Rewinding online sampling and labeling robot system and method

Abstract

The invention discloses a rewinding on-line sampling and labeling robot system and method, and relates to the technical field of rewinding on-line sampling and labeling machines.The rewinding on-line sampling and labeling robot system comprises a pit, a manual detection sample plate conveyor and a sample plate positioning mechanism, a rewinding unit is arranged on one side of the pit, and a robot base is installed on the other side of the pit; a robot is arranged on the top of the robot base through screws. According to the rewinding online sampling and labeling robot system and method, pit type robot installation layout is adopted, safety fence design is matched, the equipment distance is reasonably planned, interference with equipment such as a rewinding unit in the operation process is avoided, meanwhile, the occupied area of a workshop is saved, the inclination angle can be flexibly adjusted through a sample plate positioning mechanism adjusting rod, and the working efficiency is improved. And the manual detection conveyor and the sample plate conveyor are vertically arranged, so that manual detection operation is facilitated, automatic process propulsion is not influenced, and the working efficiency and the operation and maintenance safety are both considered.

Description

Technical Field

[0001] This invention relates to the field of online sampling and labeling machine technology for rewinding, specifically to an online sampling and labeling robot system and method for rewinding. Background Technology

[0002] As finishing equipment, the cold rolling recoiling unit in a steel rolling mill is responsible for processing existing steel coils by trimming, straightening, leveling, and recoiling to improve the coil's shape quality, dimensional accuracy, and surface condition. Operators must periodically sample according to procedures to ensure the samples are free of surface defects such as folds, roll marks, and watermarks. Currently, there are two main methods for robotic steel plate sampling: one requires the production line to automatically cut samples before sending them out due to space limitations on the cold rolling line, allowing the robot to operate; the other uses laser, flame, or plasma cutting methods for online sampling of medium and heavy plates in hot rolling lines.

[0003] Currently, laser, flame, and plasma cutting methods are not suitable for cold-rolled recoiled steel sheets as they can damage the surface of the steel sheet. The automatic cutting of the plates by the cold rolling production line and the sending out of the samples requires changes to the existing equipment layout, which is a major modification. In addition, the sample surface will be damaged during the sample transfer process.

[0004] Therefore, in view of this, we study and improve the existing structure and its shortcomings, and propose a rewinding online sampling and labeling robot system and method. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a rewinding online sampling and labeling robot system and method, which solves the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a rewinding online sampling and labeling robot system and method, comprising a pit, a manual inspection sample conveyor, and a sample positioning mechanism. A rewinding unit is installed on one side of the pit, and a robot base is installed on the other side of the pit. A robot is mounted on the top of the robot base by screws. A label printer and cabinet are installed on one side of the rewinding unit, and a sample trolley is installed on the side of the label printer and cabinet away from the rewinding unit. A sample conveyor is installed on the upper side of the sample trolley. The manual inspection sample conveyor and the sample positioning mechanism are both located above the sample conveyor, and the manual inspection sample conveyor is perpendicular to the sample conveyor. A sampling and labeling fixture is provided on the wrist of the robot, and a manual inspection sample conveyor is installed on the bottom side of the sampling and labeling fixture. An automatic shearing machine is provided on the front side of the robot.

[0007] Furthermore, a safety fence is installed outside the pit, and the pit has a rectangular structure.

[0008] Furthermore, the sample conveyor is installed on the right side of the automatic shearing machine, and the sampling and labeling fixture includes a sampling and labeling fixture frame, a vacuum suction cup assembly, a vacuum generator, and a solenoid valve assembly. The bottom of the sampling and labeling fixture frame is provided with a vacuum suction cup assembly, and the input end of the vacuum suction cup assembly is equipped with a vacuum generator and a solenoid valve assembly.

[0009] Furthermore, the sampling and labeling fixture also includes a label suction and labeling mechanism, a small sample suction component, and a distance measuring sensor component. The label suction and labeling mechanism is installed on the outside of the sampling and labeling fixture frame, and a small sample suction component is provided at the end of the sampling and labeling fixture frame. The distance measuring sensor component is installed on the sampling and labeling fixture frame at the same end as the small sample suction component.

[0010] Furthermore, the sampling and labeling fixture frame is made of aluminum alloy, and the vacuum suction cup assembly adopts an accordion structure.

[0011] Furthermore, the label printer and cabinet include a label printer rack and a label printer, with the label printer installed below the label printer rack.

[0012] Furthermore, the label printer and cabinet are located on one side of the pit, and the label printer and cabinet are flush with the robot installation position.

[0013] Furthermore, the template positioning mechanism includes a positioning bracket, a support plate, and an adjusting rod. The positioning bracket is installed on one side of the template conveyor, and the adjusting rod is provided on one side of the positioning bracket. The positioning bracket is connected to the support plate via a hinge and the adjusting rod, and the tilt direction of the support plate is perpendicular to the tilt direction of the positioning bracket.

[0014] Furthermore, the template positioning mechanism also includes universal rollers, and the support plate is equipped with universal rollers inside. The positioning bracket is an inclined structure with one end high and the other end low.

[0015] This invention provides a rewinding online sampling and labeling robot system and method, which has the following beneficial effects: 1. This online sampling and labeling robot system and method for rewinding achieves fully automated operation from sample picking, positioning, labeling, cutting to conveying and waste disposal through the linkage control of the robot with equipment such as the rewinding unit, automatic shearing machine, and label printer. No human intervention is required in the core operations. Compared with the traditional manual sampling and labeling mode, it not only greatly improves the operation efficiency and adapts to the continuous production rhythm of the rewinding unit, but also avoids the errors and safety risks caused by manual operation. At the same time, through the group control of multiple sets of vacuum suction cups and the special fixture structure, it can flexibly adapt to the sampling needs of large and small samples, and has strong versatility.

[0016] 2. This online sampling and labeling robot system and method for rewinding utilizes an aluminum alloy frame for the sampling and labeling fixture to reduce load. The accordion-style vacuum suction cup can adapt to sample deformation and uneven table surfaces. Combined with a distance sensor, it accurately positions the sample height, ensuring a smooth and damage-free suction process. The sample positioning mechanism, through its tilting structure and universal roller design, achieves automatic gravity positioning of the sample. This, along with the porous adsorption plate labeling mechanism, ensures flat and accurate label application. Further verification with a barcode scanner further avoids label information errors, providing reliable assurance for subsequent testing and production traceability, and effectively improving product quality control.

[0017] 3. The online sampling and labeling robot system and method for rewinding adopts a pit-type robot installation layout with a safety fence design and reasonable planning of equipment spacing to avoid interference with equipment such as rewinding units during operation. At the same time, it saves workshop floor space. The template positioning mechanism adjustment rod can flexibly adjust the tilt angle to adapt to different template specifications, reducing the difficulty of equipment debugging and maintenance. The manual inspection conveyor and the template conveyor are arranged vertically, which facilitates manual inspection operation without affecting the progress of automated processes, thus balancing work efficiency and maintenance safety. Attached Figure Description

[0018] Figure 1 This is a top view schematic diagram of the rewinding online sampling and labeling robot system and method of the present invention; Figure 2 This is a three-dimensional structural diagram of a rewinding online sampling and labeling robot system and method according to the present invention; Figure 3 This is a schematic diagram of the sampling and labeling fixture structure of the online sampling and labeling robot system and method for rewinding according to the present invention; Figure 4 This is a schematic diagram of the template positioning mechanism structure of the online sampling and labeling robot system and method for rewinding according to the present invention; Figure 5 This is a schematic diagram of the label printer and cabinet structure of the online sampling and labeling robot system and method for rewinding according to the present invention.

[0019] In the diagram: 1. Rewinding unit; 2. Pit; 3. Robot base; 4. Robot; 5. Automatic shearing machine; 6. Label printer and cabinet; 601. Label printer frame; 602. Label printer; 7. Sample carriage; 8. Sample conveyor; 9. Sampling and labeling fixture; 901. Sampling and labeling fixture frame; 902. Vacuum suction cup assembly; 903. Vacuum generator and solenoid valve assembly; 904. Label suction and labeling mechanism; 905. Small sample suction assembly; 906. Distance sensor assembly; 10. Manual inspection sample conveyor; 11. Sample positioning mechanism; 1101. Positioning bracket; 1102. Support plate; 1103. Universal casters; 1104. Adjusting rod; 12. Safety fence. Detailed Implementation

[0020] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0021] like Figures 1-5As shown, the present invention provides a technical solution: a rewinding online sampling and labeling robot system and method, comprising a rewinding unit 1, a pit 2, a robot base 3, a robot 4, an automatic shearing machine 5, a label printer and cabinet 6, a label printer frame 601, a label printer 602, a sample trolley 7, a sample conveyor 8, a sampling and labeling fixture 9, a sampling and labeling fixture frame 901, a vacuum suction cup assembly 902, a vacuum generator and solenoid valve assembly 903, a label picking and labeling mechanism 904, a small sample picking assembly 905, a distance sensor assembly 906, a manual inspection sample conveyor 10, a sample positioning mechanism 11, a positioning bracket 1101, a support plate 1102, universal rollers 1103, an adjusting rod 1104, and a safety fence 12. A rewinding unit 1 is installed on one side of the pit 2, and a robot base 3 is installed on the other side of the pit 2. A robot 4 is mounted on the top of the robot base 3 by screws. A label printer and cabinet 6 are installed on one side of the rewinding unit 1, and a sample carriage 7 is installed on the side of the label printer and cabinet 6 away from the rewinding unit 1. A sample conveyor 8 is installed on the upper side of the sample carriage 7. The sample conveyor 8 is installed on the right side of the automatic shearing machine 5. The sampling and labeling fixture 9 includes a sampling and labeling fixture frame 901, a vacuum suction cup assembly 902, a vacuum generator, and a solenoid valve assembly 903. The vacuum suction cup assembly 902 is installed at the bottom of the sampling and labeling fixture frame 901, and the vacuum generator and solenoid valve assembly 903 are installed at the input end of the vacuum suction cup assembly 902. The sample labeling fixture frame 901 is made of aluminum alloy, and the vacuum suction cup assembly 902 adopts an accordion structure. The sampling labeling fixture 9 also includes a label suction and labeling mechanism 904, a small sample suction assembly 905, and a distance measuring sensor assembly 906. The label suction and labeling mechanism 904 is installed on the outside of the sampling labeling fixture frame 901, and the small sample suction assembly 905 is provided at the end of the sampling labeling fixture frame 901. The distance measuring sensor assembly 906 is installed on the sampling labeling fixture frame 901 at the same end as the small sample suction assembly 905. After the rewinding unit 1 cuts the sample according to the process, it sends a sampling signal to the robot system. The host computer synchronously sends the sampling type instruction for large / small samples. The robot 4 starts and moves the wrist sampling labeling fixture 9 along the preset path to the rewinding machine. At the sampling position above the production line of Group 1, the ranging sensor assembly 906 pre-activates the detection environment, detects the sample height to determine the sample position, and performs small sample sampling: the corresponding group's vacuum suction cup assembly 902 is activated, the vacuum pressure is adjusted, the ranging sensor accurately detects the sample height, the robot slowly descends, and the accordion-style suction cup adheres and picks up the sample. The vacuum safety valve monitors the pressure in real time to prevent it from falling off. For large sample sampling: the small sample suction assembly 905 is not activated, but the main suction cup assembly is activated. Relying on the group control vacuum system, uniform force is ensured, and positioning and suction are completed to prevent deformation. The manual inspection sample conveyor 10 and the sample positioning mechanism 11 are both set above the sample conveyor 8, and the manual inspection sample conveyor 10 is perpendicular to the sample conveyor 8. The robot 4's wrist is equipped with a sampling and labeling clamp 9.Furthermore, a manual inspection sample conveyor 10 is installed on one side of the bottom of the sampling and labeling fixture 9. After the sampling and labeling operation of both small and large samples is completed, the robot 4 drives the sampling and labeling fixture 9 back to the initial standby position, all pneumatic components reset, and equipment such as the label printer 602 and the conveyor return to standby status. The robot 4 sends a work completion signal to the host computer and the rewinding unit 1, waiting for the next sampling instruction. If multiple sets of samples are required for a single operation, steps two to five above are repeated until all sampling tasks are completed. An automatic shearing machine 5 is installed on the front side of the robot 4. Small samples: After the labeling is qualified, they are sent to the automatic shearing machine 5 for cutting. Small samples are sent to the sample cart 7 via the sample conveyor 8. Large samples: The robot picks up the inspected sample, moves it to the top of the waste cart for release, and puts it into the waste hopper. A safety fence 12 is set outside the pit 2, and the pit 2 has a rectangular structure.

[0022] like Figure 1 , Figure 2 and Figure 5 As shown, the label printer and cabinet 6 includes a label printer frame 601 and a label printer 602, with the label printer 602 installed below the label printer frame 601. The label printer and cabinet 6 is located on one side of the pit 2, and is flush with the installation position of the robot 4. The sample positioning mechanism 11 includes a positioning bracket 1101, a support plate 1102, and an adjusting rod 1104. The positioning bracket 1101 is installed on one side of the sample conveyor 8, and the adjusting rod 1104 is provided on one side of the positioning bracket 1101. The positioning bracket 1101 is connected to the support plate 1102 via a hinge and the adjusting rod 1104. Furthermore, the tilt direction of the support plate 1102 is perpendicular to the tilt direction of the positioning bracket 1101. The sample positioning mechanism 11 also includes universal rollers 1103, and the support plate 1102 is equipped with universal rollers 1103. The positioning bracket 1101 is an inclined structure with one end high and the other end low. Small sample: placed on the support plate 1102 of the sample positioning mechanism 11, automatically positioned by gravity. The robot 4 moves to the label printer 602 to pick up the label and press it to attach. The barcode scanner verifies the label. If it is not qualified, an alarm is triggered. Large sample: placed on the manual inspection sample conveyor 10 and transported to the inspection range. After inspection, the conveyor reverses and returns the sample. The robot 4 picks it up again.

[0023] In summary, as Figures 1-5As shown, in this online sampling and labeling robot system and method for rewinding, the robot 4 is bolted to the robot base 3 on the side of the pit 2, maintaining precise alignment with the rewinding unit 1, the automatic shearing machine 5, and the label printer 602. The positioning bracket 1101 is an inclined structure with one end higher and the other lower, installed on the side plate of the sample conveyor 8. The support plate 1102 is connected to the positioning bracket 1101 through a hinge and an adjusting rod 1104, forming an inclined state where one side contacts the positioning bracket 1101 and the other side is higher than the positioning bracket 1101. The inclination direction of the support plate 1102 is perpendicular to the inclination direction of the positioning bracket 1101, ultimately forming a form where only one corner of the support plate 1102 is the lowest point. The support plate 1102 is arranged at certain intervals. The universal rollers 1103 are installed, and the support plate 1102 has stop bars on both sides adjacent to the lowest angle. When the fixture places the sample on the positioning mechanism, the sample automatically slides to the lowest point by gravity, achieving accurate positioning. The vacuum generator and solenoid valve assembly 903 are debugged to ensure that the vacuum degree of the vacuum suction cup assembly 902 meets the standard. The bellows-type suction cup is in standby mode. The distance sensor assembly 906 completes zero-point calibration. The safety fence 12 is closed, and the system enters standby mode, waiting for the sampling trigger signal from the rewinding unit 1. Next, during the sampling trigger and robot 4 positioning stage, signal linkage and precise positioning are achieved. After the rewinding unit 1 completes the sample cutting according to the production process requirements, it sends a sampling signal to the robot system. The host computer simultaneously issues a sampling type instruction. With a sample or small sample provided, clearly defining the operational requirements, robot 4 receives a signal and initiates a preset path program, moving the sampling and labeling fixture 9 mounted on its wrist. During this process, the distance sensor component 906 is activated in advance to monitor the sampling area environment in real time, avoiding interference with the rewinding unit 1, surrounding equipment, and pipelines. Finally, it precisely stops at the sampling position above the production line of the rewinding unit 1, preparing for subsequent suction operations. Furthermore, during the sample suction stage, differentiated and stable adsorption is achieved according to the sample specifications. For small sample sampling, robot 4, according to instructions from the host computer, activates the corresponding group of vacuum suction cup components 902 through the vacuum generator and solenoid valve component 903, adjusting the vacuum pressure to suit the small sample. The distance sensor component 906 accurately detects the sample height and... Data is fed back to the control system. Robot 4 descends slowly based on the feedback, allowing the accordion-style vacuum suction cups to adhere to the surface of the small sample. Vacuum suction force is used to firmly grasp the sample. After suction, the vacuum safety valve monitors the pressure in real time. If the pressure value falls below a preset threshold, an alarm signal is immediately issued to prevent the sample from falling off. For large sample sampling, there is no need to activate the small sample suction component 905; the main vacuum suction cup component 902 is activated directly. Relying on multiple sets of spaced suction cups and a group-controlled vacuum system, the large sample is subjected to uniform force, preventing deformation during grasping. After the distance sensor completes height positioning, Robot 4 descends smoothly to complete the suction operation. Subsequently, the core stage of sample processing begins, involving positioning, labeling, and manual inspection according to specifications. For small sample processing...Robot 4, carrying the small sample, moves it above the sample positioning mechanism 11, slowly releases it, and places it on the support plate 1102. The sample slides along the inclined plate surface and the universal rollers 1103 under its own weight, finally stopping at the lowest point stop, achieving automatic and accurate positioning to ensure subsequent labeling accuracy. After positioning, Robot 4 moves the sampling and labeling fixture 9 to the label printer 602. The cylinder of the label suction and labeling mechanism 904 extends, causing the porous suction plate to extend beyond the vacuum suction cup range. The porous suction plate then adsorbs the printed label through mutual... A small hole ensures the label is flat and avoids wrinkles. Then, robot 4 returns to the sample positioning mechanism 11 and precisely presses the label onto the preset position on the small sample, completing the labeling operation. After labeling, a barcode scanner verifies the label, confirming that the label is properly pasted and the information matches the production batch. If verification is successful, the process proceeds to the next stage; otherwise, an alarm signal is issued, and the operation is paused pending manual handling. For large samples, the positioning and labeling stages are skipped, and manual inspection and transfer are performed directly. Robot 4 carries the large sample it has picked up and moves it above the manual inspection sample conveyor 10, smoothly... Placed on the power roller, the control system activates the manual inspection sample conveyor 10 to transport the large sample out of the robot 4's working range, facilitating a comprehensive manual inspection of the sample's appearance, dimensions, flatness, and other indicators. After inspection, the operator sends a feedback signal, causing the conveyor to reverse and return the large sample to its initial position. The robot 4 then activates the vacuum suction cup assembly 902 to securely pick up the large sample for subsequent processing. The subsequent stages include sample cutting, conveying, and waste disposal, achieving separate control of finished product conveying and waste recycling. After the small sample is labeled and verified as qualified, Robot 4 feeds the sample into automatic shearing machine 5. Automatic shearing machine 5, driven by electricity or hydraulics, completes the cutting operation according to the preset production dimensions. The cut small sample pieces are received by a sample conveyor 8 with a belt structure and transported along a preset path to the sample trolley 7, completing the collection of finished sample pieces. After manual inspection, the large sample is moved by robot 4 to a pre-set waste trolley beside the pit. The vacuum system is then shut off via a vacuum generator and solenoid valve assembly 903, releasing the vacuum suction cup assembly 902, and the large sample is dropped into the waste hopper, completing waste recycling. Finally, after a single sampling and labeling operation is completed, robot 4 drives the sampling and labeling fixture 9 back to the initial standby position. The cylinders of the reset labeling mechanism of each pneumatic component retract, the vacuum system is shut down, and equipment such as label printer 602, sample conveyor 8, and manual inspection sample conveyor 10 are all restored to standby status. Robot 4 sends a work completion signal to the host computer and rewinding unit 1 and provides synchronous feedback on the work status. If multiple sets of samples are required for a single production run, the system automatically repeats the above sampling, absorption, processing, and conveying process until all sampling tasks are completed. No manual intervention is required in the core process, achieving precise adaptation to the continuous production rhythm of the rewinding unit.

[0024] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A re-winding on-line sampling and labeling robot system comprising a pit (2), a manual inspection sample plate conveyor (10) and a sample plate positioning mechanism (11), characterized in that: One side of the pit (2) is provided with a rewinding unit (1), and the other side of the pit (2) is provided with a robot base (3), the top of the robot base (3) is provided with a robot (4) through screws, one side of the rewinding unit (1) is provided with a label printer and cabinet (6), and the other side of the label printer and cabinet (6) is provided with a sample trolley (7) away from the rewinding unit (1), the upper side of the sample trolley (7) is provided with a sample conveyor (8), the artificial detection sample conveyor (10) and the sample positioning mechanism (11) are arranged above the sample conveyor (8), and the artificial detection sample conveyor (10) is perpendicular to the direction of the sample conveyor (8), the wrist of the robot (4) is provided with a sample labeling clamp (9), and one side of the bottom of the sample labeling clamp (9) is provided with an artificial detection sample conveyor (10), and the front side of the robot (4) is provided with an automatic plate shearing machine (5).

2. A re-winding on-line sampling and labeling robot system according to claim 1, characterized in that: The pit (2) is provided with a safety fence (12) outside, and the pit (2) is in a rectangular structure.

3. A re-winding on-line sampling and labeling robot system according to claim 1, characterized in that: The sample conveyor (8) is installed on the right side of the automatic plate shearing machine (5), the sample labeling clamp (9) comprises a sample labeling clamp rack (901), a vacuum chuck assembly (902), a vacuum generator and a solenoid valve assembly (903), the bottom of the sample labeling clamp rack (901) is provided with the vacuum chuck assembly (902), and the input end of the vacuum chuck assembly (902) is provided with the vacuum generator and the solenoid valve assembly (903).

4. A re-winding on-line sampling and labeling robot system according to claim 3, characterized in that: The sample labeling clamp (9) further comprises a label sucking and labeling mechanism (904), a small sample plate sucking assembly (905) and a distance measuring sensor assembly (906), the label sucking and labeling mechanism (904) is installed on the outer side of the sample labeling clamp rack (901), and the small sample plate sucking assembly (905) is arranged at the end of the sample labeling clamp rack (901), and the distance measuring sensor assembly (906) is installed on the sample labeling clamp rack (901) at the same end of the small sample plate sucking assembly (905).

5. A re-winding on-line sampling and labeling robot system according to claim 4, characterized in that: The sample labeling clamp rack (901) is made of aluminum alloy, and the vacuum chuck assembly (902) is made of an organ structure.

6. The re-winding on-line sampling and labeling robot system according to claim 1, characterized in that: The label printer and cabinet (6) comprises a label printer rack (601) and a label printer (602), and the label printer (602) is installed below the label printer rack (601).

7. A re-winding on-line sampling and labeling robot system according to claim 6, characterized in that: The label printer and cabinet (6) is arranged on one side of the pit (2), and the label printer and cabinet (6) is flush with the installation position of the robot (4).

8. The re-winding on-line sampling and labeling robot system according to claim 1, characterized in that: The sample positioning mechanism (11) comprises a positioning support (1101), a supporting plate (1102) and an adjusting rod (1104), one side of the sample conveyor (8) is provided with the positioning support (1101), one side of the positioning support (1101) is provided with the adjusting rod (1104), the positioning support (1101) is connected with the supporting plate (1102) through the hinge and the adjusting rod (1104), and the inclination direction of the supporting plate (1102) is perpendicular to the inclination direction of the positioning support (1101).

9. A re-winding on-line sampling and labelling robot system according to claim 8, characterized in that: The sample positioning mechanism (11) further comprises universal rollers (1103), and the inside of the support plate (1102) is provided with the universal rollers (1103), and the positioning support (1101) is an inclined structure with one end high and one end low.

10. A method of using a rewinding on-line sampling and labeling robot system according to any one of claims 1-9, characterized in that, The use method of the rewinding online sampling and labeling robot system comprises the following steps, Step one, after the rewinding unit (1) is cut according to the process, a sampling signal is sent to the robot system, the upper computer synchronously sends a sampling type instruction large / small sample plate, the robot (4) is started, the wrist sampling and labeling clamp (9) is driven to move to the sampling position above the rewinding unit (1) production line along the preset path, the distance measuring sensor assembly (906) is started in advance to detect the environment, the sample plate height is detected to determine the sample plate position; Step two, small sample plate sampling: start the corresponding group of vacuum chuck assemblies (902), adjust the vacuum pressure, the distance measuring sensor accurately detects the sample plate height, the robot (4) slowly descends, the organ type suction disc is attached and sucked, the vacuum safety valve monitors the pressure in real time to prevent falling, large sample plate sampling: do not start the small sample plate suction assembly (905), start the main suction disc assembly, rely on the grouping control vacuum system to ensure uniform stress, complete positioning and suction to prevent deformation; Step three, small sample plate: placed on the sample positioning mechanism (11) support plate (1102), automatically positioned by gravity, the robot 4 moves to the label printer (602) to suck and press the label, the code gun verifies, and the unqualified one alarms, large sample plate: placed on the manual detection sample plate conveyor (10), conveyed to the detection range, after detection, the conveyor reverses to send back, the robot (4) re-sucks; Step four, small sample plate: after labeling, it is sent to the automatic plate shearing machine (5) for shearing, and the small sample plate is sent to the sample trolley (7) through the sample plate conveyor (8), and the large sample plate: the robot (4) sucks the detected sample plate and moves to the top of the waste trolley to release and is put into the waste hopper; Step five, after the small sample plate or the large sample plate sampling and labeling operation is completed, the robot (4) drives the sampling and labeling clamp (9) to return to the initial standby position, each pneumatic assembly is reset, the label printer (602), the conveyor and other equipment restore the standby state, the robot (4) sends a work completion signal to the upper computer and the rewinding unit (1), and waits for the next sampling instruction, if multiple groups of sampling are required for single operation, steps two to five are repeated until all sampling tasks are completed.

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