Mechanical arm-based bituminous coal caking index full-process detection system and use method thereof

Abstract

The invention provides a bituminous coal caking index full-process detection system based on a mechanical arm and a use method thereof, which can realize the operation of the whole bituminous coal caking index detection process from blanking weighing to crucible testing and then cleaning and recycling through the mechanical arm, and can liberate laboratory technicians from a tedious, monotonous and harmful working environment. And intelligent, unmanned, specialized, technical and standardized caking index detection and inspection service is realized. The system comprises a blanking weighing module used for placing quantitative samples into a crucible; the bonding pre-treatment and post-treatment module is used for treating samples before and after coking; the high-temperature furnace module is used for performing high-temperature coking treatment on the sample; the mechanical arm is used for clamping a crucible or a crucible holder and circulating among the blanking weighing module, the bonding pretreatment and aftertreatment module, the high-temperature furnace module, the bonding rotary drum tester module, the cooling module and the cleaning module.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of bituminous coal caking index detection, in particular to a bituminous coal caking index full-process detection system based on a mechanical arm and a use method thereof. BACKGROUND

[0002] According to GB / T 5447-2014 "Bituminous Coal Caking Index Determination Method", the determination of the caking index requires a balance to first weigh 5.00g of special anthracite and then weigh 1.00g of a test coal sample, with the weighing accuracy being 0.001g (when G value < 18, 3.00g of special anthracite and 3.00g of a test coal sample are weighed), which is placed into a crucible, mixed and stirred for 2min according to the requirements, then leveled, placed and pressed into a briquette, and statically pressed for 30s (pressure 6kg), and then covered with a cover and put into an 850℃ high-temperature furnace for 15min, after which it is cooled to room temperature, the cover is removed, the briquette is taken out (the coke dust is brushed into the crucible), the total mass m of the coke residue is weighed, and the first drum test is performed in a drum (250r / 5min), after which the coke residue in the drum is sieved with a 1mm sieve, the weight m1 of the sieve residue is weighed, the second drum test is performed, sieved and weighed m2, and the caking index result is calculated according to the corresponding formula.

[0003] The caking property of coal is a characteristic exhibited under specific experimental conditions and the experimental process is complicated, and when experimental elements and experimental details change, it will have a certain influence on the experimental results, thereby producing deviations, and therefore the caking index determination is a test with strong specifications, which must be strictly performed according to the various provisions of the national standard, in order to obtain accurate and precise results. The existing disclosed technical documents, such as the patent application with the publication number CN117347647A, disclose a full-process full-automatic caking index determination instrument, but the determination of the bituminous coal caking index has not achieved true full-process automation, intelligentization and unmannedization, and the key links such as accurate weighing of the anthracite and the sample, cleaning and recycling of the crucible and recycling need to be manually operated, which is easily affected by the proficiency and technique of the operator, thereby causing errors in the determination results; at the same time, the mechanical hand can only be used to transfer the crucible or sieve cup between the modules, which leads to the need for the modules themselves to realize the transfer of the crucibles inside the modules, for example, the coking pre-treatment mechanism needs to pass through a complex disc-related structure in terms of structure and working principle, which leads to the emergence of problems such as increased equipment cost, manufacturing and debugging difficulties, etc. SUMMARY

[0004] In order to solve the above problems, the present application provides a kind of based on mechanical arm's bituminous coal caking index whole process detection system, also pass through the use method of the system, it can be realized by mechanical arm including from the discharge weighing to the whole bituminous coal caking index detection process operation of cleaning recovery after crucible test and simplify the structure of pre-treatment mechanism, can be liberated from tedious, monotonous, harmful work environment of laboratory technician, realize intelligent, unmanned, specialization, technical, standardization whole process automation caking index detection test service.

[0005] Its technical scheme is as follows: a kind of based on mechanical arm's bituminous coal caking index whole process detection system, it includes:

[0006] Caking pre-treatment module, for the sample before coking, after coking is handled;

[0007] High-temperature furnace module, for sample high-temperature coking treatment;

[0008] Cooling module, for sample cooling;

[0009] Caking drum tester module, for sample drum test and screening weighing;

[0010] Cleaning module and mechanical arm;It is characterized in that: it further includes discharge weighing module, the discharge weighing module includes sample bottle storage unit, crucible storage unit, sample quantitative sample unit, the mechanical arm can be obtained according to the sample variety required by detection from the sample bottle storage unit corresponding sample and make it into hopper, the sample content in the hopper can be monitored and the hopper with insufficient sample is promptly supplemented by the mechanical arm, the mechanical arm can also be placed in the sample quantitative sample unit, the crucible is taken out from the crucible storage unit and is placed in the sample quantitative sample unit corresponding to the sample variety required by detection;

[0011] The mechanical arm is also used for clamping crucible or crucible rack and flows between the discharge weighing module, the caking pre-treatment module, the high-temperature furnace module, the caking drum tester module, the cooling module and the cleaning module.

[0012] Further, the mechanical arm includes two clamping jaws capable of relative motion, the clamping jaw includes first clamping part, second clamping part and third clamping part, wherein one end of the first clamping part of two clamping jaws is installed on the mechanical arm through a moving pair, the opposite sides of two first clamping parts are curved outward to cover the outer periphery of sample bottle to transfer the sample in it to the hopper, the opposite sides of the first clamping part are also provided with upwardly protruding positioning columns for inserting into positioning holes on crucible rack and transferring to place the crucible rack together with multiple crucibles thereon into the high-temperature furnace module or take out from the high-temperature furnace module;

[0013] The second clamping parts of the two clamping jaws are oppositely arranged, and the end of the second clamping part is provided with a rubber pad for clamping the outside of the hopper to place the hopper containing the sample under the sample quantitative sampling unit; the middle of the second clamping part is curved outward to wrap the outer periphery of the lower part of the crucible to pour out the sample in the crucible;

[0014] The third clamping parts of the two clamping jaws are oppositely arranged and formed by a clamping column extending downward from the bottom of the second clamping part, for clamping the upper end of the outer periphery of the crucible and the crucible cover to transfer the crucible and cover the crucible cover on the crucible or separate the crucible cover from the crucible;

[0015] The transfer of the sample bottle, the hopper, the crucible, the crucible cover and the crucible rack in the sample bottle storage unit, the dosing and weighing module and the pre-bonding and post-bonding processing module is completed by the mechanical arm.

[0016] Further, the dosing and weighing module further comprises a sample bottle cap screwing unit and a hopper sample adding station; the sample bottle storage unit stores a plurality of sample bottles for storing samples; the mechanical arm is used to take out the sample bottle from the sample bottle storage unit and place it in the sample bottle cap screwing unit; the sample bottle cap screwing unit is used to separate the cap of the sample bottle from the bottle body; the mechanical arm is further used to take out the sample from the sample bottle and place it into the hopper at the hopper sample adding station, and place the hopper at the hopper sample adding station under the sample quantitative sampling unit.

[0017] Further, the pre-bonding and post-bonding processing module comprises a pre-processing module, a crucible cover storage unit and a briquette storage unit; the pre-processing module comprises a stirring station, a briquette placing station and a static pressure station; the stirring station is provided with a stirring device; the stirring device comprises a stirring station main frame, a stirring station storage base and a stirring paddle; the stirring station storage base and the stirring paddle are respectively installed on the stirring station main frame and can be driven by the stirring station main frame to be inclined; the stirring station storage base is located below the stirring paddle for placing the crucible; the stirring paddle can enter the crucible and stir the sample by rotating;

[0018] The briquette placing station comprises a briquette placing station base and a push piece; the briquette placing station base is used to place the crucible; the push piece is inclined and can extend into the crucible to rotate the top of the sample into a conical shape;

[0019] The static pressure station comprises a briquette suction cup, a static pressure station base and a pressure applying mechanism; the static pressure station base is located below the pressure applying mechanism and is used to place the crucible; the briquette suction cup is used to take out the briquette in the briquette storage unit and place it in the crucible; the pressure applying mechanism is used to apply pressure to the briquette placed in the crucible;

[0020] The crucible cover storage unit is used for storing crucible covers, and the mechanical arm can clamp the crucible cover and place it on a crucible with completed static pressure.

[0021] The crucible rack storage unit is located at the debarking and weighing module or the pre-bonding and post-bonding processing module, and is used for storing crucible racks. The mechanical arm can place the crucible with completed pre-processing on the crucible rack.

[0022] Further, the high-temperature furnace module comprises a high-temperature furnace, a crucible rack placing station and a crucible rack carrying station. The crucible rack placing station is located below the inlet and outlet of the high-temperature furnace. The crucible rack carrying station comprises a lifting mechanism, a horizontal moving mechanism and a carrying fork. The bottom of the crucible rack placing station is provided with an avoiding opening for avoiding the carrying fork. The lifting mechanism is used to drive the carrying fork to move up and down so as to transfer the crucible rack between the inlet and outlet of the high-temperature furnace and the crucible rack placing station. The horizontal moving mechanism is used to drive the carrying fork to move forward and backward so as to place the crucible rack into the high-temperature furnace or take the crucible rack out of the high-temperature furnace.

[0023] Further, the pre-bonding and post-bonding processing module further comprises a post-processing module. The post-processing module comprises a post-processing crucible rack station, a crucible cover buffer station and a pressure block taking station. The post-processing crucible rack station is used to place the crucible rack taken out of the high-temperature furnace. The pressure block taking station comprises a pressure block taking station base and a pressure block taking mechanism. The pressure block taking station base is used to place the crucible after coking treatment. The crucible cover buffer station is used to place the crucible cover of the crucible. The pressure block taking mechanism comprises a grabbing mechanism and a dust scraping mechanism. The grabbing mechanism is used to take the pressure block out of the crucible. The dust scraping mechanism is used to scrape the coking dust at the bottom of the pressure block into the crucible.

[0024] Further, the grabbing mechanism is located above the pressure block taking station base and comprises a rotating mechanism and an inward supporting clamp capable of expanding outward. The middle of the top of the pressure block is provided with a grabbing hole. The inward supporting clamp can grab the pressure block by extending into the grabbing hole and expanding to move above the pressure block taking station base. The dust scraping mechanism comprises a horizontal moving mechanism, a hopper and a scraping blade. The hopper and the scraping blade are installed on the horizontal moving mechanism and can be moved between the grabbing mechanism and the crucible by the horizontal moving mechanism, so that the scraping blade is in contact with the bottom of the pressure block. The rotating mechanism can drive the inward supporting clamp to rotate and make the pressure block rotate relative to the scraping blade.

[0025] Further, the bonding drum tester module comprises a drum mechanism, a screen mechanism and a balance, which are respectively used for drum experiment, screening and weighing of the sample. The mechanical arm can transfer the crucible with completed post-processing by clamping the lower part of the crucible.

[0026] A method for using the full-process detection system for the caking index of bituminous coal, characterized in that the method comprises the following steps: Step 1, material weighing; a sample bottle is taken off from a sample bottle storage unit by a mechanical arm and placed in a sample bottle cap screwing unit, the sample bottle is capped by the sample bottle cap screwing unit, the sample in the sample bottle is transferred into a hopper in a hopper sample adding station by the mechanical arm, and then the hopper is placed in a sample quantitative sample dropping unit by the mechanical arm, a crucible is taken out from a crucible storage unit by the mechanical arm and placed in the sample quantitative sample dropping unit, and a fixed amount of sample is placed into the crucible by the sample quantitative sample dropping unit.

[0027] 2, pre-treatment; the crucible containing the sample is transferred to a stirring station by the mechanical arm for stirring, then the crucible is transferred to a briquetting station by the mechanical arm for briquetting, then the crucible is transferred to a static pressure station for static pressure, and after the static pressure is completed, the crucible is transferred into a crucible rack in a crucible rack storage unit by the mechanical arm, and then the crucible cover is placed on the crucible by the mechanical arm to complete the pre-treatment operation.

[0028] 3, high-temperature treatment; the crucible rack containing one or more crucibles is transferred to a high-temperature furnace module by the mechanical arm for high-temperature treatment.

[0029] 4, first cooling; the crucible rack and the crucible after the high-temperature treatment are transferred to a cooling module by the mechanical arm for cooling.

[0030] 5, post-treatment; the crucible rack after the cooling is transferred to a post-treatment module by the mechanical arm, the crucible cover is separated from the crucible by the mechanical arm, then the crucible is placed in a briquetting taking station, and the briquette is taken out from the crucible by the briquetting taking station and the coke dust at the bottom of the briquette is scraped into the crucible.

[0031] 6, drum determination; the sample in the crucible is poured into a caking drum determination instrument module by the mechanical arm for drum, screening and weighing operations.

[0032] 7, high-temperature cleaning; the empty crucible is carried back to the crucible rack by the mechanical arm, then the crucible cover is placed back on the crucible, and they are placed into a high-temperature furnace by the mechanical arm for high-temperature cleaning.

[0033] 8, second cooling; the crucible rack and the crucible after the high-temperature cleaning are transferred to the cooling module by the mechanical arm for cooling.

[0034] 9, separation and recovery; the crucible cover is recovered to a crucible cover storage unit by the mechanical arm, the crucible is carried to a crucible cleaning module for cleaning and then recovered to a crucible storage unit by the mechanical arm, and the crucible rack is recovered to a crucible rack storage unit by the mechanical arm.

[0035] Beneficial effects: (1) The present application significantly improves the detection efficiency, and each module operates coordinately without manual attendance, so that 24-hour uninterrupted operation can be realized.

[0036] (2) The present application can realize the automation of the bonding index detection process, can realize sample feeding, weighing, analysis, crucible cleaning and recycling, and can realize result calculation and data uploading by combining with a computer program, and the whole process does not need manual participation and is not affected by human factors.

[0037] (3) The present application significantly improves the detection precision and data reliability, the automatic feeding device can be matched with a one-millionth scale to accurately weigh the anthracite and the sample, lays a solid foundation for detection, and the use of the pushing piece to push and flatten and the use of the scraping piece to clean the coke residue ensures the integrity of the sample and the reliability of the data.

[0038] (4) The system strictly follows the national standard GB / T 5447-2014, and the core parameters such as feeding weight, coking program, cooling time, drum speed, screening time and crucible cleaning are fixed in the program, so as to prevent human operation from deviating from the standard.

[0039] (5) The mechanical arm independently developed by the present application can be used for the handling of crucibles, crucible covers and crucible racks, can be translated and turned over, is accurate in positioning and reliable in operation, and the transfer of sample bottles, hoppers, crucibles, crucible covers and crucible racks in the feeding and weighing module and the bonding pre-treatment and post-treatment module is completed by the mechanical arm, so that the mechanisms for transferring these components in these modules can be omitted, and the structure of these modules is simplified.

[0040] (6) The system has compact structure and reasonable layout, from sample bottle storage, crucible storage and crucible rack storage to sample processing, high-temperature ignition and accelerated cooling, the layout of the moving line is reasonable, the system runs smoothly, the links are seamlessly connected, the process connection is high, the turning back and crossing are reduced, and the efficiency is significantly improved.

[0041] (7) The crucibles, crucible covers and crucible racks can be stored in a stacked manner, breaking through the plane limitation, expanding the vertical space, facilitating centralized management and access, and reducing the layout of the position points and the failure rate.

[0042] (8) The high-temperature furnace with automatic door opening and closing and automatic sample feeding and discharging follows the national standard constant temperature zone high-temperature coking, ensures the reliability of the data, is matched with vertical up-down movement and front-back horizontal movement, ensures the smooth feeding and discharging of the sample into the high-temperature furnace, does not affect the automatic door opening and closing of the high-temperature furnace, realizes the automatic feeding of the sample into the furnace for ignition, avoids the error caused by human operation and ensures the safety.

[0043] (9) The design of the independent cooling module accelerates the cooling speed, so that the sample can be quickly cooled to room temperature, and the work efficiency is greatly improved.

[0044] (10) The program can cooperate to record the data of key processes such as the weight of the discharged material, the stirring speed, the stirring time, the coking temperature, the coking time, the drum time, the drum speed, the weighing data, realize the traceability of data, and improve the authenticity, accuracy and reliability of data. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 Layout diagram of the present application;

[0046] Figure 2 Structure schematic diagram of the mechanical arm;

[0047] Figure 3 Structure schematic diagram of the clamping jaw;

[0048] Figure 4 Structure schematic diagram of the discharging weighing module;

[0049] Figure 5 Structure schematic diagram of the pre-bonding treatment module;

[0050] Figure 6 Structure schematic diagram of the pre-treatment module;

[0051] Figure 7 Structure schematic diagram of the high-temperature furnace module;

[0052] Figure 8 Structure schematic diagram of the post-treatment module;

[0053] Figure 9 Structure schematic diagram of the bonding drum tester module;

[0054] Figure 10 Structure schematic diagram of the cooling module;

[0055] Figure 11 Structure schematic diagram of the cleaning module.

[0056] Figure Descriptions: 1. Robotic Arm; 1-1. Robotic Arm Base; 1-2. Robotic Arm Body; 1-21. Sliding Pair; 1-3. Gripper; 1-31. First Gripping Part; 1-311. Positioning Column; 1-32. Second Gripping Part; 1-321. Mounting Slot; 1-33. Third Gripping Part; 2. Feeding and Weighing Module; 2-1. Sample Bottle Storage Unit; 2-2. Crucible Storage Unit; 2-3. Sample Bottle Capping Unit; 2-4. Hopper Feeding Station; 2-5. Sample Quantitative Feeding Unit; 2-6. Crucible Rack Storage Unit; 3. Pre- and Post-Bonding Processing Module; 3-1. Stirring Station; 3-1-1. Stirring Station Main Frame; 3-1-2. Stirring Station Storage Base; 3-1-3. Stirring Paddle; 3-2. Pressing Block Placement Station; 3-2-1. Pressing Block Placement Station Base; 3-2-2. Paddle; 3-3 Static pressing station; 3-3-1 Pressing block suction cup; 3-3-2 Static pressing station base; 3-3-3 Pressing mechanism; 3-4 Pressing block storage unit; 3-5 Crucible cover storage unit; 3-6 Post-processing crucible rack station; 3-7 Crucible cover buffer station; 3-8 Pressing block removal station; 3-8-1 Pressing block removal station base; 3-8-2 Grabbing mechanism; 3-8-3 Lateral movement mechanism; 3-8-4 Funnel; 3-8-5 Scraper; 3-9 Cleaning and separating crucible rack station; 4. High-temperature furnace module; 4-1 High-temperature furnace; 4-2 Crucible rack placement station; 4-3 Crucible rack handling station; 4-3-1 Handling fork; 5. Adhesion drum measuring instrument module; 5-1 Drum mechanism; 5-2 Screening mechanism; 5-3 Balance; 6. Cooling module; 7. Cleaning module. Detailed Implementation

[0057] like Figure 1 The system shown is a full-process detection system for bituminous coal caking index based on a robotic arm, comprising: a feeding and weighing module 2 for placing a quantitative sample into a crucible; a pre- and post-caking treatment module 3 for processing the sample before and after coking; a high-temperature furnace module 4 for high-temperature coking treatment of the sample; a caking drum tester module 5 for performing drum tests and sieving weighing of the sample; a cooling module 6 for cooling the sample; a cleaning module 7; and a robotic arm 1, which holds the crucible or crucible rack and moves it between the feeding and weighing module 2, the pre- and post-caking treatment module 3, the high-temperature furnace module 4, the caking drum tester module 5, the cooling module 6, and the cleaning module 7.

[0058] Among them, combined Figure 2 , Figure 3As shown, the mechanical arm 1 includes a mechanical arm base 1-1, a mechanical arm body 1-2, and two oppositely movable clamping jaws 1-3. The mechanical arm body 1-2, such as a six-axis mechanical arm, is mounted on the mechanical arm base 1-1 and can drive the clamping jaws 1-3 to rotate and move. The clamping jaws 1-3 include first clamping portions 1-31, second clamping portions 1-32, and third clamping portions 1-33. The first clamping portions 1-31 of the two clamping jaws 1-3 are oppositely arranged and used to clamp the outside of the sample bottle of the sample bottle storage unit. The second clamping portions 1-32 of the two clamping jaws 1-3 are oppositely arranged and used to clamp the outside of the hopper. The third clamping portions 1-33 of the two clamping jaws 1-3 are oppositely arranged and used to clamp the outside of the crucible.

[0059] Specifically, one end of the first clamping portion 1-31 of the two clamping jaws 1-3 is mounted on the mechanical arm body 1-2 through a moving pair 1-21, so that the two clamping jaws 1-3 can move oppositely. The opposite sides of the two first clamping portions 1-31 are curved outward to wrap around the outer circumference of the sample bottle, so as to transfer the sample in the sample bottle to the hopper. The opposite sides of the first clamping portion 1-31 are also provided with upwardly protruding positioning columns 1-311, which are used to be inserted into the positioning holes on the crucible rack and transfer the crucible rack to place the crucible rack together with the plurality of crucibles thereon into or out of the high-temperature furnace module 4. The other end of the first clamping portion 1-31 is connected to one end of the second clamping portion 1-32. The end of the second clamping portion 1-32 is provided with rubber pads (not shown in the figure, which are located at the mounting grooves 1-321 at the four corners) for fitting the hopper, so as to place the hopper containing the sample under the sample quantitative dispensing unit 2-5. The middle of the second clamping portion 1-32 is curved outward to wrap around the lower part of the outer circumference of the crucible, so as to facilitate pouring out the sample in the crucible. The bottom of the second clamping portion 1-32 extends downward to form a clamping column as the third clamping portion 1-33. The clamping column is used to clamp the upper end of the outer circumference of the crucible and the crucible cover, so as to transfer the crucible and separate the crucible cover from the crucible. In this way, one mechanical arm can realize the handling requirements of the sample bottle, the crucible, the crucible cover, and the crucible rack. In addition, the transfer of the sample bottle, the hopper, the crucible, the crucible cover, and the crucible rack inside the dosing and weighing module 2 and the pre-bonding and post-bonding processing module 3 is completed by the mechanical arm, so that the mechanisms for transferring these components inside these modules can be omitted, and the structure of these modules is simplified.

[0060] In combination Figure 4As shown, the blanking weighing module 2 includes a sample bottle storage unit 2-1, a crucible storage unit 2-2, a sample bottle cap screwing unit 2-3, a hopper sample adding station 2-4, a sample quantitative sample dropping unit 2-5, and a crucible rack storage unit 2-6. The sample bottle storage unit 2-1 stores a plurality of sample bottles for storing samples (the number of sample bottles stored is 10 or 20 according to requirements). The mechanical arm 1 is used to take out the sample bottles from the sample bottle storage unit 2-1 and place them in the sample bottle cap screwing unit 2-3. The sample bottle cap screwing unit 2-3 is used to separate the cap of the sample bottle from the bottle body. It can be achieved by the way that the pneumatic claw is lowered to clamp the cap and then the cap is separated from the bottle body by rotating. The mechanical arm 1 takes out the sample from the sample bottle and places it into the hopper at the hopper sample adding station 2-4. When taking out, the sample can be taken out from the sample bottle and placed into the hopper with an open top by clamping the spoon with the curved part in the middle of the second clamping part 1-32. Then the sample bottle is capped and placed back into the sample bottle storage unit 2-1. After the above operation is completed, the hopper is placed in the sample quantitative sample dropping unit 2-5. Then the crucible is taken out from the crucible storage unit 2-2 (which stores a plurality of crucibles and can be automatically fed by stacking) and placed in the sample quantitative sample dropping unit 2-5. The sample quantitative sample dropping unit 2-5 includes a coal sample quantitative sample dropping unit (a plurality of coal sample quantitative sample dropping units can be configured according to requirements to improve work efficiency) and an anthracite quantitative sample dropping unit (a large-capacity anthracite hopper can be configured to extend the period of adding anthracite). It can use the measured sample micro-weighing device and related components introduced in CN120778194A or other existing quantitative sample dropping devices to quantitatively drop the sample into the crucible. The sample content in the hopper can be monitored (for example, the weight is monitored) and the hopper with insufficient sample can be supplemented in time by the mechanical arm.

[0061] In combination Figure 5 , Figure 6As shown, the pre-bonding and post-treatment module 3 includes a pre-treatment module, a crucible cover storage unit 3-5, and a briquette storage unit 3-4; the pre-treatment module includes a stirring station 3-1, a briquette placement station 3-2, and a static pressure station 3-3, the stirring station 3-1 is provided with a stirring device, the stirring device includes a stirring station main frame body 3-1-1, a stirring station storage base 3-1-2, and a stirring paddle 3-1-3, the stirring station storage base 3-1-2 and the stirring paddle 3-1-3 are respectively installed on the stirring station main frame body 3-1-1 and can be driven by the stirring station main frame body 3-1-1 to be inclined, the stirring station storage base 3-1-2 is located below the stirring paddle 3-1-3 and is used for placing a crucible, the stirring paddle 3-1-3 can enter the crucible and stir the sample by rotating, in addition, for the coal powder on the wall of the crucible, the present scheme can adopt two stirring paddles, one of which can rotate along the edge of the wall of the crucible to scrape off the coal powder, of course, the edge pressure sample device mentioned in the background art or other structures can also be adopted, and the present scheme is not limited in particular. The briquette placement station 3-2 includes a briquette placement station base 3-2-1 and a push piece 3-2-2, the briquette placement station base 3-2-1 is used for placing a crucible, and the push piece 3-2-2 is inclined and can extend into the crucible to rotate the top of the sample into a conical shape, and the subsequent briquette can make the top of the sample flat. The static pressure station 3-3 includes a briquette suction cup 3-3-1, a static pressure station base 3-3-2, and a pressure mechanism 3-3-3, the static pressure station base 3-3-2 is located below the pressure mechanism 3-3-3 and is used for placing a crucible, the briquette suction cup 3-3-1 is used for taking out a briquette in the briquette storage unit 3-4 and placing it in the crucible, and the pressure mechanism 3-3-3 is used for applying pressure to the briquette placed in the crucible; the crucible cover storage unit 3-5 is used for storing a crucible cover, the mechanical arm 1 can clamp the crucible cover and place it on the crucible that has completed static pressure, thereby completing the pre-treatment, and the crucible rack storage unit 2-6 is located below the discharging and weighing module 2 and is used for storing a crucible rack, and the mechanical arm 1 can place the crucible that has completed the pre-treatment on the crucible rack.

[0062] In combination Figure 7 As shown, the high-temperature furnace module 4 includes a high-temperature furnace 4-1, a crucible rack placement station 4-2, and a crucible rack handling station 4-3; the crucible rack placement station 4-2 is located below the inlet and outlet of the high-temperature furnace 4-1, the crucible rack handling station 4-3 includes a lifting mechanism, a translation mechanism, and a handling fork 4-3-1, the bottom of the crucible rack placement station 4-2 is provided with an avoidance opening for avoiding the handling fork 4-3-1, the lifting mechanism is used for driving the handling fork 4-3-1 to move up and down to transfer the crucible rack between the inlet and outlet of the high-temperature furnace and the crucible rack placement station 4-2, and the translation mechanism is used for driving the handling fork 4-3-1 to move forward and backward to place the crucible rack into the high-temperature furnace 4-1 or take the crucible rack out of the high-temperature furnace 4-1.

[0063] In combination Figure 5 、 Figure 8As shown, the pre- and post-bonding treatment module 3 further comprises a post-treatment module, which includes a post-treatment crucible rack station 3-6, a crucible cover buffer station 3-7, and a briquette taking station 3-8; the post-treatment crucible rack station 3-6 is used to place the crucible rack taken out from the high-temperature furnace 4-1, the briquette taking station 3-8 includes a briquette taking station base 3-8-1 and a briquette taking mechanism, the briquette taking station base 3-8-1 is used to place the coking-treated crucible, and the crucible cover buffer station 3-7 is used to place the crucible cover of the crucible; the briquette taking mechanism includes a grabbing mechanism 3-8-2 and a soot scraping mechanism, the grabbing mechanism 3-8-2 is used to take the briquette out of the crucible, and the soot scraping mechanism is used to brush the soot at the bottom of the briquette into the crucible. Specifically, the grabbing mechanism 3-8-2 is located above the briquette taking station base 3-8-1 and includes a rotating mechanism and an outwardly expandable inner support clamp, the top of the briquette is provided with a grabbing hole, the inner support clamp can grab the briquette by extending into the grabbing hole and expanding, and then move to above the briquette taking station base 3-8-1, and the soot scraping mechanism includes a transverse moving mechanism 3-8-3, a hopper 3-8-4 and a scraping blade 3-8-5, the hopper 3-8-4 and the scraping blade 3-8-5 are installed on the transverse moving mechanism 3-8-3 and can be moved between the grabbing mechanism 3-8-2 and the crucible by the transverse moving mechanism 3-8-3, so that the scraping blade 3-8-5 is in contact with the bottom of the briquette, and the rotating mechanism can drive the inner support clamp to rotate and make the briquette rotate relative to the scraping blade 3-8-5. In addition, the pre- and post-bonding treatment module 3 is further provided with a cleaning and separating crucible rack station 3-9, which is used to temporarily store the crucible rack in the later cleaning and separating process.

[0064] The briquetting drum tester module 5 can adopt an existing drum tester, and the mechanical arm 1 can pour the sample in the crucible into the drum tester to automatically start the drum test and screening and weighing, so as to obtain the related experimental data, which are combined with the data obtained by the high-temperature treatment module 4 to obtain the comprehensive data of the sample. Figure 9 As shown, the briquetting drum tester module 5 includes a drum mechanism 5-1, a screen mechanism 5-2 and a balance 5-3, which are respectively used for drum test, screening and weighing of the sample, and the mechanical arm 1 transfers the crucible after the post-treatment to the briquetting drum tester module by clamping the lower part of the crucible, and the clamping process is performed by the outwardly curved part in the middle of the second clamping part 1-32 of the mechanical arm, instead of clamping the upper end of the crucible by the third clamping part 1-33 as before, so as to avoid spilling the sample on the clamping jaw 1-3 when the sample is poured out.

[0065] In addition, as shown in FIG. 6, the cooling module 6 includes a cooling mechanism 6-1 and a cooling mechanism buffer station 6-2, the cooling mechanism buffer station 6-2 is used to temporarily store the crucible after the high-temperature treatment, and the cooling mechanism 6-1 is used to cool the crucible. Figure 10 As shown in FIG. 7, the cooling module 6 includes a cooling mechanism 6-1 and a cooling mechanism buffer station 6-2, the cooling mechanism buffer station 6-2 is used to temporarily store the crucible after the high-temperature treatment, and the cooling mechanism 6-1 is used to cool the crucible. Figure 11 As shown in FIG. 8, the cleaning module 7 includes a cleaning mechanism 7-1 and a cleaning mechanism buffer station 7-2, the cleaning mechanism buffer station 7-2 is used to temporarily store the crucible after the high-temperature treatment, and the cleaning mechanism 7-1 is used to clean the crucible.

[0066] A method for using the full-process detection system for the caking index of bituminous coal, comprising the following steps: Step 1, blanking and weighing; the mechanical arm 1 carries the sample bottle to the sample bottle storage unit 2-1 in advance, when used, the sample bottle is taken from the sample bottle storage unit 2-1 by the mechanical arm 11 and placed in the sample bottle cap screwing unit 2-3, the sample bottle cap screwing unit 2-3 is used to screw the cap, the sample in the sample bottle is transferred to the hopper in the hopper sample adding station 2-4 by the mechanical arm 1, and then the hopper is placed in the sample quantitative sample dropping unit 2-5 by the mechanical arm 1, the mechanical arm 1 takes the crucible from the crucible storage unit 2-2, places it in the sample quantitative sample dropping unit 2-5, and puts a fixed amount of sample into the crucible through the sample quantitative sample dropping unit 2-5.

[0067] 2, pre-treatment; the crucible containing the sample is transferred to the stirring station 3-1 by the mechanical arm 1 for stirring, then the crucible is transferred to the briquetting station 3-2 by the mechanical arm 1 for briquetting, then the crucible is transferred to the static pressure station 3-3 by the mechanical arm 1 for static pressure, after the static pressure is completed, the crucible is transferred to the crucible rack in the crucible rack storage unit 2-6 by the mechanical arm 1, and then the crucible cover is placed on the crucible by the mechanical arm 1 to complete the pre-treatment operation.

[0068] 3, high-temperature treatment; the crucible rack containing one or more crucibles is transferred to the high-temperature furnace module 4 by the mechanical arm 1 for high-temperature treatment.

[0069] 4, first cooling; the crucible rack and the crucible after the high-temperature treatment are transferred to the cooling module 6 by the mechanical arm 1 for cooling.

[0070] 5, post-treatment; the crucible rack after the cooling is transferred to the post-treatment module by the mechanical arm 1, the crucible cover is separated from the crucible by the mechanical arm 1, then the crucible is placed in the briquette taking station 3-8, the briquette is taken out of the crucible by the briquette taking station 3-8, and the coke dust at the bottom of the briquette is scraped into the crucible.

[0071] 6, drum determination; the sample in the crucible is poured into the caking drum determination instrument module 5 by the mechanical arm 1 for drum, screening and weighing operations.

[0072] 7, high-temperature cleaning; the empty crucible is carried back to the crucible rack by the mechanical arm 1, the crucible cover is placed back on the crucible by the mechanical arm 1, and then they are placed into the high-temperature furnace for high-temperature cleaning by the mechanical arm 1.

[0073] 8, second cooling; the crucible rack and the crucible after the high-temperature cleaning are transferred to the cooling module 6 by the mechanical arm 1 for cooling.

[0074] 9, Separation and recovery; through the mechanical arm 1 respectively, the crucible cover is recovered to the crucible cover storage unit 3-5, the crucible is carried to the cleaning module 7 and is recovered to the crucible storage unit 2-2 after cleaning, the crucible frame is recovered to the crucible frame storage unit 2-6, the cleaning module 7 is equipped with a blowing device, which is used to blow the crucible cover, the crucible and the crucible frame.

[0075] The system realizes full automation of the bonding index detection process through the cooperative work of each module. The entire detection process does not require manual attendance and can operate uninterruptedly for 24 hours, greatly improving the detection efficiency and data reliability. At the same time, the system structure is compact and the layout is reasonable, and each link from the tank storage to the sample processing, high-temperature burning, accelerated cooling and the like is seamlessly connected, the process connection is high, and the overall efficiency is significantly improved.

[0076] The above is only a preferred specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A mechanical arm-based full-process detection system for bituminous coal caking index, comprising: a pre-and post-caking treatment module for treating samples before and after caking; a high-temperature furnace module for high-temperature caking treatment of samples; a cooling module for cooling samples; a caking drum tester module for drum test and screening and weighing of samples; a cleaning module and a mechanical arm; characterized in that it further comprises a dosing and weighing module, which comprises a sample bottle storage unit, a crucible storage unit and a sample quantitative dosing unit, the mechanical arm can obtain corresponding samples from the sample bottle storage unit according to the required sample type for detection and place them in a hopper, the content of samples in the hopper can be monitored and the hopper with insufficient samples can be timely supplemented by the mechanical arm, and the mechanical arm can also place the hopper in the sample quantitative dosing unit, take out the crucible from the crucible storage unit and place it in the sample quantitative dosing unit corresponding to the required sample type for detection. The mechanical arm is also used to clamp the crucible or crucible rack and circulate among the dosing and weighing module, the pre-and post-caking treatment module, the high-temperature furnace module, the caking drum tester module, the cooling module and the cleaning module.

2. The full-process detection system for bituminous coal caking index based on a robotic arm according to claim 1, characterized in that: The mechanical arm comprises two clamping jaws capable of relative movement, the clamping jaws comprise a first clamping part, a second clamping part and a third clamping part, wherein one end of the first clamping part of the two clamping jaws is installed on the mechanical arm through a moving pair, the opposite sides of the first clamping part are curved outward to cover the outer periphery of a sample bottle to transfer the sample in the sample bottle to the hopper, and the opposite sides of the first clamping part are also provided with upwardly protruding positioning columns for insertion into positioning holes on a crucible rack and transfer thereof to place the crucible rack together with the plurality of crucibles thereon into or out of the high-temperature furnace module; the second clamping parts of the two clamping jaws are oppositely arranged, the second clamping parts are provided with rubber pads at the end portions for clamping on the outside of the hopper to place the hopper containing samples in the sample quantitative dosing unit, and the second clamping parts are curved outward in the middle to cover the outer periphery of the lower part of a crucible to pour out the sample in the crucible; the third clamping parts of the two clamping jaws are oppositely arranged and formed by a clamping column extending downward from the bottom of the second clamping part, for clamping the outer periphery of the upper end of the crucible and a crucible cover to transfer the crucible and cover or separate the crucible cover from the crucible; the transfer of the sample bottles, the hopper, the crucibles, the crucible covers and the crucible racks inside the dosing and weighing module and the pre-and post-caking treatment module is completed by the mechanical arm.

3. The system according to claim 2, wherein the system is characterized in that: The blanking and weighing module further comprises a sample bottle cap screwing unit and a hopper sample adding station; the sample bottle storage unit stores a plurality of sample bottles for storing samples; the mechanical arm is used to take out the sample bottles from the sample bottle storage unit and place them on the sample bottle cap screwing unit; the sample bottle cap screwing unit is used to separate the cap of the sample bottle from the bottle body; the mechanical arm is further used to take out the sample from the sample bottle and place it into the hopper at the hopper sample adding station, and place the hopper at the hopper sample adding station into the sample quantitative sampling unit.

4. The system according to claim 3, characterized in that: The pre-bonding and post-bonding processing module comprises a pre-processing module, a crucible cover storage unit and a briquette storage unit; the pre-processing module comprises a stirring station, a briquette placing station and a static pressure station; the stirring station is provided with a stirring device; the stirring device comprises a stirring station main frame, a stirring station storage base and a stirring paddle; the stirring station storage base and the stirring paddle are respectively installed on the stirring station main frame and can be driven by the stirring station main frame to be inclined; the stirring station storage base is located below the stirring paddle and is used to place the crucible; the stirring paddle can enter the crucible and stir the sample by rotating; the briquette placing station comprises a briquette placing station base and a push piece; the briquette placing station base is used to place the crucible; the push piece is inclined and can extend into the crucible to rotate the top of the sample into a conical shape; the static pressure station comprises a briquette suction cup, a static pressure station base and a pressurizing mechanism; the static pressure station base is located below the pressurizing mechanism and is used to place the crucible; the briquette suction cup is used to take out the briquette in the briquette storage unit and place it in the crucible; the pressurizing mechanism is used to apply pressure to the briquette placed in the crucible; the crucible cover storage unit is used to store crucible covers; the mechanical arm can clamp the crucible cover and place it on the crucible after static pressure; the crucible rack storage unit is located at the blanking and weighing module or the pre-bonding and post-bonding processing module and is used to store crucible racks; the mechanical arm can place the crucible after pre-processing on the crucible rack.

5. The mechanical arm-based bituminous coal caking index full-process detection system according to claim 4, characterized in that: The high-temperature furnace module comprises a high-temperature furnace, a crucible rack placing station and a crucible rack carrying station; the crucible rack placing station is located below the inlet and outlet of the high-temperature furnace; the crucible rack carrying station comprises a lifting mechanism, a translation mechanism and a carrying fork; the bottom of the crucible rack placing station is provided with an avoiding opening for avoiding the carrying fork; the lifting mechanism is used to drive the carrying fork to move up and down to transfer the crucible rack between the inlet and outlet of the high-temperature furnace and the crucible rack placing station; the translation mechanism is used to drive the carrying fork to move forward and backward to place the crucible rack into the high-temperature furnace or take the crucible rack out of the high-temperature furnace.

6. The mechanical arm-based bituminous coal caking index full-process detection system according to claim 5, characterized in that: The post-treatment module further comprises a post-treatment module, which comprises a post-treatment crucible rack station, a crucible cover buffer station and a briquette taking station; the post-treatment crucible rack station is used for placing the crucible rack taken out from the high-temperature furnace, the briquette taking station comprises a briquette taking station base and a briquette taking mechanism, the briquette taking station base is used for placing the coke treated crucible, the crucible cover buffer station is used for placing the crucible cover of the crucible, and the briquette taking mechanism comprises a grabbing mechanism and a soot scraping mechanism; the grabbing mechanism is used for taking the briquette out of the crucible, and the soot scraping mechanism is used for scraping the coke from the bottom of the briquette into the crucible.

7. The mechanical arm-based bituminous coal caking index full-process detection system according to claim 6, characterized in that: The grabbing mechanism is located above the briquette taking station base and comprises a rotating mechanism and an outwardly expandable inner support clamp; the top of the briquette is provided with a grabbing hole; the inner support clamp can grab the briquette by extending into the grabbing hole and expanding, and can be moved above the briquette taking station base; the soot scraping mechanism comprises a transverse moving mechanism, a hopper and a scraping blade; the hopper and the scraping blade are installed on the transverse moving mechanism and can be moved between the grabbing mechanism and the crucible under the driving of the transverse moving mechanism, so that the scraping blade is in contact with the bottom of the briquette; and the rotating mechanism can drive the inner support clamp to rotate and make the briquette rotate relative to the scraping blade.

8. The mechanical arm-based bituminous coal caking index full-process detection system according to claim 7, characterized in that: The bonding drum tester module comprises a drum mechanism, a screen mechanism and a balance, which are respectively used for drum experiment, screening and weighing of the sample; the mechanical arm transfers the crucible after completing the post-treatment by clamping the lower part of the crucible to the bonding drum tester module.

9. A method of using the bituminous coal caking index detection system according to any one of claims 1-8, characterized in that, It comprises the following steps: Step 1, blanking and weighing; the sample bottle is taken off from the sample bottle storage unit by the mechanical arm and placed in the sample bottle cap screwing unit, the sample bottle cap screwing unit is used for screwing the cap, the sample in the sample bottle is transferred into the hopper in the hopper sample adding station by the mechanical arm, and then the hopper is placed in the sample quantitative sampling unit by the mechanical arm; the mechanical arm takes the crucible from the crucible storage unit and places it in the sample quantitative sampling unit, and a fixed amount of sample is placed in the crucible through the sample quantitative sampling unit; 2, pretreatment; the crucible containing the sample is transferred to the stirring station by the mechanical arm for stirring, then the crucible is transferred to the briquette placing station by the mechanical arm for placing the briquette, then the crucible is transferred to the static pressure station for static pressure, and after the static pressure is completed, the crucible is transferred to the crucible rack in the crucible rack storage unit by the mechanical arm, then the crucible cover is placed on the crucible by the mechanical arm to complete the pretreatment operation; 3, high-temperature treatment; the crucible rack containing one or more crucibles is transferred to the high-temperature furnace module by the mechanical arm for high-temperature treatment; 4, first cooling; the crucible rack and the crucible after completing the high-temperature treatment are transferred to the cooling module by the mechanical arm for cooling; 5, post-treatment; the crucible rack after completing the cooling is transferred to the post-treatment module by the mechanical arm, the crucible cover is separated from the crucible by the mechanical arm, then the crucible is placed in the briquette taking station, the briquette is taken out of the crucible by the briquette taking station, and the coke at the bottom of the briquette is scraped into the crucible; 6, drum determination; the sample in the crucible is poured into the bonding drum tester module for drum, screening and weighing operations by the mechanical arm; 7. High temperature cleaning; The empty crucible is carried back to the crucible frame by the mechanical arm, and then the crucible cover is placed back on the crucible, and they are placed into the high temperature furnace by the mechanical arm for high temperature cleaning; 8. Second cooling; the crucible frame and the crucible after high temperature cleaning are transferred to the cooling module for cooling by the mechanical arm; 9. Separation and recovery; the crucible cover is recovered to the crucible cover storage unit by the mechanical arm, the crucible is carried to the crucible cleaning module for cleaning and then recovered to the crucible storage unit, and the crucible frame is recovered to the crucible frame storage unit.

Images