Sample breaking equipment, sample breaking method and sample sampling, breaking and sending system

Abstract

The invention relates to the technical field of smelting sampling analysis, in particular to sample breaking equipment which comprises a probe cutting device and a probe sample breaking device. A probe cutting mechanism is arranged in the probe cutting device, and the probe cutting mechanism is used for cutting the end part of the sampled probe; the probe sample breaking device comprises a transfer mechanism, a probe sample breaking mechanism and a sample separating mechanism; the transfer mechanism is used for transferring the end part of the probe cut by the probe cutting device into the probe sample breaking mechanism; the probe sample breaking mechanism is used for breaking the end part of the probe; the sample separating mechanism is arranged at the discharging end of the probe sample breaking mechanism and is used for separating samples. Meanwhile, the invention further provides a sample breaking method and a sample sampling, breaking and sending system. Compared with the prior art, the sample breaking equipment, the sample breaking method and the sample sampling, breaking and sending system have the advantages that the sample breaking operation is performed through a mechanical structure, the safety risk can be reduced, and the influence of human factors on sample breaking and analysis results can be reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of smelting sampling and analysis, and in particular to a sample breaking device, a sample breaking method and a sampling, sample breaking and sample delivery system. Background Art

[0002] In the iron and steel metallurgical industry, the chemical composition and element content of liquid metal has an important influence on the structure and performance of the product. Therefore, it is of great significance to take samples from the molten steel during the steel smelting process and send the steel samples to a special analysis room through a pneumatic sample delivery device to analyze the elemental composition content of the liquid metal in the molten steel sample.

[0003] The traditional sampling method involves manual sampling of molten steel. During this process, workers often face hazardous conditions such as high temperatures, metal dust, and slag splashing, which compromises their personal safety. However, with the gradual advancement of technology, robotic temperature measurement and sampling devices have emerged. Some steel mills are using these devices to replace traditional manual sampling.

[0004] After sampling the molten steel, the sampled samples need to be broken (the sampler with the sample taken is broken by a certain method to separate the sample, sample shell, mud head, paper tube, etc. in the sampler) and delivered (the sample is delivered to a designated location or container).

[0005] However, in existing technology, although some steel mills have installed robotic temperature measurement and sampling equipment at certain steelmaking stations, sample breaking and delivery after sampling still rely on manual labor. Manual sample breaking and delivery is a "3D" job that is dangerous, dusty, and labor-intensive. Furthermore, the accuracy and stability of chemical composition analysis in molten metal are closely related not only to the spectroscopic analysis instruments in the analysis room, but also to the sampling, breaking, and delivery processes. Manual sample breaking and delivery are significantly affected by human factors, which can easily affect sample analysis. Summary of the Invention

[0006] In view of the technical problems that the sample breaking process in the prior art relies on manual labor, which poses safety issues and easily affects the sample breaking results due to human factors, the present invention provides a sample breaking device that uses an automated mechanical structure to replace manual sample breaking, thereby reducing safety risks, reducing the impact of human factors on sample breaking, and further improving the stability of sample identification results.

[0007] A sample breaking device, comprising a probe intercepting device and a probe sample breaking device; The probe cutting device is provided with a probe cutting mechanism, which is used to cut the end of the probe after sampling; The probe sample breaking device includes a transport mechanism, a probe sample breaking mechanism, and a sample separation mechanism; The transport mechanism is used to transport the probe end portion cut by the probe cutting device to the probe sample breaking mechanism; The probe sample breaking mechanism is used to break the probe end; The sample separation mechanism is arranged at the discharge end of the probe sample breaking mechanism and is used to separate samples.

[0008] Preferably, the probe intercepting device further comprises a probe removing mechanism, a clamping and transporting mechanism, and a accommodating mechanism; The probe removal mechanism is arranged on one side of the probe cutting mechanism to clamp the sampling probe; The clamping and transporting mechanism is arranged on the other side of the probe cutting mechanism, and is used for clamping the end of the sampling probe and for transporting the cut probe end to the accommodating mechanism.

[0009] Preferably, the transport mechanism is used to directly transport the accommodating mechanism so as to transport the probe end portion cut by the probe cutting device to the probe sample breaking mechanism.

[0010] Preferably, the accommodating mechanism adopts a V-groove plate.

[0011] Preferably, the probe sample crushing mechanism includes a accommodating bucket, a crushing clamping mechanism, and a crushing mechanism; The receiving bucket is used to receive the probe end; The clamping claw of the crushing clamping mechanism is arranged above the containing bucket to clamp the end of the probe; The hammer head of the crushing mechanism is arranged toward the containing bucket to crush the end of the probe in the containing bucket.

[0012] Preferably, the sample separation mechanism includes a separation rack, a separation barrel, and a separation drive mechanism; The separation frame is provided with a guide rail; The separation barrel is slidably arranged on the guide rail to accommodate materials; The separation drive mechanism is connected to the separation barrel and is used to drive the separation barrel to move back and forth along the guide rail.

[0013] Preferably, the separation drive mechanism includes a separation drive unit, a rotary wheel and a connecting rod; The rotary wheel is arranged at the output end of the separation drive unit, and the separation drive unit is used to drive the rotary wheel to rotate; One end of the connecting rod is hinged to the rotary wheel, and the other end is hinged to the separation barrel to drive the separation barrel to move back and forth; A blanking plate is movably provided at the bottom of the separation barrel.

[0014] Preferably, the probe sample breaking device further includes an identification mechanism; The recognition mechanism includes a picking tray and a first visual recognition camera; The picking plate is located at the discharge end of the sample separation mechanism and is used to receive the sample flowing out of the sample separation mechanism. The picking plate can be turned over and is connected to a vibration unit. The first visual recognition camera is located above the picking tray and is used to identify samples on the picking tray.

[0015] Preferably, the discharge end of the probe sample breaking mechanism is located at the bottom of the probe sample breaking mechanism, and the discharge end of the sample separation mechanism is located at the bottom of the sample separation mechanism; The probe sample breaking mechanism, the sample separation mechanism and the picking plate are arranged in sequence from top to bottom.

[0016] Preferably, the probe sample breaking device further includes a sample cooling mechanism, a sample quality detection mechanism and a sample shearing mechanism; The sample cooling mechanism includes a cooling water tank, which is used to contain cooling water to cool the sample; The sample quality detection mechanism includes a sample weighing unit and a second visual recognition camera. The sample weighing unit is used to weigh the sample. The second visual recognition camera is located above the sample weighing unit and is used to detect the sample. The sample handle cutting mechanism includes a handle cutting unit and a handle cutting driving unit. The handle cutting driving unit is connected to the handle cutting unit and is used to drive the handle cutting unit to operate so as to remove the sample handle from the sample.

[0017] Preferably, the probe sample breaking device further comprises a sample container opening and closing mechanism, and the sample container opening and closing mechanism is used to open and close the sample container; The transport mechanism is also used to transport the sample container between the sample container opening and closing mechanism and the sample delivery device and to deliver the sample into the sample container.

[0018] Preferably, the transport mechanism is also used to transport the picked-up samples in the probe sample breaking device.

[0019] A sample breaking method, which uses the sample breaking device as described in any one of the above, and the sample breaking method comprises the following steps: Cutting off the probe: Remove the probe end with the sample from the sampling probe; Sample breaking: The probe end is transferred to the probe sample breaking mechanism to break the probe end; Sample separation: The crushed probe end is transferred to the sample separation mechanism, and the crushed probe end is subjected to sample separation.

[0020] Preferably, the sample separation step further includes the following steps: Identify and pick up samples: Identify samples from the separated materials and pick up the samples.

[0021] Preferably, the steps of identifying and picking up samples further include the following steps: Cooling sample: Cooling the picked up sample; Sample inspection: perform defect inspection on cooled samples; Sample handle cutting: Cut off the long handle at the front end of the sample that has passed the test.

[0022] Preferably, the sample handle cutting step further includes the following steps: Stakeout: Place the sample after cutting the handle into the sample container; Close the sample container: close the container cover of the sample container; Sample delivery tank: transports the sample container containing the sample to the sample delivery equipment.

[0023] Preferably, the method further comprises the following steps: Take sample container: take out the sample container from the sample delivery device; Open the sample container: open the container cover of the sample container; The sample container in the sample placement step is the sample container after the container cover is opened in the sample opening step.

[0024] Preferably, the sample taking tank, the sample opening tank, the sample breaking and the sample separation are carried out simultaneously.

[0025] A sampling, sample breaking and sample delivery system, comprising a sampling device, a sample delivery device and a sample breaking device as described in any one of the above items; The probe intercepting device is docked with the sampling device; The probe sample breaking device is connected to the sample delivery equipment.

[0026] Compared with the prior art, the present invention provides a sample breaking device, which includes a probe intercepting device and a probe sample breaking device; the probe intercepting device is provided with a probe cutting mechanism, and the probe cutting mechanism is used to cut the probe end after sampling; the probe sample breaking device includes a transport mechanism, a probe sample breaking mechanism, and a sample separation mechanism; the transport mechanism is used to transport the probe end cut by the probe intercepting device to the probe sample breaking mechanism; the probe sample breaking mechanism is used to crush the probe end; the sample separation mechanism is provided at the discharge end of the probe sample breaking mechanism to separate the sample. The sample breaking device can cut the probe end from the sampling probe through the probe intercepting device, and can break the probe end through the probe sample breaking device, thereby automatically separating the sample. By replacing manual sample breaking operations with an automated mechanical structure, safety risks can be reduced, the influence of human factors on sample breaking can be reduced, and the stability of subsequent sample identification results can be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] Figure 1 It is a structural diagram of a sampling, sample breaking and sample delivery system; Figure 2 for Figure 1 The schematic diagram of the structure of the sampling, breaking and delivering system from another angle is shown; Figure 3 A schematic structural diagram of a probe interception device provided in one embodiment; Figure 4 A schematic structural diagram of a probe sample breaking device provided in one embodiment; Figure 5 A schematic structural diagram of a sampling probe provided in one embodiment; Figure 6 A schematic structural diagram of a probe removal mechanism provided in one embodiment; Figure 7 A schematic structural diagram of a clamping and transporting mechanism provided in one embodiment; Figure 8 A schematic structural diagram of a transfer mechanism provided in one embodiment; Figure 9 for Figure 8 The schematic diagram of the structure of the robot gripper when transporting the accommodating mechanism is shown; Figure 10A schematic structural diagram of a probe sample breaking mechanism provided in one embodiment; Figure 11 for Figure 10 A partial enlarged view of the probe sample breaking mechanism is shown; Figure 12 A schematic structural diagram of a sample separation mechanism provided in one embodiment; Figure 13 for Figure 12 A schematic cross-sectional structure diagram of the sample separation mechanism shown; Figure 14 A schematic diagram of the structure of a picking tray provided in one embodiment; Figure 15 A schematic structural diagram of a first visual recognition camera provided in an embodiment; Figure 16 A schematic diagram of the structure of a robot gripping module gripping a sample according to an embodiment; Figure 17 A schematic diagram of the structure of a sample cooling mechanism and a sample quality detection mechanism provided in one embodiment; Figure 18 A schematic structural diagram of a sample quality detection unit provided in one embodiment; Figure 19 A schematic diagram of a sample provided in an embodiment and the structure of the sample after the handle is cut; Figure 20 A schematic structural diagram of a sample shearing handle mechanism provided in one embodiment; Figure 21 A schematic diagram of the structure of a robot gripping module gripping a sample container in one embodiment; Figure 22 A schematic structural diagram of a sample container opening and closing mechanism provided in one embodiment; Reference numerals: Sampling, breaking and delivering system 1000; Sample breaking equipment 100; Probe intercepting device 10, probe cutting mechanism 11, probe removal mechanism 12, probe removal cylinder 121, probe removal clamp 122, probe removal connecting rod 123, clamping and transporting mechanism 13, transport cylinder 131, clamping module 132, clamping cylinder 1321, probe end clamp 1322, cylinder mounting plate 133, accommodating mechanism 14, receiving device frame 15; probe sample breaking device 20, transport mechanism 21, robot mounting base 211, robot body 212, robot clamping module 213, clamping mounting plate 2131, robot clamping cylinder 2132, robot clamping claw 2133, first clamping claw 21331, second clamping claw 21332, probe sample crushing mechanism 22, accommodating bucket 221, guide part 2211, crushing clamping mechanism 222, crushing clamping cylinder 2221, crushing clamping claw 2222, crushing mechanism 223, crushing cylinder 2231, hammer head 2232, leakage baffle 224, sample separation Mechanism 23, separation rack 231, separation barrel 232, bottom plate 2321, blanking plate 2322, blanking plate cylinder 2323, separation drive mechanism 233, separation drive unit 2331, rotary wheel 2332, connecting rod 2333, guide rail 234, recognition mechanism 24, picking plate 241, first visual recognition camera 242, vibration unit 243, flip drive unit 244, moving cylinder 245, sample cooling mechanism 25, cooling water tank 251, water level depth Degree detection unit 252, sample quality detection mechanism 26, second visual recognition camera 261, sample quality detection unit 262, mounting bracket 2621, weighing sensor 2622, weighing table 2623, sample shearing handle mechanism 27, mounting bracket 271, shearing cylinder 272, shearing knife seat 273, shearing connecting rod 274, sample container opening and closing mechanism 28, mounting bracket 281, container cover clamp 282, opening and closing cylinder 283, sample container positioning mechanism 29; Sampling probe 101, probe end 1011, sample 1012, long handle 10121; Sample container 102, groove 1021; Sample delivery equipment 200; Sampling equipment 300; Ladle 400; Electric control cabinet 500; Air control system 600. DETAILED DESCRIPTION

[0029] In order to help those skilled in the art better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making any creative efforts shall fall within the scope of protection of this application.

[0030] It should be noted that when a component is referred to as being “fixed on”, “mounted on” or “set on” another component, it can be directly on the other component or indirectly set on the other component; when a component is “connected” to another component, or a component is referred to as being “connected to” another component, it can be directly connected to the other component or indirectly connected to the other component.

[0031] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of such features. Throughout the description of this application, "plurality" or "several" means two or more, unless otherwise specifically defined.

[0033] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the efficacy and purpose that can be achieved by this application.

[0034] The present invention provides a sample breaking device, which includes a probe intercepting device and a probe sample breaking device; the probe intercepting device is provided with a probe cutting mechanism, and the probe cutting mechanism is used to cut the probe end after sampling; the probe sample breaking device includes a transport mechanism, a probe sample breaking mechanism, and a sample separation mechanism; the transport mechanism is used to transport the probe end cut by the probe intercepting device to the probe sample breaking mechanism; the probe sample breaking mechanism is used to crush the probe end; the sample separation mechanism is provided at the discharge end of the probe sample breaking mechanism to separate the sample. The sample breaking device can cut the probe end from the sampling probe through the probe intercepting device, and can break the probe end through the probe sample breaking device, thereby automatically separating the sample. By replacing manual sample breaking operations with an automated mechanical structure, safety risks can be reduced, the influence of human factors on sample breaking can be reduced, and the stability of subsequent sample identification results can be improved.

[0035] Please refer to Figures 1 to 5 In one embodiment, a sample breaking device 100 is provided, which is mainly used to automatically break the sample after sampling through a mechanical structure, replacing the traditional manual sample breaking.

[0036] The sample breaking device 100 includes a probe cutting device 10 and a probe sample breaking device 20. The probe cutting device 10 is provided with a probe cutting mechanism 11, which is used to cut the end of the probe after sampling. In other words, the probe cutting device 10 is mainly used to connect with the sampling device and cut the end of the probe after sampling in the sampling device to facilitate subsequent processing.

[0037] The probe sample-breaking device 20 includes a transport mechanism 21, a probe sample-breaking mechanism 22, and a sample separation mechanism 23. The transport mechanism 21 is used to transport the probe end cut by the probe intercepting device 10 to the probe sample-breaking mechanism 22. The probe sample-breaking mechanism 22 is used to crush the probe end. The sample separation mechanism 23 is arranged at the discharge end of the probe sample-breaking mechanism 22 to separate the sample. After the probe intercepting device 10 completes the cutting of the probe end, the probe end is sent to the probe sample-breaking mechanism 22 through the transport mechanism 21. The probe sample-breaking mechanism 22 then crushes the probe end. The crushed probe end then falls into the sample separation mechanism 23. The sample separation mechanism 23 separates the crushed sample, sample shell, mud head, paper tube, etc., thereby realizing automatic sample breaking of the sample without the need for manual intervention.

[0038] Understandably, in existing technologies, sample breaking after sampling is still a manual process. Manual sample breaking is a "3D" job that is dangerous, dusty, and labor-intensive, posing safety risks and increasing a company's labor costs. Furthermore, manual sample breaking typically takes place around smelting furnaces, where temperatures are high and the working environment is poor. Companies also face difficulties recruiting workers. The accuracy and stability of chemical composition analysis in molten metal are not only dependent on the spectroscopic analysis instruments in the analysis room, but also closely related to the sample collection, breaking, and delivery processes. Manual sample breaking and delivery are significantly affected by human factors, which can easily affect sample analysis.

[0039] The sample breaking equipment 100 provided in this embodiment uses the probe intercepting device 10 to cooperate with the probe sample breaking device 20, so that the sampled samples can be automatically broken by a mechanical structure, replacing the traditional manual sample breaking, which can reduce safety risks, reduce the occurrence of on-site safety accidents, and reduce the labor costs of the enterprise. At the same time, it can also solve the problem of manual "3D" positions at the steelmaking site and solve the problems of difficulty in recruiting workers in the steelmaking industry. In addition, it can also reduce the impact of human factors on sample breaking and improve the stability of subsequent sample identification results. It can also improve the automation level of the steelmaking site, one-button operation, improve the standardization of sample breaking and sample delivery operations, and realize the unmanned and fully automated connection of the manipulator temperature measurement sampling process and the pneumatic sample delivery process.

[0040] Specifically, the probe sample breaking mechanism 22 can automatically break the probe end of a steel sample containing molten steel at a temperature of 800-1200 degrees Celsius.

[0041] Preferably, in one embodiment, the probe intercepting device 10 further includes a probe removal mechanism 12, a clamping and transporting mechanism 13, and a accommodating mechanism 14. The probe removal mechanism 12 is provided on one side of the probe cutting mechanism 11 to clamp the sampling probe 101. The clamping and transporting mechanism 13 is provided on the other side of the probe cutting mechanism 11 to clamp the end of the sampling probe 101 and to transport the cut probe end 1011 to the accommodating mechanism 14. In this embodiment, when the probe intercepting device 10 is docked with the sampling device, after the sampling probe 101 is sent into the probe intercepting device 10, The probe removal mechanism 12 and the clamping and transporting mechanism 13 first clamp the sampling probe 101 on opposite sides of the probe cutting mechanism 11, and then the probe cutting mechanism 11 performs cutting, thereby more stably severing the probe end 1011 from the sampling probe 101. The clamping and transporting mechanism 13 then clamps the probe end 1011 containing the sample and transports it to the accommodating mechanism 14. The probe cutting device 10 pre-cuts the probe end 1011, facilitating subsequent sample breaking and other operations, making subsequent sample breaking and other processes more streamlined.

[0042] Preferably, in one embodiment, the transfer mechanism 21 is used to directly transfer the accommodating mechanism 14, so as to transfer the probe end 1011 cut by the probe cutting device 10 to the probe sample breaking mechanism 22. That is, in this embodiment, when transferring the probe end 1011, the transfer mechanism 21 can directly transfer the accommodating mechanism 14 containing the probe end 1011 (it can be by grabbing or lifting the accommodating mechanism 14, as long as it can achieve stable transfer of the accommodating mechanism 14), and then place the probe end 1011 into the probe sample breaking mechanism 21. Allowing the transfer mechanism 21 to directly grab or lift the accommodating mechanism 14 allows the transfer mechanism 21 to more simply and stably dock and transfer materials, reducing the difficulty of transfer and improving the stability and efficiency of equipment operation.

[0043] Specifically, in one embodiment, the accommodating mechanism 14 is a V-grooved plate, which can more stably accommodate the probe end 1011 and facilitate the transportation of the probe end 1011, ensuring the accurate position of the probe end 1011 during transportation. The V-grooved plate refers to a plate-like structure with a V-groove.

[0044] Specifically, in one embodiment, the probe intercepting device 10 further includes an intercepting device frame 15, and the accommodating mechanism 14 is placed on the intercepting device frame 15. The probe removal mechanism 12, the clamping and transporting mechanism 13, and the probe cutting mechanism 11 are all arranged obliquely on the intercepting device frame 15, thereby facilitating the insertion of the sampling probe 101 into the probe intercepting device 10 and the cutting of the sampling probe 101.

[0045] Please refer to Figure 6 Specifically, in one embodiment, the probe removal mechanism 12 includes a probe removal cylinder 121 and a probe removal clamping jaw 122. The probe removal clamping jaw 122 is connected to the output end of the probe removal cylinder 121 via a probe removal connecting rod 123. Thus, the probe removal cylinder 121 can drive the probe removal clamping jaw 122 to open and close, thereby clamping and releasing the sampling probe 101. When the probe removal cylinder 121 is opened, it pushes the probe removal connecting rod 123, causing the probe removal clamping jaw 122 to close, thereby clamping the sampling probe 101. When the probe removal cylinder 121 is closed, it retracts the probe removal connecting rod 123, causing the probe removal clamping jaw 122 to open, thereby releasing the sampling probe 101 and discarding (removing) the remaining portion of the cut sampling probe 101.

[0046] Please refer to Figure 7Specifically, in one embodiment, the clamping and transporting mechanism 13 includes a transport cylinder 131 and a clamping module 132 provided at the output end of the transport cylinder 131, and the clamping module 132 includes a clamping cylinder 1321 and a probe end clamping claw 1322 provided at the output end of the clamping cylinder 1321. The output end of the transport cylinder 131 is arranged toward the accommodating mechanism 14, and the clamping module 132 can be pushed toward the accommodating mechanism 14 through the operation of the transport cylinder 131. When the clamping cylinder 1321 retracts, it drives the probe end clamping claw 1322 to close, thereby clamping the probe end 1011. When the clamping cylinder 1321 extends, it drives the probe end clamping claw 1322 to open, thereby releasing the probe end 1011.

[0047] Preferably, in one embodiment, in order to allow the probe end clamp 1322 to clamp the probe end 1011 more stably, a V-shaped groove is provided on the surface of the probe end clamp 1322 for clamping the probe end 1011, so that when clamping, the probe end clamp 1322 can at least partially surround the probe end 1011 to prevent the probe end 1011 from accidentally falling.

[0048] In one embodiment, when the probe cutting device 10 is in operation, the probe removal jaws 122 and the probe end jaws 1322 first clamp the rod of the sampling probe 101 and the probe end 1011, respectively. Then, the probe cutting mechanism 11 is activated to cut the probe end 1011 off the sampling probe 101. The clamping module 132 is then pushed to the accommodating mechanism 14 by the transport cylinder 131, the probe end jaws 1322 are opened, and the probe end 1011 falls into the V-groove of the accommodating mechanism 14.

[0049] Specifically, in one embodiment, the transfer cylinder 131 is installed on the receiving device frame 15 through a cylinder mounting plate 133 .

[0050] Please refer to Figure 8 and Figure 9 Specifically, in one embodiment, the transfer mechanism 21 is a collaborative robot, more specifically, a collaborative six-axis robot. The collaborative robot is an intelligent and safe industrial robot that can work with humans on the production line.

[0051] Specifically, in one embodiment, the transfer mechanism 21 includes a robot mounting seat 211, a robot body 212, and a robot clamping module 213. The robot body 212 is mounted on the robot mounting seat 211, and the robot clamping module 213 is mounted at the end of the robot body 212. The robot clamping module 213 is used to transfer materials. More specifically, in one embodiment, the robot clamping module 213 includes a clamping mounting plate 2131, a robot clamping cylinder 2132, and a robot gripper 2133. The clamping mounting plate 2131 is mounted at the end of the robot body 212, the robot clamping cylinder 2132 is mounted on the clamping mounting plate 2131, and the robot gripper 2133 is mounted at the output end of the robot clamping cylinder 2132. The robot clamping cylinder 2132 is used to drive the robot gripper 2133 to open and close, thereby clamping and releasing materials, thereby transferring materials.

[0052] In one embodiment, the clamping mounting plate 2131 can be rotatably connected to the robot body 212, and the clamping mounting plate 2131 can be connected to the driving structure within the robot body 212, so that the clamping mounting plate 2131 can be rotated and adjusted, thereby increasing the degree of freedom of the transfer mechanism 21 and making the transfer mechanism 21 more flexible when transferring materials.

[0053] Please refer to Figure 10 and Figure 11 Preferably, in one embodiment, the probe sample crushing mechanism 22 includes a hopper 221, a crushing and clamping mechanism 222, and a crushing mechanism 223. The hopper 221 is used to accommodate the probe end 1011. The clamping claws of the crushing and clamping mechanism 222 are arranged above the hopper 221 to clamp the probe end 1011. The hammer head of the crushing mechanism 223 is arranged toward the hopper 221 to crush the probe end 1011 in the hopper 221. The transport mechanism 21 directly delivers the probe end 1011 received from the probe intercepting device 10 into the hopper 221. The crushing and clamping mechanism 222 operates to clamp the probe end 1011, and then the crushing mechanism 223 operates to impact the probe end 1011, thereby crushing the probe end 1011. The probe end 1011 is first clamped by the crushing clamping mechanism 222 , thereby stabilizing the position of the probe end 1011 and improving the crushing effect of the subsequent crushing mechanism 223 .

[0054] Preferably, in one embodiment, an inverted cone-shaped guide portion 2211 is provided at the top of the accommodating bucket 221. By providing the inverted cone-shaped guide portion 2211 at the top, the probe end 1011 can be guided to ensure that after the transfer mechanism 21 releases the probe end 1011, the probe end 1011 can smoothly enter the accommodating bucket 221.

[0055] Specifically, in one embodiment, the crushing clamping mechanism 222 includes a crushing clamping cylinder 2221 and a crushing clamping claw 2222 arranged at the output end of the crushing clamping cylinder 2221. The operation of the crushing clamping cylinder 2221 drives the crushing clamping claw 2222 to open and close, thereby achieving the clamping and release of the probe end 1011.

[0056] Specifically, in one embodiment, the crushing mechanism 223 includes a crushing cylinder 2231 and a hammer 2232 provided at the output end of the crushing cylinder 2231. The crushing cylinder 2231 drives the hammer 2232 to move back and forth, thereby reciprocatingly hammering the probe end 1011 in the receiving bucket 221 by the hammer 2232 to crush the probe end 1011. The receiving bucket 221 may have an avoidance structure corresponding to the hammer 2232, so that the hammer 2232 can smoothly extend into the receiving bucket 221.

[0057] Preferably, in one embodiment, two crushing mechanisms 223 are provided, and the two crushing mechanisms 223 are arranged at a 90° angle. When crushing the probe end 1011, the crushing cylinders 2231 of the two crushing mechanisms 223 operate alternately, so that the two hammer heads 2232 alternately impact the probe end 1011 to achieve a better crushing effect.

[0058] Specifically, in one embodiment, the probe sample crushing mechanism 22 may further include a mounting plate, and the accommodating bucket 221 , the crushing and clamping mechanism 222 , and the crushing mechanism 223 may all be mounted on the mounting plate.

[0059] Preferably, in one embodiment, a leakage baffle 224 is movably provided at the bottom of the holding hopper 221, and the holding hopper 221 can be opened and closed from the bottom via the leakage baffle 224. During crushing, the leakage baffle 224 is in a closed state. After crushing, the leakage baffle 224 is opened, so that the crushed samples, sample shells, mud heads, paper tubes, and other materials can fall directly by gravity for discharge, without the need for an additional transfer structure. The specific movement of the leakage baffle 224 can adopt a flip-type opening and closing structure or a sliding opening and closing structure, etc., as long as the leakage baffle 224 can be smoothly opened and closed.

[0060] Specifically, in one embodiment, the sample separation mechanism 23 is disposed below the accommodating bucket 221 . After the leakage baffle 224 is opened, the crushed samples, sample shells, mud heads, paper tubes and other materials directly fall into the sample separation mechanism 23 .

[0061] Please refer to Figure 12 and Figure 13 The sample separation mechanism 23 includes a separation frame 231, a separation barrel 232, and a separation drive mechanism 233. The separation frame 231 is provided with a guide rail 234, and the separation barrel 232 is slidably mounted on the guide rail 234. The separation barrel 232 is used to accommodate material. The separation drive mechanism 233 is connected to the separation barrel 232 to drive the separation barrel 232 to move back and forth. The material crushed by the probe sample crushing mechanism 22 falls into the separation barrel 232. The crushed material mainly includes mud cores, samples containing sample shells, paper scraps, etc. The separation drive mechanism 233 drives the separation barrel 232 to move back and forth, causing the crushed material to collide within the separation barrel 232 (colliding with the barrel wall of the separation barrel 232). The collision separates the sample from the sample shell, preventing the materials from adhering to each other, and can also shatter the mud core, thereby achieving sample separation.

[0062] Preferably, in one embodiment, the separation drive mechanism 233 includes a separation drive unit 2331, a rotary wheel 2332, and a connecting rod 2333. The separation drive unit 2331 can be mounted on the separation frame 231. The rotary wheel 2332 is disposed at the output end of the separation drive unit 2331, and the separation drive unit 2331 is configured to rotate the rotary wheel 2332. One end of the connecting rod 2333 is hinged to the rotary wheel 2332, and the other end of the connecting rod 2333 is hinged to the separation barrel 232, thereby driving the separation barrel 232 to reciprocate. When the separation drive unit 2331 is turned on, it drives the rotary wheel 2332 to rotate. Rotating the rotary wheel 2332, in turn, pushes and pulls the separation barrel 232 back and forth via the connecting rod 2333. Due to the restraint of the separation barrel 232 by the guide rail 234, the separation barrel 232 performs reciprocating linear motion on the guide rail 234, thereby separating the materials.

[0063] Specifically, in one embodiment, the separation barrel 232 is slidably connected to the guide rail 234 via a bottom plate 2321 , and a slider matching the guide rail 234 may be provided on the bottom plate 2321 . The connecting rod 2333 is hinged to the bottom plate 2321 .

[0064] Specifically, in one embodiment, the separation drive unit 2331 is a motor.

[0065] Preferably, in one embodiment, a drop plate 2322 is movably provided at the bottom of the separation barrel 232, and the bottom of the separation barrel 232 can be opened and closed by the movement of the drop plate 2322. During separation, the drop plate 2322 is in a closed state. After separation, the drop plate 2322 is opened, so that the separated samples, sample shells, mud heads, paper tubes and other materials can directly fall by gravity to achieve discharge, without the need for an additional transfer structure. The specific movement mode of the drop plate 2322 can adopt a flip-type opening and closing structure or a sliding opening and closing structure, etc., as long as the drop plate 2322 can be opened and closed smoothly.

[0066] Preferably, in one embodiment, a blanking plate cylinder 2323 is provided on the base plate 2321, and the blanking plate 2322 is provided at the output end of the blanking plate cylinder 2323. The blanking plate 2322 is driven to move by the blanking plate cylinder 2323, thereby realizing the opening and closing of the blanking plate 2322 through a sliding structure.

[0067] Preferably, in one embodiment, a material guiding structure may be provided at the bottom of the blanking plate 2322 to guide the material to a falling position, thereby ensuring that subsequent mechanisms can smoothly receive the falling material.

[0068] Specifically, in one embodiment, the separation rack 231 may be provided with a baffle at the end of the guide rail 234 , and the baffle is used to block the base 2321 , thereby limiting the movement range of the base 2321 .

[0069] Please continue reading Figure 4 Preferably, in one embodiment, the probe sample breaking device 20 further includes an identification mechanism 24, which is disposed at the discharge end of the sample separation mechanism 23 and is used to identify the sample. The identification mechanism 24 can use visual recognition and intelligent algorithms to work with the transfer mechanism 21 to quickly and accurately locate and pick up the sample from among the separated samples, sample shells, mud heads, and paper tubes, thereby realizing intelligent operation.

[0070] Specifically, in one embodiment, the sample separation mechanism 23 is located below the probe sample breaking mechanism 22, and the identification mechanism 24 is located below the sample separation mechanism 23, so that the material can be directly transferred by gravity.

[0071] Please refer to Figure 14 and Figure 15Preferably, in one embodiment, the identification mechanism 24 includes a picking tray 241 and a first visual recognition camera 242. The picking tray 241 is located at the discharge end of the sample separation mechanism 23 and is used to receive samples flowing out of the sample separation mechanism 23. The picking tray 241 is reversible. The first visual recognition camera 242 is located above the picking tray 241 and is used to identify samples on the picking tray 241. After separation by the sample separation mechanism 23, samples, sample shells, mud heads, and paper tubes fall into the picking tray 241. The first visual recognition camera 242 then aims at the picking tray 241 to take photos and identify the samples. The first visual recognition camera 242 can be linked to other structures. After identification, the first visual recognition camera 242 sends a corresponding signal, which is then controlled by a controller to control the corresponding structure to capture the sample. Since the picking tray 241 is reversible, after the sample is captured, the picking tray 241 can be flipped over to dump out the debris inside.

[0072] Preferably, in one embodiment, the discharge end of the probe sample-breaking mechanism 22 is located at the bottom of the probe sample-breaking mechanism 22, and the discharge end of the sample separation mechanism 23 is located at the bottom of the sample separation mechanism 23; the probe sample-breaking mechanism 22, the sample separation mechanism 23, and the picking tray 241 are arranged sequentially from top to bottom. This structural approach makes the overall structure of the device more compact, and the sample falls under the action of gravity, so that the sample and the sample shell can be better separated.

[0073] It is understandable that after the material falls from the sample separation mechanism 23 into the picking tray 241, the sample may be obscured by mud cores or other materials, thus affecting the recognition of the sample by the first visual recognition camera 242. Preferably, in one embodiment, a vibration unit 243 is connected to the picking tray 241, which drives the picking tray 241 to vibrate, thereby exposing the sample, which is beneficial for the recognition of the sample by the first visual recognition camera 242. Specifically, in one embodiment, the vibration unit 243 is a vibration motor.

[0074] Specifically, in one embodiment, a flip driving unit 244 is connected to the side of the picking plate 241, and the flip driving unit 244 drives the picking plate 241 to flip.

[0075] Preferably, in one embodiment, the picking plate 241 is connected to the output end of the moving cylinder 245, and the picking plate 241 can be driven to move by the moving cylinder 245. After the sample is grabbed, the moving cylinder 245 pushes the picking plate 241 to move, and when it moves into place, the flipping drive unit 244 drives the picking plate 241 to flip, and dumps the debris in the plate into the waste collection frame to facilitate the collection of waste. The picking plate 241 and the flipping drive unit 244 can be arranged on a base to form an integral structure, and the picking plate 241 is connected to the output end of the moving cylinder 245 through the base to avoid interference between the moving and flipping structures.

[0076] Preferably, in one embodiment, the first visual recognition camera 242 is linked to the transport mechanism 21, and through an intelligent algorithm, the robot's gripper quickly and accurately grasps the sample. In other words, in this embodiment, the transport mechanism 21 is also used to pick up and transport the sample.

[0077] Please refer to Figure 16 Specifically, in one embodiment, the robot gripper 2133 includes a first gripper 21331 and a second gripper 21332. The first gripper 21331 is disposed at the output end of the robot clamping cylinder 2132, and the second gripper 21332 is disposed on the inner side of the first gripper 21331. The provision of two grippers allows the robot gripper 2133 to grasp different materials through different grippers, thereby improving integration and making the overall structure simpler and more efficient. The first gripper 21331 is used to transport the probe end 1011, and the second gripper 21332 is used to transport the separated sample 1012.

[0078] Please continue reading Figure 4 Preferably, in one embodiment, the probe sample breaking device 20 further includes a sample cooling mechanism 25 for cooling the sample. It is understood that the sample is at a high temperature after breaking, and cooling the sample by the sample cooling mechanism 25 facilitates subsequent operations on the sample, such as quality inspection and transportation. Furthermore, it prevents damage to other components caused by the high temperature of the sample, and allows the sample to be better shaped, ensuring quality inspection results.

[0079] Please refer to Figure 17Specifically, in one embodiment, the sample cooling mechanism 25 includes a cooling water tank 251, which is used to contain cooling water to cool the sample 1012. In one embodiment, after the transport mechanism 21 grabs the sample 1012, it places the sample 1012 in the cooling water tank 251 for cooling (during this process, the transport mechanism 21 continues to grab the sample 1012).

[0080] Preferably, in one embodiment, a water level detection unit 252 is further provided corresponding to the cooling water tank 251. The water level detection unit 252 can detect the depth of the water level in the cooling water tank 251. When the water level is lower than the required value, the system will issue an alarm, and the operator can then add cooling water to the cooling water tank 251. Specifically, in one embodiment, the water level detection unit 252 uses a laser rangefinder and is installed on one side of the cooling water tank 251.

[0081] Please continue reading Figure 4 Preferably, in one embodiment, the probe sample breaking device 20 further includes a sample quality detection mechanism 26 for detecting sample quality. It is understood that in the prior art, the quality of steel samples after manual breaking is determined by the operator, without quality supervision and control. However, this embodiment incorporates the sample quality detection mechanism 26 to automatically inspect the steel sample, determining whether it is complete, plump, and free of defects, thus avoiding the bias caused by manual inspection. Specifically, in one embodiment, the sample quality detection mechanism 26 includes a second visual recognition camera 261 and a sample quality detection unit 262. The second visual recognition camera 261, in conjunction with the sample quality detection unit 262, can automatically detect the steel sample's external shape and surface quality, determining whether it is complete, plump, and free of defects. Furthermore, the mechanism can collaborate with intelligent algorithms to automatically detect steel samples, demonstrating intelligent application. If the sample fails the test, it can be directly transported to a waste recycling facility via the transport mechanism 21, eliminating the need for subsequent handle cutting and sample delivery.

[0082] Specifically, in one embodiment, the second visual recognition camera 261 is located above the sample quality detection unit 262 .

[0083] Specifically, in one embodiment, the sample quality detection unit 262 is a sample weighing unit, which is used to weigh the sample 1012. The cooled sample 1012 is placed on the sample quality detection unit 262 by the transfer mechanism 21. The weighing sensor measures the weight of the sample 1012 and calculates whether the weight of the sample 1012 meets the standard through the algorithm of the system software. The second visual recognition camera 261 can judge the surface of the sample 1012 through intelligent recognition of the software and through the software database. If the sample 1012 is judged to be substandard or the surface is judged to be unqualified, the transfer mechanism 21 grabs the unqualified sample 1012 and discards it into the waste collection box.

[0084] Please refer to Figure 18 Specifically, in one embodiment, the sample quality detection unit 262 includes a mounting bracket 2621 and a weighing sensor 2622 . The weighing sensor 2622 is arranged on the mounting bracket 2621 . The weighing table 2623 on the weighing sensor 2622 is used to place the sample 1012 .

[0085] Please refer to Figure 4 and Figure 19 Preferably, in one embodiment, the probe sample breaking device 20 further includes a sample handle shearing mechanism 27, which is used to shear the long handle 10121 on the sample 1012. It is understood that after the sample is broken, a redundant long handle structure is still connected to the sample, and the sample handle shearing mechanism 27 can automatically shear the long handle 10121 at the front end of the sample 1012 to achieve the sample size requirement.

[0086] In one embodiment, after the sample 1012 is determined to be qualified by the sample quality inspection mechanism 26 , the transfer mechanism 21 transfers the sample 1012 to the sample cutting handle mechanism 27 .

[0087] Please refer to Figure 20 Specifically, in one embodiment, the sample shearing mechanism 27 includes a fixing frame 271, a shearing cylinder 272, a shearing blade holder 273, and a shearing connecting rod 274. The shearing cylinder 272 and the shearing blade holder 273 are disposed on the fixing frame 271, and the shearing connecting rod 274 is connected to the output end of the shearing cylinder 272. The transport mechanism 21 grabs the sample 1012 to the shearing blade holder 273, and the shearing cylinder 272 pushes the shearing connecting rod 274 (the connecting rod head is made of a hard alloy blade), and the blade of the shearing connecting rod 274 cuts the long handle 10121 of the steel sample 1012.

[0088] Preferably, in one embodiment, the second visual recognition camera 261 is located above the sample cutting handle mechanism 27, and the second visual recognition camera 261 is also used to identify the position of the sample 1012 after the handle is cut, so as to facilitate subsequent transportation.

[0089] Please refer to Figure 4 、 Figure 21 and Figure 22 Preferably, in one embodiment, the probe sample breaking device 20 further includes a sample container opening and closing mechanism 28, and the sample container opening and closing mechanism 28 is used to open and close the sample container 102. The sample container 102 is a container for holding the required target sample, and is generally shaped like a cylindrical cup or a jar. More preferably, in one embodiment, the transfer mechanism 21 is also used to transfer the sample container 102 between the sample container opening and closing mechanism 28 and the sample delivery device and to deliver the sample 1012 into the sample container 102. Specifically, in one embodiment, the sample delivery device 200 is a pneumatic sample delivery device, which can use compressed air to transport the sample container through a pipeline to a designated location (such as a steel plant laboratory).

[0090] Specifically, in one embodiment, the robot gripping module 213 grips the sample container 102 via the first gripping jaw 21331. A groove 1021 is defined on the outer circumferential surface of the sample container 102. The width of the first gripping jaw 21331 is smaller than the length of the groove 1021, allowing the first gripping jaw 21331 to extend into the groove 1021, thereby more stably gripping the sample container 102. More preferably, in one embodiment, the inner surface of the first gripping jaw 21331 is defined by a circular arc structure that matches the outer surface of the sample container 102, thereby further improving gripping stability.

[0091] Preferably, in one embodiment, the sample container opening and closing mechanism 28 includes a mounting frame 281, a container cover clamp 282, and an opening and closing cylinder 283. The opening and closing cylinder 283 is disposed on the mounting frame 281, and the container cover clamp 282 is disposed at the output end of the opening and closing cylinder 283. The container cover clamp 282 is provided with a slot that matches the lid of the sample container 102. The transport mechanism 21 places the sample container 102 on the container cover clamp 282, and the opening and closing cylinder 283 opens to push upward to open the container lid of the sample container 102. Similarly, the opening and closing cylinder 283 moves downward to close the container lid of the sample container 102, thereby realizing the opening and closing of the container lid of the sample container 102.

[0092] Preferably, in one embodiment, a guide rail is further provided on the mounting frame 281 along the height direction, and the container cover clamping plate 282 is slidably mounted on the guide rail.

[0093] Preferably, in one embodiment, the mounting frame 281 is further provided with a cup body holder of the sample container 102. When opening and closing the container cover, the cup body of the sample container 102 can be clamped by the cup body holder, thereby ensuring the stability of the opening and closing of the container cover.

[0094] Please continue reading Figure 17 Preferably, in one embodiment, a sample container positioning mechanism 29 is further provided on the side of the sample quality detection unit 262, and the sample container positioning mechanism 29 is located below the second visual recognition camera 261. The second visual recognition camera 261 is also used to identify whether the sample container 102 in the sample container positioning mechanism 29 is positioned in place. The second visual recognition camera 261 can intelligently identify the positioning of the sample container 102 in the sample container positioning mechanism 29 through software.

[0095] In one embodiment, the sample container 102, after being opened by the sample container opening and closing mechanism 28, can be transferred by the transport mechanism 21 to the sample container positioning mechanism 29 for positioning. The transport mechanism 21 can simultaneously transfer the sample container 102 from the sample delivery device 200 to the sample container opening and closing mechanism 28 for opening, and transfer the opened sample container 102 to the sample container positioning mechanism 29 while the probe sample breaking device 20 breaks and separates the probe end 1011, thereby improving operational efficiency. Subsequently, the transport mechanism 21 shears the sample 1012, then places the sample 1012 into the sample container 102 in the sample container positioning mechanism 29. The transport mechanism 21 then transfers the sample container 102 from the sample container positioning mechanism 29 to the sample container opening and closing mechanism 28 for closing. After closing the lid of the sample container 102, the transport mechanism 21 delivers the sample container 102 to the sample delivery device 200.

[0096] Preferably, in one embodiment, the transport mechanism 21 is also used to transport the picked-up sample in the probe sample breaking device 20. For example, after the identification mechanism 24 identifies the sample, the transport mechanism 21 can pick up the sample and then transport it to the sample cooling mechanism 25. After the sample cooling mechanism 25 cools the sample, the transport mechanism 21 can transport the sample to the sample quality inspection mechanism 26 for quality inspection. After the sample quality inspection mechanism 26 completes the quality inspection of the sample, the transport mechanism 21 can transport the sample to the sample cutting mechanism 27 for cutting. After the sample cutting mechanism 27 cuts the sample, the transport mechanism 21 can also transport the sample to the sample container of the sample container opening and closing mechanism 28. Finally, the transport mechanism 21 can transport the sample container to the sample delivery device 200.

[0097] It should be noted that the driving source for linear drive in the sample crushing device 100 provided in this application is not limited to a pneumatic cylinder, and an electric cylinder, an oil cylinder, etc. can also be used, as long as it can achieve linear drive and meet the corresponding functions.

[0098] At the same time, in one embodiment, a sample breaking method is also provided, which uses the sample breaking device 100, and the sample breaking method includes the following steps: Cutting the probe: removing the probe end 1011 with the sample 1012 from the sampling probe 101; Sample breaking: The probe end 1011 is transferred to the probe sample breaking mechanism 22 to break the probe end 1011; Sample separation: The crushed probe end 1011 is transferred to the sample separation mechanism 23 , and sample separation is performed on the crushed probe end 1011 .

[0099] Preferably, in one embodiment, the sample separation step further includes the following steps: Identify and pick up samples: Identify the sample 1012 from the separated material and pick up the sample 1012. Specifically, in one embodiment, the sample 1012 can be identified by the identification mechanism 24 and picked up by the transfer mechanism 21.

[0100] Preferably, in one embodiment, the steps of identifying and picking up samples further include the following steps: Cooling the sample: Cooling the picked-up sample 1012; specifically, in one embodiment, the sample 1012 can be cooled by the sample cooling mechanism 25. More specifically, in one embodiment, the sample 1012 can be transported to the sample cooling mechanism 25 by the transport mechanism 21 for cooling.

[0101] Sample inspection: The cooled sample 1012 is inspected for defects. Specifically, in one embodiment, the cooled sample 1012 can be inspected for defects by the sample quality inspection mechanism 26. More specifically, in one embodiment, the cooled sample can be transported to the sample quality inspection mechanism 26 by the transport mechanism 21 for defect inspection.

[0102] Sample handle cutting: The long handle 10121 at the front end of the qualified sample 1012 is cut. Specifically, in one embodiment, the qualified sample 1012 can be cut by the sample handle cutting mechanism 27. More specifically, in one embodiment, the qualified sample 1012 can be transported to the sample handle cutting mechanism 27 by the transport mechanism 21 for cutting.

[0103] Preferably, in one embodiment, the sample handle cutting step further includes the following steps: Sampling: placing the sample 1012 after the handle is cut into the sample container 102; specifically, in one embodiment, the sample 1012 after the handle is cut can be placed into the sample container 102 through the transfer mechanism 21.

[0104] Sample closing jar: Close the lid of the sample container 102. Specifically, in one embodiment, the lid of the sample container 102 can be closed by the sample container opening and closing mechanism 28. More specifically, in one embodiment, the sample container 102 containing the sample 1012 can be transported to the sample container opening and closing mechanism 28 by the transport mechanism 21.

[0105] Sample delivery tank: transports the sample container 102 containing the sample 1012 to the sample delivery device. Specifically, in one embodiment, the sample container 102 containing the sample 1012 can be transported to the sample delivery device by the transport mechanism 21 .

[0106] Preferably, in one embodiment, the sample breaking method further comprises the following steps: Sample taking tank: taking out the sample container 102 from the sample delivery device; specifically, in one embodiment, the sample container 102 can be taken out from the sample delivery device through the transfer mechanism 21.

[0107] Opening the sample container: opening the container lid of the sample container 102; specifically, in one embodiment, the container lid of the sample container 102 can be opened by the sample container opening and closing mechanism 28. More specifically, in one embodiment, the sample container 102 can be transported to the sample container opening and closing mechanism 28 by the transport mechanism 21.

[0108] The sample container 102 in the sample placement step is the sample container 102 after the container lid is opened in the sample can opening step. Specifically, in one embodiment, after the container lid of the sample container 102 is opened, the sample container 102 is transferred to the sample container positioning mechanism 29 via the transfer mechanism 21. In the sample placement step, the sample 1012 after the handle is cut can be placed into the sample container 102 in the sample container positioning mechanism 29 via the transfer mechanism 21.

[0109] Preferably, in one embodiment, the taking of the sample tank, the opening of the sample tank, the breaking of the sample, and the separation of the sample are carried out simultaneously.

[0110] In one embodiment, the specific process of the sample breaking method is: Intercepting the probe: The probe removal mechanism 12 in the probe intercepting device 10 removes the sampling probe from the manipulator of the sampling equipment 300, and the probe cutting mechanism 11 cuts off the probe end after sampling, and then the clamping and transporting mechanism 13 clamps the probe end containing the sample and transports it to the accommodating mechanism 14.

[0111] Sample breaking: The transfer mechanism 21 grabs the accommodating mechanism 14 containing the truncated probe end, thereby placing the probe end containing molten steel and steel sample on the probe sample breaking mechanism 22. The probe sample breaking mechanism 22 can automatically break the probe end containing molten steel and steel sample with a temperature of 800-1200 degrees Celsius.

[0112] Sample separation: The probe end is automatically broken and falls to the sample separation mechanism 23 by gravity. The sample separation mechanism 23 separates the broken steel sample, sample shell, mud head, paper tube, etc.

[0113] Identify and pick up samples: The steel samples, sample shells, mud heads, paper tubes and other materials passing through the sample separation mechanism 23 are transported to the sorting plate of the identification mechanism 24. The identification mechanism 24 uses visual recognition and intelligent algorithms and cooperates with the transfer mechanism 21 to quickly and accurately find the steel samples from the separated steel samples, sample shells, mud heads, paper tubes and other materials and pick them out.

[0114] Cooling the sample: The transport mechanism 21 places the picked-up steel sample into the sample cooling mechanism 25 , and the cooling water of the sample cooling mechanism 25 quickly cools the steel sample at about 700 degrees Celsius to about 100 degrees Celsius.

[0115] Sample inspection: After cooling, the steel sample is automatically inspected for shape quality and surface quality by the second visual recognition camera 261 in cooperation with the sample quality inspection unit 262 to determine whether the steel sample has defects such as completeness and fullness. Unqualified steel samples are discarded into a waste bin.

[0116] Sample handle cutting: The qualified steel sample is clamped by the transport mechanism 21 and transported to the sample handle cutting mechanism 27. The sample handle cutting mechanism 27 cuts the long handle at the front end of the steel sample to meet the size requirements of the sample.

[0117] Sample taking container: During the two beat time periods of broken sample and steel sample separation, the transfer mechanism 21 takes out the sample container from the sample delivery device 200 and places the sample container on the sample container opening and closing mechanism 28 .

[0118] Opening the sample container: the sample container opening and closing mechanism 28 opens the container cover of the sample container.

[0119] Sample placement: The second visual recognition camera 261 and the algorithm are used to calculate the positions of the steel sample and the sample container, and the transfer mechanism 21 is linked to accurately place the steel sample with the long handle cut off into the opened sample container.

[0120] Sample closing jar: The sample container opening and closing mechanism 28 closes the container cover of the sample container.

[0121] Sample delivery tank: the transport mechanism 21 grabs the sample container after the sample container opening and closing mechanism 28 closes the lid and transports it to the sample delivery device 200 .

[0122] At the same time, in one embodiment, a sampling, sample breaking and sample delivery system 1000 is also provided, which includes a sampling device 300, a sample delivery device 200 and the sample breaking device 100, the probe intercepting device 10 is docked with the sampling device 300, and the probe sample breaking device 20 is docked with the sample delivery device 200.

[0123] Specifically, in one embodiment, the sampling device 300 is used to sample the molten steel in the ladle 400 through a sampling probe, wherein the sampling probe refers to a special disposable consumable for sampling molten steel during the steelmaking process, and the ladle 400 refers to a container for holding molten steel during the steelmaking process.

[0124] Specifically, in one embodiment, the sample delivery device 200 is a pneumatic sample delivery device.

[0125] Specifically, in one embodiment, it further includes an electric control cabinet 500 and a pneumatic control system 600. The electric control cabinet 500 belongs to the main control system for controlling the operation of the corresponding structure, and the pneumatic control system 600 is used to perform corresponding pneumatic control.

[0126] The sampling, sample breaking and sample delivery system 1000 uses an industrial robot as the main execution platform, and uses the flexibility of the robot to connect the main functions of sample breaking and sample delivery, and can quickly and automatically connect with the existing temperature measurement and sampling equipment in the steel plant. Specifically, after the manipulator of the sampling device 300 takes the sample, the probe cutting device 10 can cut the probe end at the front end of the sampling probe, and then the collaborative robot clamps the probe end and places it in the probe sample breaking device 20, which can automatically crush the probe end after sampling and separate the sample, sample shell, mud head, paper tube, etc.; then the separated sample is automatically identified and picked up, and the collaborative robot is linked by visual recognition and intelligent algorithm to find the sample from the crushed and separated sample and pick it out; next, the collaborative robot puts the picked up sample into a water tank for cooling; then the robot grabs the sample to the quality inspection device for automatic inspection of the sample's appearance quality and surface quality to determine whether the sample is complete, full, or defective; the robot places the sample with qualified appearance and surface quality in the shearing handle device, cuts off the long handle at the front end of the sample to meet the sample delivery size requirement; finally, the robot grabs the sample and transports it to the sample container opening and closing mechanism 28, places the sample in the sample container, and the closed sample container is transported by the robot to the sample delivery device 200, thereby achieving automatic connection with the pneumatic sample delivery process.

[0127] The above description is only an embodiment of the present invention. It should be pointed out that those skilled in the art can make improvements without departing from the creative concept of the present invention, but these improvements all fall within the scope of protection of the present invention.

Claims

1. A sample breaking device, characterized in that: It includes a probe intercepting device and a probe sample breaking device; The probe cutting device is provided with a probe cutting mechanism, which is used to cut the end of the probe after sampling; The probe sample breaking device includes a transport mechanism, a probe sample breaking mechanism, and a sample separation mechanism; The transport mechanism is used to transport the probe end portion cut by the probe cutting device to the probe sample breaking mechanism; The probe sample breaking mechanism is used to break the probe end; The sample separation mechanism is arranged at the discharge end of the probe sample breaking mechanism and is used to separate samples.

2. The sample crushing device according to claim 1, characterized in that: The probe intercepting device also includes a probe removing mechanism, a clamping and transporting mechanism, and a accommodating mechanism; The probe removal mechanism is arranged on one side of the probe cutting mechanism to clamp the sampling probe; The clamping and transporting mechanism is arranged on the other side of the probe cutting mechanism, and is used for clamping the end of the sampling probe and for transporting the cut probe end to the accommodating mechanism.

3. The sample crushing device according to claim 2, characterized in that: The transport mechanism is used to directly transport the accommodating mechanism so as to transport the probe end portion cut by the probe cutting device to the probe sample breaking mechanism.

4. The sample crushing device according to claim 2, characterized in that: The accommodating mechanism adopts a V-groove plate.

5. The sample crushing device according to claim 1, characterized in that: The probe sample crushing mechanism includes a hopper, a crushing clamping mechanism, and a crushing mechanism; The receiving bucket is used to receive the probe end; The clamping claw of the crushing clamping mechanism is arranged above the containing bucket to clamp the end of the probe; The hammer head of the crushing mechanism is arranged toward the containing bucket to crush the end of the probe in the containing bucket.

6. The sample crushing device according to claim 1, characterized in that: The sample separation mechanism includes a separation frame, a separation barrel, and a separation drive mechanism; The separation frame is provided with a guide rail; The separation barrel is slidably arranged on the guide rail to accommodate materials; The separation drive mechanism is connected to the separation barrel and is used to drive the separation barrel to move back and forth along the guide rail.

7. The sample crushing device according to claim 6, characterized in that: The separation drive mechanism includes a separation drive unit, a rotary wheel and a connecting rod; The rotary wheel is arranged at the output end of the separation drive unit, and the separation drive unit is used to drive the rotary wheel to rotate; One end of the connecting rod is hinged to the rotary wheel, and the other end is hinged to the separation barrel to drive the separation barrel to move back and forth; A blanking plate is movably provided at the bottom of the separation barrel.

8. The sample crushing device according to claim 1, characterized in that: The probe sample breaking device also includes an identification mechanism; The recognition mechanism includes a picking tray and a first visual recognition camera; The picking plate is located at the discharge end of the sample separation mechanism and is used to receive the sample flowing out of the sample separation mechanism. The picking plate can be turned over and is connected to a vibration unit. The first visual recognition camera is located above the picking tray and is used to identify samples on the picking tray.

9. The sample crushing device according to claim 8, characterized in that: The discharge end of the probe sample breaking mechanism is located at the bottom of the probe sample breaking mechanism, and the discharge end of the sample separation mechanism is located at the bottom of the sample separation mechanism; The probe sample breaking mechanism, the sample separation mechanism and the picking plate are arranged in sequence from top to bottom.

10. The sample crushing device according to claim 1, characterized in that: The probe sample breaking device also includes a sample cooling mechanism, a sample quality detection mechanism and a sample shearing mechanism; The sample cooling mechanism includes a cooling water tank, which is used to contain cooling water to cool the sample; The sample quality detection mechanism includes a sample weighing unit and a second visual recognition camera. The sample weighing unit is used to weigh the sample. The second visual recognition camera is located above the sample weighing unit and is used to detect the sample. The sample handle cutting mechanism includes a handle cutting unit and a handle cutting driving unit. The handle cutting driving unit is connected to the handle cutting unit and is used to drive the handle cutting unit to operate so as to remove the sample handle from the sample.

11. The sample crushing device according to claim 1, characterized in that: The probe sample breaking device further comprises a sample container opening and closing mechanism, wherein the sample container opening and closing mechanism is used to open and close the sample container; The transport mechanism is also used to transport the sample container between the sample container opening and closing mechanism and the sample delivery device and to deliver the sample into the sample container.

12. The sample crushing device according to any one of claims 1 to 11, characterized in that: The transport mechanism is also used to transport the picked samples in the probe sample breaking device.

13. A sample breaking method, characterized in that: The sample breaking device according to any one of claims 1 to 12 is used, and the sample breaking method comprises the following steps: Cutting off the probe: Remove the probe end with the sample from the sampling probe; Sample breaking: The probe end is transferred to the probe sample breaking mechanism to break the probe end; Sample separation: The crushed probe end is transferred to the sample separation mechanism, and the crushed probe end is subjected to sample separation.

14. The sample breaking method according to claim 13, characterized in that: The sample separation step also includes the following steps: Identify and pick up samples: Identify samples from the separated materials and pick up the samples.

15. The sample breaking method according to claim 14, characterized in that: The steps of identifying and picking up samples also include the following steps: Cooling sample: Cooling the picked up sample; Sample inspection: perform defect inspection on cooled samples; Sample handle cutting: Cut off the long handle at the front end of the sample that has passed the test.

16. The sample breaking method according to claim 15, characterized in that: The following steps are included after the sample handle cutting step: Stakeout: Place the sample after cutting the handle into the sample container; Close the sample container: close the container cover of the sample container; Sample delivery tank: transports the sample container containing the sample to the sample delivery equipment.

17. The sample breaking method according to claim 16, characterized in that: The following steps are also included: Take sample container: take out the sample container from the sample delivery device; Open the sample container: open the container cover of the sample container; The sample container in the sample placement step is the sample container after the container cover is opened in the sample opening step.

18. The sample breaking method according to claim 17, characterized in that: The sample taking tank, the sample opening tank, the sample breaking and the sample separation are carried out simultaneously.

19. A sampling, breaking and delivering system, characterized in that: It comprises a sampling device, a sample delivery device and a sample breaking device as claimed in any one of claims 1 to 11; The probe intercepting device is docked with the sampling device; The probe sample breaking device is connected to the sample delivery equipment.

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