Automatic box-type furnace annealing system and using method

Abstract

According to the automatic box-type furnace annealing system and the using method, combined operation of box-type annealing furnaces is achieved, the automatic box-type furnace annealing system comprises a plurality of box-type furnaces, a mechanical arm, a buffer table and an AGV station, the box-type furnaces are provided with a plurality of trays in a matched mode, the mechanical arm is provided with a clamp and a visual recognition system, and the clamp is used for clamping and carrying the trays; the visual recognition system judges square ring samples in trays and confirms the number of tray loading layers, the AGV station comprises a plurality of AGVs, the AGVs are in butt joint with the full-automatic square ring magnetic survey instrument, continuous furnace feeding, annealing and furnace discharging can be achieved in the production process, independent operation can be achieved, the AGVs can also be in butt joint with an automatic detection line with an AGV system, and automation of the whole process is achieved.

Description

Technical Field

[0001] This invention belongs to the technical field of stress-relieving annealing of electrical steel square ring specimens, and particularly relates to an automated box furnace annealing system and its usage method. Background Technology

[0002] The magnetic property testing of silicon steel square rings is based on the physical property testing of the national standard GB / 3655. Samples are generally taken from the entire width of the steel plate. Physical or laser processing methods are used, and the dimensions are 30mm × 320mm rectangles. Typically, 16 or more pieces are grouped together, with a weight between 0.5kg and 1kg. According to silicon steel product standards, all oriented silicon steel and some non-oriented silicon steel square rings require stress-relief annealing before magnetic property testing. This is achieved by annealing at 750℃-800℃ in a nitrogen protective atmosphere for 2 hours to eliminate processing stress.

[0003] Currently, stress-relief annealing in major steel mills across China generally adopts heat treatment furnace annealing, typically using bell-type furnaces, box furnaces, or continuous annealing furnaces. This method mostly employs manual loading for annealing, which presents several problems: 1. In large-scale production, nearly a thousand sets of silicon steel square ring samples are manually stacked and loaded into the furnace every day. After annealing, they are manually removed and sorted, which consumes a lot of manpower and is not very efficient.

[0004] 2. Manual loading often requires stacking thousands of sample pieces into the furnace. The area that can be placed into the furnace is often very large, and there is a risk of sample pieces scattering during loading, unloading, and annealing. It is necessary to cover and weigh them down, which poses a significant quality and safety risk.

[0005] 3. With the large-scale establishment of automated silicon steel laboratories in China, manual furnace loading methods are not compatible with fully automated testing lines.

[0006] 4. When multiple box furnaces are used in combination and operated at the same time, each box furnace adopts an independent protective atmosphere inlet and outlet device. The actual discharged protective atmosphere nitrogen is extremely pure and at a high temperature, but it cannot be recovered and is directly discharged into the atmosphere.

[0007] 5. After annealing, the silicon steel square ring samples are cooled to 250℃-300℃ in the furnace, and then cooled to room temperature under atmospheric conditions before testing. The cooling process takes varying amounts of time depending on the ambient temperature and humidity. If the sample is not cooled completely naturally, excessively high temperatures (above 20℃ above typical room temperature) will significantly affect the magnetic performance test results of the Epstein square ring. Therefore, when the inspection cycle is tight, continuous manual inspection is required for confirmation.

[0008] With the significant increase in production efficiency, the development of a system with fully automated square annealing capabilities has become crucial for silicon steel testing laboratories. Summary of the Invention

[0009] The technical problem to be solved by the present invention is to provide an automated box furnace annealing system and its usage method, which can continuously feed into the furnace, anneal, and discharge from the furnace during the production process. It can operate independently or be connected to an automatic detection line with an AGV system to achieve full-process automation.

[0010] The embodiments of this application are implemented as follows: This application provides an automated box furnace annealing system, characterized in that it includes multiple box furnaces, a robotic arm, a buffer platform, and an AGV station. The box furnaces are equipped with several pallets. The robotic arm is equipped with a clamp and a vision recognition system. The clamp is used to hold and move the pallets. The vision recognition system judges the square ring samples inside the pallet and confirms the number of pallet loading layers. The AGV station includes multiple AGV trolleys, which are connected to a fully automatic square ring magnetic measuring instrument.

[0011] In some alternative implementations, a fixed flipping table is also provided, on which the square ring sample is flipped and adjusted for both horizontal and vertical placement.

[0012] In some alternative implementations, the fixture includes a base, a compression cylinder, and grippers. The compression cylinder is fixed to the base, and the end of the extension rod of the compression cylinder is connected to the grippers. The fixture is symmetrically arranged on the robotic arm via a rotary table to achieve the clamping and gripping of the tray and square sample.

[0013] In some optional implementations, a protective atmosphere recycling device is also included, specifically a protective atmosphere buffer transfer tank. The protective atmosphere buffer transfer tank is connected to the gas return ports of multiple box furnaces through multiple return pipes. The exhaust port of the box furnace is connected to the exhaust pipe, and the air inlet of the box furnace is connected to the air inlet pipe. The air inlet pipe, exhaust pipe, and return pipe are respectively equipped with an air inlet valve, an exhaust valve, and a return valve. The air inlet pipe is connected to an external protective gas source.

[0014] In some alternative implementations, the visual recognition system includes a color area array camera, an image recognition system, and LED fill lights, and uses visual deep learning technology to determine the location of the sample in the tray.

[0015] In some alternative implementations, the fixture integrates a temperature-measuring camera to measure the temperature of the square sample that has cooled naturally after being removed from the furnace.

[0016] In some alternative implementations, the protective atmosphere buffer transfer tank is wrapped with insulating cotton.

[0017] In some alternative implementations, the visual recognition system further includes LED supplemental lights mounted on the robotic arm.

[0018] In some alternative implementations, the protective atmosphere buffer transfer tank is equipped with an oxygen detection device to detect the oxygen content of the protective atmosphere.

[0019] A method for using an automated box furnace annealing system, characterized by comprising the following steps: Step S1, Loading the box furnace: Step S 11 The AGV system or personnel place the sample tray in the loading square to the AGV station or feeding position. After the system determines whether the box furnace in the standby state can be used, the box furnace enters the sample loading state. Step S 12 The visual recognition system confirms the number and position of the sample groups of the feeding prescription ring. The box furnace is opened, and the robotic arm holds multiple trays and places them sequentially on the buffer platform. Then, it grabs the feeding position square ring and places it vertically into the tray located at the loading position. The loading is repeated until the sample fills the tray. The robotic arm puts the full tray into the box furnace and confirms the number of existing tray layers in the furnace through the visual recognition system. Step S 13 The pallet on the buffer table is moved to the loading position by a robotic arm, and the loading is repeated until the pallet is full. Then the pallet is put into the box furnace by a robotic arm. Step S 14 Repeat the above steps until several layers of trays are stacked inside the box furnace, then close the furnace door and begin heating and annealing. Step S2, unloading from the box furnace: Step S 21 After annealing, the temperature drops to the set temperature, and the box furnace enters the discharge state. The furnace door opens, and the furnace door transports the bracket and multiple layers of pallets out of the furnace body. Step S 22 The system uses a visual recognition system to determine the number of existing pallet layers in the furnace and confirms whether there are empty pallets based on the furnace loading information. If there are empty pallets, the robotic arm grabs them and moves them to the buffer platform. If there are multiple empty pallets, they are stacked one by one. Step S 23 The number of existing tray layers in the furnace is confirmed by a visual recognition system. The robotic arm grabs the tray loaded with the sample to the AGV station. The AGV trolley transports the tray containing the square sample to be tested to the square detection system for testing. Step S 24 Repeat the above-mentioned unloading steps until all trays containing samples have been transported away for testing; Step S3, Empty pallet reloading: Step S 31 When the box furnace door is open in standby mode, the robotic arm grabs empty pallets on the buffer platform and empty pallets returned by the AGV station, and stacks them on the box-type cargo rack. The process is repeated and counted until there are no empty pallets on the buffer platform and the AGV station. Step S 32 When the number of pallets stacked inside the box furnace reaches the maximum limit, the furnace enters a standby full pallet state. Step S4: The nitrogen protective atmosphere for the box furnace is recycled. Step S 41 When one or more box furnaces are in the cooling stage during annealing, the flow rate of nitrogen protective atmosphere is increased by increasing the opening of the corresponding inlet valve to assist in cooling. At the same time, the corresponding exhaust valve is closed and the reflux valve is opened to return the protective atmosphere to the protective atmosphere buffer transfer tank. If the remaining box furnaces are in the heat preservation or heating stage, the corresponding inlet valve is closed and the reflux valve and exhaust valve are opened. The protective atmosphere gas discharged from the box furnaces in the cooling stage and the residual heat are used to achieve one cycle of the protective atmosphere and auxiliary heating. Step S 42 When multiple box furnaces are in the heat preservation or heating stage, one box furnace can open its inlet valve and reflux valve and close its exhaust valve, while the other box furnaces open their reflux valve and exhaust valve and close their inlet valve. By connecting the inlet of one box furnace to the other box furnaces, a positive pressure protective atmosphere is formed inside multiple box furnaces, thereby achieving a primary protective atmosphere and heat energy recovery. Step S 43 When multiple individual box furnaces are in the cooling stage, open the individual air inlet valve and exhaust valve of each individual box furnace and close all reflux valves to avoid the overheating recovery protective atmosphere from affecting the cooling effect. Step S 44 When the oxygen detection device detects that the oxygen content of the protective atmosphere recovered in the protective atmosphere buffer transfer tank exceeds the standard, the inlet valve and exhaust valve of each box furnace are opened, and all reflux valves are closed to avoid cross-contamination of the circulating protective atmosphere.

[0020] The beneficial effects of this application are as follows: This application provides an automated box furnace annealing system and its usage method, which utilizes visual recognition technology, an industrial robotic arm with dedicated tooling, a buffer platform, and a corresponding AGV station, and a corresponding operating logic sequence. It is equipped with multiple fully automatic inlet and outlet trays for opening and closing the furnace door box furnace, and several high-temperature resistant trays to achieve fully automatic annealing; it enables continuous monitoring of the air cooling process after the sample exits the furnace, shortens the annealing inspection cycle, and improves the accuracy of Epstein square detection; it enables the one-time recycling and recovery of the protective atmosphere nitrogen, and effectively saves heating energy. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a layout diagram of an automated box furnace annealing system according to an embodiment of this application; Figure 2 This is a schematic diagram of the fixture according to an embodiment of this application; Figure 3 This is a piping distribution diagram of the protective atmosphere recycling device according to an embodiment of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0024] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0025] It should be understood that the sequence number of each step in the embodiment does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0026] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0027] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0028] The terms "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0029] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0030] The features and performance of this application will be further described in detail below with reference to the embodiments.

[0031] This embodiment 1 discloses an automated box furnace annealing system. The system uses visual recognition technology, an industrial robotic arm with special tooling, a buffer position and a corresponding AGV station, and a corresponding operating logic sequence. It is equipped with multiple fully automatic in-and-out tray box furnaces with open and close doors, and several high-temperature resistant trays to achieve fully automatic annealing.

[0032] like Figure 1 As shown, the system specifically includes multiple box furnaces 1, robotic arms 2, buffer platforms 3, and AGV stations 4. The box furnaces are equipped with several high-temperature resistant pallets. The robotic arms are equipped with clamps and a vision recognition system. The clamps are used to hold and transport the pallets, and the vision recognition system is used to judge the square ring samples inside the pallets and confirm the number of pallet loading layers. The AGV station includes multiple AGV trolleys, which are connected to the fully automatic square ring magnetic measuring instrument.

[0033] like Figure 2 As shown, the fixture includes a base 5, a compression cylinder 6, and grippers 7. The compression cylinder is fixed on the base, and the end of the extension rod of the compression cylinder is connected to the grippers. The fixture is symmetrically set on the robotic arm via a rotary table 8 to achieve multi-directional clamping and gripping of the tray and square sample.

[0034] In addition, a temperature-measuring camera is integrated into the fixture to measure the temperature of the square sample that has been naturally cooled after being removed from the furnace. The robotic arm moves along a trajectory and periodically takes photos of the temperature from the top, sides, and 45° angle of multiple stacked trays. Based on the results of the periodic photo temperature measurements, a judgment is made. If it is determined that the overall stacked sample is below the set temperature, a signal is sent indicating that the next step of magnetic property testing can proceed. This improves annealing efficiency, quantitatively assesses the temperature to be tested, avoids the influence of residual sample temperature on magnetic properties, and effectively shortens the cycle and improves testing accuracy.

[0035] The visual recognition system includes a color area scan camera 9, an image recognition system, and an LED fill light 10. The color area scan camera takes pictures of the tray at the feeding position. The image recognition system is an image processing and visual recognition system developed based on OpenCV. Image processing includes image rotation, grayscale conversion, and cropping. Visual deep learning technology is used to determine the location of the sample in the tray.

[0036] The number of buffer platforms matches the number of pallets stacked in the box furnace, arranged side by side, with four raised limiting points at the top four corners. Multiple buffer platforms simultaneously lay out multiple high-temperature resistant pallets that are matched with the box furnace during the feeding process. The first buffer platform is equipped with supplementary lighting and serves as the square sample loading station.

[0037] It also pre-sets a temporary storage buffer platform to temporarily store any empty pallets that may be available while the system is loading material into any box furnace, if another box furnace is discharging material at the same time.

[0038] In addition, it also includes a protective atmosphere recycling device (see Figure 3 Specifically, it includes a protective atmosphere buffer transfer tank 11, which is connected to the gas return ports of multiple box furnaces through multiple return pipes 12. The exhaust port of the box furnace is connected to the exhaust pipe 13, and the air inlet of the box furnace is connected to the air inlet pipe 14. The air inlet pipe, exhaust pipe and return pipe are respectively equipped with an air inlet valve 15, an exhaust valve 16 and a return valve 17. The air inlet pipe is connected to an external protective gas source.

[0039] Furthermore, the protective atmosphere buffer transfer tank is wrapped with insulating cotton, which provides a certain degree of insulation.

[0040] Furthermore, an oxygen detection device is installed in the protective atmosphere buffer transfer tank to detect the oxygen content of the protective atmosphere.

[0041] Example 2 In this embodiment, a fixed flipping table 18 is added to the above system, and the square sample is flipped and adjusted on the fixed flipping table to be placed flat and vertical.

[0042] The method of using the above-mentioned automated box furnace annealing system includes the following steps: Step S1, Loading the box furnace: Step S 11 The AGV system or personnel place the sample tray in the loading square to the AGV station or feeding position. After the system determines whether the box furnace in the standby state can be used, the box furnace enters the sample loading state.

[0043] Step S 12 The visual recognition system confirms the number and position of the sample groups in the loading prescription ring. The box furnace is opened, and the robotic arm holds multiple trays and places them sequentially on the buffer platform. Then, it grabs the loading position square and places it vertically into the tray located at the loading position. The loading is repeated until the sample fills the tray. The robotic arm puts the full tray into the box furnace and confirms the number of existing tray layers in the furnace through the visual recognition system.

[0044] Step S 13 The pallet on the buffer platform is moved to the loading position by a robotic arm, and the loading is repeated until the pallet is full. Then, the pallet is placed into the box furnace by the robotic arm.

[0045] Step S 14 Repeat the above steps until several layers of trays are stacked inside the box furnace, then close the furnace door and begin heating and annealing.

[0046] Step S2, unloading from the box furnace: Step S 21 After annealing, the temperature drops to the set temperature, and the box furnace enters the discharge state. The furnace door opens, and the furnace door transports the bracket and multiple layers of pallets out of the furnace body.

[0047] Step S 22 The system uses a visual recognition system to determine the number of existing pallet layers in the furnace and confirms whether there are empty pallets based on the furnace loading information. If there are empty pallets, the robotic arm grabs them and moves them to the buffer platform. If there are multiple empty pallets, they are stacked one by one.

[0048] Step S 23 The number of existing tray layers in the furnace is confirmed by a visual recognition system. The robotic arm grabs the tray loaded with the sample to the AGV station. The AGV trolley then transports the tray containing the square sample to be tested to the square detection system for testing.

[0049] Step S 24 Repeat the above-mentioned unloading steps until all trays containing samples have been transported away for testing.

[0050] Step S3, Empty pallet reloading: Step S 31 When the furnace door of the box-type furnace is open in standby mode, the robotic arm grabs empty pallets on the buffer platform and empty pallets returned by the AGV station, and stacks them on the box-type cargo rack. The process is repeated and counted until there are no empty pallets on the buffer platform and the AGV station.

[0051] Step S 32 When the number of pallets stacked inside the box furnace reaches the maximum limit, the furnace enters a standby full-pallet state.

[0052] Step S4: The nitrogen protective atmosphere for the box furnace is recycled. Step S 41 When one or more box furnaces are in the cooling stage during annealing, the flow rate of nitrogen protective atmosphere is increased by increasing the opening of the corresponding inlet valve to assist in cooling. At the same time, the corresponding exhaust valve is closed and the reflux valve is opened to return the protective atmosphere to the protective atmosphere buffer transfer tank. If the remaining box furnaces are in the heat preservation or heating stage, the corresponding inlet valve is closed and the reflux valve and exhaust valve are opened. The protective atmosphere gas discharged from the box furnaces in the cooling stage and the residual heat are used to achieve one cycle of protective atmosphere and auxiliary heating.

[0053] Step S 42 When multiple box furnaces are in the heat preservation or heating stage, a single box furnace can open its inlet valve and reflux valve and close its exhaust valve, while the other box furnaces open their reflux valve and exhaust valve and close their inlet valve. By connecting the inlet of a single box furnace to the inlet of other single box furnaces, a positive pressure protective atmosphere is formed inside multiple single box furnaces, thereby achieving primary protective atmosphere and heat energy recovery.

[0054] Step S 43 When multiple individual box furnaces are in the cooling stage, open the individual air inlet valve and exhaust valve of each individual box furnace, and close all reflux valves to avoid the overheating recovery protective atmosphere from affecting the cooling effect.

[0055] Step S 44 When the oxygen detection device detects that the oxygen content of the protective atmosphere recovered in the protective atmosphere buffer transfer tank exceeds the standard, the inlet valve and exhaust valve of each box furnace are opened, and all reflux valves are closed to avoid cross-contamination of the circulating protective atmosphere.

[0056] Example 3 When multiple box furnaces are in the heat preservation or heating stage, if necessary, the heating jacket 19 can be used to assist in heating to improve the annealing efficiency.

[0057] This invention achieves continuous loading and annealing of silicon steel square ring samples into the furnace body through furnace loading logic, furnace unloading logic, and empty heat-resistant tray reloading logic, enabling continuous unloading even with empty heat-resistant trays, and allowing the annealing furnace to enter a standby state after continuous operation following external testing. Through the opening and closing logic of different inlet valves, exhaust valves, and reflux valves, the protective atmosphere of multiple box furnaces is recycled and used for auxiliary heating, reducing the consumption of protective atmosphere and heating energy loss of the entire system composed of multiple box furnaces.

Claims

1. An automated box furnace annealing system, characterized in that, The system includes multiple box furnaces, robotic arms, buffer platforms, and AGV stations. Each box furnace is equipped with several pallets. The robotic arms are equipped with clamps and a vision recognition system. The clamps are used to hold and move the pallets. The vision recognition system is used to judge the square ring samples inside the pallets and to confirm the number of pallet loading layers. The AGV station includes multiple AGV trolleys, which are configured to interface with a fully automatic square ring magnetic measuring instrument.

2. The automated box furnace annealing system according to claim 1, characterized in that, A fixed flipping table is also provided, on which the square ring sample is flipped and adjusted for both horizontal and vertical placement.

3. An automated box furnace annealing system according to claim 1 or 2, characterized in that, The fixture includes a base, a compression cylinder, and grippers. The compression cylinder is fixed on the base, and the extension rod end of the compression cylinder is connected to the grippers. The fixture is symmetrically arranged on the robotic arm via a rotary table to achieve the clamping and gripping of the tray and square sample.

4. The automated box furnace annealing system according to claim 3, characterized in that, It also includes a protective atmosphere recycling device, specifically a protective atmosphere buffer transfer tank. The protective atmosphere buffer transfer tank is connected to the gas return ports of multiple box furnaces through multiple return pipes. The exhaust port of the box furnace is connected to the exhaust pipe, and the air inlet of the box furnace is connected to the air inlet pipe. The air inlet pipe, exhaust pipe and return pipe are respectively equipped with an air inlet valve, an exhaust valve and a return valve. The air inlet pipe is connected to an external protective gas source.

5. An automated box furnace annealing system according to claim 4, characterized in that, The visual recognition system includes a color area array camera and an image recognition system, which uses visual deep learning technology to determine the location of the sample in the tray.

6. An automated box furnace annealing system according to claim 5, characterized in that, The fixture integrates a temperature measuring camera to measure the temperature of the square sample that has been naturally cooled after being taken out of the furnace.

7. An automated box furnace annealing system according to claim 4 or 6, characterized in that, The protective atmosphere buffer transfer tank is wrapped with insulating cotton.

8. An automated box furnace annealing system according to claim 5, characterized in that, The visual recognition system also includes LED supplementary lights, which are mounted on the robotic arm.

9. A test method for an automated box furnace annealing system according to claim 6 or 8, characterized in that, The protective atmosphere buffer transfer tank is equipped with an oxygen detection device to detect the oxygen content of the protective atmosphere.

10. A method of using the automated box furnace annealing system as described in claim 9, characterized in that, Includes the following steps: Step S1, Loading the box furnace: Step S 11 The AGV system or personnel place the sample tray in the loading square to the AGV station or feeding position. After the system determines whether the box furnace in the standby state can be used, the box furnace enters the sample loading state. Step S 12 The visual recognition system confirms the number and position of the sample groups of the feeding prescription ring. The box furnace is opened, and the robotic arm holds multiple trays and places them sequentially on the buffer platform. Then, it grabs the feeding position square ring and places it vertically into the tray located at the loading position. The loading is repeated until the sample fills the tray. The robotic arm puts the full tray into the box furnace and confirms the number of existing tray layers in the furnace through the visual recognition system. Step S 13 The pallet on the buffer table is moved to the loading position by a robotic arm, and the loading is repeated until the pallet is full. Then the pallet is put into the box furnace by a robotic arm. Step S 14 Repeat the above steps until several layers of trays are stacked inside the box furnace, then close the furnace door and begin heating and annealing. Step S2, unloading from the box furnace: Step S 21 After annealing, the temperature drops to the set temperature, and the box furnace enters the discharge state. The furnace door opens, and the furnace door transports the bracket and multiple layers of pallets out of the furnace body. Step S 22 The system uses a visual recognition system to determine the number of existing pallet layers in the furnace and confirms whether there are empty pallets based on the furnace loading information. If there are empty pallets, the robotic arm grabs them and moves them to the buffer platform. If there are multiple empty pallets, they are stacked one by one. Step S 23 The number of existing tray layers in the furnace is confirmed by a visual recognition system. The robotic arm grabs the tray loaded with the sample to the AGV station. The AGV trolley transports the tray containing the square sample to be tested to the square detection system for testing. Step S 24 Repeat the above-mentioned unloading steps until all trays containing samples have been transported away for testing; Step S3, Empty pallet reloading: Step S 31 When the box furnace door is open in standby mode, the robotic arm grabs empty pallets on the buffer platform and empty pallets returned by the AGV station, and stacks them on the box-type cargo rack. The process is repeated and counted until there are no empty pallets on the buffer platform and the AGV station. Step S 32 When the number of pallets stacked inside the box furnace reaches the maximum limit, the furnace enters a standby full pallet state. Step S4: The nitrogen protective atmosphere for the box furnace is recycled. Step S 41 When one or more box furnaces are in the cooling stage during annealing, the flow rate of nitrogen protective atmosphere is increased by increasing the opening of the corresponding inlet valve to assist in cooling. At the same time, the corresponding exhaust valve is closed and the reflux valve is opened to return the protective atmosphere to the protective atmosphere buffer transfer tank. If the remaining box furnaces are in the heat preservation or heating stage, the corresponding inlet valve is closed and the reflux valve and exhaust valve are opened. The protective atmosphere gas discharged from the box furnaces in the cooling stage and the residual heat are used to achieve one cycle of the protective atmosphere and auxiliary heating. Step S 42 When multiple box furnaces are in the heat preservation or heating stage, one box furnace can open its inlet valve and reflux valve and close its exhaust valve, while the other box furnaces open their reflux valve and exhaust valve and close their inlet valve. By connecting the inlet of one box furnace to the other box furnaces, a positive pressure protective atmosphere is formed inside multiple box furnaces, thereby achieving a primary protective atmosphere and heat energy recovery. Step S 43 When multiple individual box furnaces are in the cooling stage, open the individual air inlet valve and exhaust valve of each individual box furnace and close all reflux valves to avoid the overheating recovery protective atmosphere from affecting the cooling effect. Step S 44 When the oxygen detection device detects that the oxygen content of the protective atmosphere recovered in the protective atmosphere buffer transfer tank exceeds the standard, the inlet valve and exhaust valve of each box furnace are opened, and all reflux valves are closed to avoid cross-contamination of the circulating protective atmosphere.

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