushing, and the crushed sample falls freely to the vibration screening machine 25 for screening.

[0162] Third embodiment

[0163] Fig. 9 This is a schematic diagram of the robot structure of the third embodiment of the automatic sampling robot of the present invention.

[0164] like Fig. 9 As shown, the robot 3 of the third embodiment includes a sampling device 31, a discharging device, a crushing device 33, a collecting device 34, a vibration screening machine 35, a frame 36 and a placing device 37. Among them, the sampling device 31 is used to dip the sample, the discharging device is used to solidify the sample dipped by the sampling device 31 and then unload it from the sampling device 31, the crushing device 33 is used to crush the solidified sample taken, the collecting device 34 is used to collect the sample, and the vibration screening machine 35 is used to vibrate and screen the broken sample.

[0165] In this embodiment, the robot 3 of the third embodiment is applied to the calcium carbide sampling operation. The sample comes from the calcium carbide pot (refer to the first embodiment). The sample in the calcium carbide pot is calcium carbide liquid, which is dipped by the material taking head 310. The calcium carbide liquid is a mixture formed by the reaction of calcium carbide (calcium carbide) and water, and its main components are calcium hydroxide and acetylene. After the calcium carbide liquid is dipped by the material taking head 310, it can react with gases such as carbon dioxide in the air, which will cause the calcium carbide liquid to solidify quickly.

[0166] In this embodiment, the sampling device 31 includes a multi-axis motion mechanism 311 and a quick-change joint 312. The quick-change joint 312 is installed on the driving arm of the multi-axis motion mechanism 311, and the quick-change joint 312 is quickly assembled and disassembled with the material taking head 310. The multi-axis motion mechanism 311 can be a self-moving operating device, or it can be moved using a hanging moving mechanism. The structure can refer to the second embodiment, and will not be repeated here.

[0167] Fig.10 It is a schematic diagram of the three-dimensional structure of the robot quick-change joint of the third embodiment of the automatic sampling robot of the present invention.

[0168] like Fig.10 As shown, in this embodiment, the quick-change connector 312 includes a connecting flange 3121, a sleeve 3122 and two top posts 3123. The sleeve 3122 is connected to one side of the connecting flange 3121, and the two top posts 3123 are symmetrically arranged inside the sleeve 3122.

[0169] Fig.11 This is a schematic diagram of the three-dimensional structure of the robot material picking head of the third embodiment of the automatic sampling robot of the present invention.

[0170] like Fig.11 As shown, in this embodiment, the material taking head 310 includes a sampling arm 3101, a connecting groove 3102, a long positioning block 3103 and a material taking part 3104. The connecting groove 3102 and the material taking part 3104 are respectively located at two ends of the material taking head 310, the connecting groove 3102 is a U-shaped groove, used to cooperate with the top column 3123, the material taking part 3104 can be spherical or ellipsoidal, used to dip the sample, and the long positioning block 3103 is arranged on the sampling arm 3101.

[0171] Fig.12 This is a schematic structural diagram of different matching positions of the robot quick-change connector and the material taking head of the third embodiment of the automatic sampling robot of the present invention.

[0172] like Fig.12As shown, in this embodiment, the main body of the connection groove 3102 is a quick plug, and the quick plug is provided with double-sided or multi-sided connection grooves 3101. The quick plug is inserted into the sleeve, and the top column 3123 is rotatably matched with the connection groove 3102, so that the quick plug can be quickly rotated to connect the quick-change connector 312. The rotational match between the top column 3123 and the connection groove 3102 is respectively in three positions A, B, and C. Fig.12 As shown, the three states of entry, transition and locking are realized respectively.

[0173] In this embodiment, the connecting flange 3121 is fixedly connected to the multi-axis motion mechanism 311, and the sleeve 3122 is a cylindrical column structure, which is matched with the quick plug to limit its radial displacement. The top column 3123 is fixed on the sleeve 3122 and protrudes from the inner surface of the sleeve 3122. When the multi-axis motion mechanism 311 extends its upper arm and moves forward, the top column 3123 can move axially along the connecting groove 3101. After reaching the A position, the sixth joint of the multi-axis motion mechanism 311 rotates, so that the top column 3123 can be moved to the B position, and then the upper arm of the multi-axis motion mechanism 311 moves backward, and the top column 3123 moves to the C position, thereby realizing the fixation of the quick-change sampling arm 3101. On the contrary, the sampling arm can be separated.

[0174] Fig.13 This is a schematic diagram of the three-dimensional structure of the robot placement device of the third embodiment of the automatic sampling robot of the present invention.

[0175] like Fig.13 As shown, in this embodiment, the placing device 37 includes a frame 36, a guide sleeve 371 and a mounting groove 372. The guide sleeve 371 and the mounting groove 372 are both arranged on the frame 36, and the guide sleeve 371 corresponds to the mounting groove 372, the mounting groove 372 cooperates with the long positioning block 3103, and the guide sleeve 371 sleeves the material taking head 310.

[0176] Fig.14 This is a schematic diagram of the three-dimensional structure of the eccentric rapping mechanism of the automatic sampling robot in the third embodiment of the present invention.

[0177] like Fig.14 As shown, in this embodiment, the unloading device is an eccentric rapping mechanism 32. The eccentric rapping mechanism 32 includes a fixed frame 320, a power source 321, an eccentric shaft 322, an extension rod 323, a vibration frame 324, a vibration arm 325 and a vibration head 326. Among them, the fixed frame 320 is fixedly arranged, the power source 321 can be a motor, which is fixedly installed on the fixed frame 320, the input end of the eccentric shaft 322 is transmission-connected to the output of the power source 321, one end of the extension rod 323 is hinged to the eccentric shaft 322, and the other end is hinged to the vibration frame 324, the vibration frame 324 is movably installed on the fixed frame 320, one end of the vibration arm 324 is connected to the vibration frame 324, and the other end is connected to the vibration head 326, and the vibration head 326 vibrates the sample on the material taking head 310.

[0178] In this embodiment, when the eccentric rapping mechanism 32 is used to rapple and unload the material taking head 310, the material taking head 310 is basically fixed on the frame 36 through the guide sleeve 371 and the mounting groove 372 of the placing device 37, thereby ensuring the efficiency and safety of the rapping. In addition, the vibration head 326 can be a flat head, or a large friction surface, and has a cleaning function to prevent the sample from remaining on the material taking head 310. The material taking head 310 can be one or more as shown in the figure. The number and position of the vibration head 326 correspond one-to-one to the material taking head 310, and the many-to-many form can improve work efficiency.

[0179] In this embodiment, the multi-axis motion mechanism 311 is used to install and fix the material head 310 through the quick-change joint 312. After moving into place, the multi-axis motion mechanism 311 drives the material head 310 to take samples. After the sampling is completed, the multi-axis motion mechanism 311 drives the material head 310 to move to the unloading position, and places the quick material head 310 with the sample on the placement device 37, and then replaces the new material head 310. The above-mentioned reciprocating action completes the sampling work of the single furnace. Then use the vibrating head 326 of the eccentric vibration mechanism 32 to knock the material head 310 to knock the sample off. After the sample freely falls to the collection device 34, it directly or indirectly enters the crushing device 33 for crushing, and the crushed sample freely falls to the vibration screening machine 35 for screening.

[0180] Finally, it should be noted that sample collection can be one-time, one-pot, multiple-pot, or a combination of multiple times, depending on actual needs.

[0181] Those skilled in the art should understand that the specific structures and processes shown in the above specific embodiments are only exemplary and not restrictive. Moreover, those skilled in the art can combine the various technical features shown above in various possible ways to form new technical solutions, or make other changes, which are all within the scope of the present invention.

Claims

1. An automatic sampling robot, which is used for calcium carbide sampling operations, where the sample comes from a calcium carbide pot, and the sample in the calcium carbide pot is calcium carbide liquid, characterized in that: include: A sampling device, the sampling device comprising a sampling head and a driving mechanism, the sampling head is mounted on the driving mechanism and moves under the driving of the driving mechanism, the sampling head is used to dip the sample and reach a discharge position under the action of the driving mechanism, and the sample solidifies before reaching the discharge position; A discharge device, the discharge device is arranged corresponding to the discharge position, and the discharge device operates the sample on the material taking head that reaches the discharge position, so that the sample on the material taking head is separated from the material taking head; The crushing device comprises a container and a crushing mechanism. The container is arranged below the unloading position and is used to accommodate the sample. The crushing mechanism is arranged corresponding to the container and is used to crush the sample in the container.

2. The automatic sampling robot according to claim 1, characterized in that: The sampling device comprises a moving mechanism and a connecting rod rotating mechanism, wherein the connecting rod rotating mechanism is installed on the moving mechanism, and the material taking head is installed on the output part of the connecting rod rotating mechanism.

3. The automatic sampling robot according to claim 2, characterized in that: The connecting rod rotation mechanism includes a driver, an output rod, a transition rod and a rotating rod. The driver is fixedly mounted on the moving mechanism, the output rod is connected to the output part of the driver, the two ends of the transition rod are hinged to the output rod and the rotating rod respectively, one end of the rotating rod is hingedly mounted on the moving mechanism, and the other end is mounted with the material taking head.

4. The automatic sampling robot according to claim 1, characterized in that: The sampling device includes a hanging rail and a transverse telescopic mechanism, the hanging rail is fixed, the transverse telescopic mechanism includes a transverse portion and a telescopic portion, the transverse portion rollingly cooperates with the hanging rail, the telescopic portion is installed below the transverse portion, and the material taking head is installed below the telescopic portion.

5. The automatic sampling robot according to claim 3 or 4, characterized in that: The unloading device includes a clamping mechanism, which includes two opposite clamping blocks, a guide rod and a driving member. The clamping block is installed on the guide rod and has relative clamping grooves. The two clamping grooves cooperate to clamp the full circumferential side surfaces of the material picking head. The driving member drives the two clamping blocks to move relative to each other along the guide rod.

6. The automatic sampling robot according to claim 3, characterized in that: The unloading device includes a lifting mechanism and a clamping mechanism, and the lifting mechanism includes a bracket, a guide frame and a lifting cylinder. The guide frame and the lifting cylinder are installed on the bracket, and the clamping mechanism is installed on the guide frame. The output part connected to the lifting cylinder is connected to the clamping mechanism to drive the clamping mechanism to move along the guide frame.

7. The automatic sampling robot according to claim 5, characterized in that: The unloading device includes a cleaning mechanism, which includes a mounting frame, a driving motor and a grinder. The mounting frame is installed on the clamping mechanism, the driving motor is installed on the mounting frame, and the grinder is connected to the output part of the driving motor to rotate and grind the end of the material taking head.

8. The automatic sampling robot according to claim 1, characterized in that: The sampling device comprises a multi-axis motion mechanism and a quick-change joint. The quick-change joint is installed on a driving arm of the multi-axis motion mechanism, and the quick-change joint cooperates with the material taking head for rapid assembly and disassembly.

9. The automatic sampling robot according to claim 8, characterized in that: The quick-change connector includes a connecting flange, a sleeve and two top columns. The sleeve is connected to one side of the connecting flange, and the two top columns are symmetrically arranged inside the sleeve. A quick plug is connected to the material taking head, and the quick plug is provided with double-sided or multi-sided connecting grooves. The quick plug is inserted into the sleeve, and the top column is rotatably matched with the connecting groove so that the quick plug can be quickly rotated to connect the quick-change connector.

10. The automatic sampling robot according to claim 9, characterized in that: A long positioning block is arranged on the material taking head, and the automatic sampling robot also includes a placing device for positioning the material taking head, and the placing device includes a frame, a guide sleeve and an installation groove body, the guide sleeve and the installation groove body are both arranged on the frame body, and the guide sleeve corresponds to the installation groove body, the installation groove body cooperates with the long positioning block, and the guide sleeve is sleeved on the material taking head.

11. The automatic sampling robot according to claim 10, characterized in that: The unloading device includes an eccentric vibrating mechanism, which includes a fixed frame, a power source, an eccentric rotating shaft, an extension rod, a vibrating frame, a vibrating arm and a vibrating head. The fixed frame is fixedly arranged, the power source is fixedly installed on the fixed frame, the input end of the eccentric rotating shaft is transmission-connected to the output part of the power source, one end of the extension rod is connected to the eccentric rotating shaft, and the other end is hinged to the vibrating frame, the vibrating frame is movably installed on the fixed frame, one end of the vibrating arm is connected to the vibrating frame, and the other end is connected to the vibrating head, and the vibrating head vibrates to act on the sample on the material taking head.

12. The automatic sampling robot according to claim 1, characterized in that: The robot also includes a conveyor belt, a vibrating screening machine and a material collecting device. The input end of the conveyor belt is arranged corresponding to the crushing device, the output end of the conveyor belt is arranged corresponding to the vibrating screening machine, and the material collecting device is arranged corresponding to the unloading device, including a material collecting valve, a material collecting barrel and a material collecting funnel. The material collecting funnel is connected and arranged on the upper part of the material collecting barrel, and the material collecting valve controls the switch of the material collecting barrel.

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