Sample grinding mechanical arm device

Abstract

The utility model discloses a sample grinding mechanical arm device which comprises a six-axis mechanical arm and a supporting plate installed on the top of the six-axis mechanical arm. A core sample clamp and an outer-layer sample clamp are arranged at the two ends of the supporting plate respectively; the core sample clamp comprises a first clamp fixing part and a first clamp moving part which are fixed on the supporting plate, and sample placing holes capable of fastening the core sample after being attached are formed in the middle of the first clamp fixing part and the middle of the first clamp moving part; the outer-layer sample clamp comprises a second clamp fixing part which is fixed on the upper top of the supporting plate and is provided with a sample placing groove, and a second clamp moving part is arranged in the sample placing groove and is used for fastening an outer-layer sample. Corresponding clamps are designed for clamping according to different sample structures, so that the universality is good; meanwhile, the mechanical arm is adopted for grinding, compared with manual operation, the efficiency is high, the surface smoothness consistency is good during sample grinding, and meanwhile the safety problem is solved.

Description

Technical Field

[0001] This utility model relates to a sample grinding robotic arm device, belonging to the field of roll composition detection technology. Background Technology

[0002] During the manufacturing process of the rolls, the core and outer layers of molten steel / iron need to undergo composition testing. Before testing, the molten steel / iron in the core needs to be cast into a shape similar to... Figure 7 The shape shown forms the core sample 5. Specifically, the core sample 5 is a central cylinder connected to a large circle at the top and a small circle at the bottom, forming a shape similar to a seal. The outer layer of molten steel / iron is cast into a shape similar to... Figure 8 The shape shown forms the outer sample 6. Specifically, the outer sample 6 is an elliptical structure with a certain thickness.

[0003] Currently, when smelting units perform composition analysis on core sample 5 and outer sample 6, the sample surface needs to be ground before the spectrometer can be used for composition analysis. The current grinding operation is still a primitive manual operation mode: that is, the operator holds the core sample 5 or the outer sample 6 and grinds it with a grinding wheel.

[0004] The existing manual sample grinding methods have the following problems: 1. Efficiency: Based on a daily calculation, approximately 240 grinding operations are required. This high frequency of operations not only consumes the operator's energy but also results in low efficiency. 2. Accuracy: Manual grinding leads to inconsistent surface finish, resulting in some deviation in the measured component values. 3. Safety: Since the grinding operation relies entirely on manual handling on the grinding machine, there is a high risk of injury due to sample damage or breakage. Utility Model Content

[0005] To solve the above-mentioned technical problems, this utility model provides a sample grinding robotic arm device. The device has a clamp designed according to different sample structures for gripping, which has good versatility. At the same time, the use of a robotic arm for grinding is more efficient than manual operation, and the surface finish of the sample is more consistent. It also solves the safety problem.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A sample grinding robotic arm device includes a six-axis robotic arm that can achieve multi-angle movement controlled by a PLC controller and a support plate installed on the top of the six-axis robotic arm; a core sample clamp and an outer sample clamp are respectively provided at both ends of the support plate.

[0008] The core sample clamp comprises a first clamp fixed part fixed on a support plate and a first clamp moving part which is combined with or separated from the first clamp fixed part by rotating a first screw rod, and a sample placing hole capable of tightly fixing a core sample is arranged in the middle part of the first clamp fixed part and the first clamp moving part after being combined;

[0009] The outer layer sample clamp comprises a second clamp fixed part provided with a sample placing groove on the top of a support plate, and a second clamp moving part capable of moving along the sample placing groove to tightly fix an outer layer sample is arranged in the sample placing groove by rotating a second screw rod.

[0010] The further improvement of the technical scheme of the utility model lies in that the first screw rod passes through the first clamp moving part and extends into the threaded hole of the first clamp fixed part, a first light hole is arranged at the corresponding part of the first clamp moving part, and the outer end of the first screw rod is further provided with a first blocking ring with an outer diameter larger than the first light hole.

[0011] The further improvement of the technical scheme of the utility model lies in that the outer end part of the first screw rod is provided with a first rotating handle facilitating rotation.

[0012] The further improvement of the technical scheme of the utility model lies in that the first screw rod is transversely provided with two.

[0013] The further improvement of the technical scheme of the utility model lies in that the sample placing hole comprises a tapered hole with a lower opening gradually narrowing at the upper part and a stepped hole arranged below the tapered hole and capable of clamping the bottom small circular part of the core sample, and the top of the tapered hole is provided with a circular hole capable of supporting the top large circular part of the core sample.

[0014] The further improvement of the technical scheme of the utility model lies in that a stepped hole with a threaded hole matched with the second screw rod inside and a second light hole with a larger diameter outside is arranged on the second clamp fixed part below the second clamp moving part, the second screw rod passes through the second light hole and extends into the threaded hole, and the outer end of the second screw rod is provided with a second blocking ring for pushing the second clamp moving part.

[0015] The further improvement of the technical scheme of the utility model lies in that the outer end part of the second screw rod is provided with a second rotating handle facilitating rotation.

[0016] The further improvement of the technical scheme of the utility model lies in that the number of the second screw rod is one.

[0017] The further improvement of the technical scheme of the utility model lies in that the six-axis mechanical arm comprises a rotating S-axis at the bottom and a lower arm L-axis, an upper arm U-axis, a wrist rotating R-axis, a wrist swinging B-axis and a wrist rotating T-axis in sequence upwards, and the support plate is fixed on the wrist rotating T-axis.

[0018] The further improvement of the technical scheme of the utility model lies in that the rotation S shaft, the lower arm L shaft, the upper arm U shaft, the wrist rotation R shaft, the wrist swing B shaft and the wrist rotation T shaft of the six-axis mechanical arm are respectively provided with power through corresponding servo motors, and the six servo motors are electrically connected with the PLC controller.

[0019] Thanks to the above technical scheme, the utility model has the following technical progress:

[0020] The utility model adopts the corresponding clamp to clamp according to different sample structure designs, and has good versatility; meanwhile, the mechanical arm is used for polishing, and compared with manual operation, the efficiency is high, the surface finish consistency is good when the sample is polished, and the safety problem is solved. DRAWINGS

[0021] Figure 1 It is the structural schematic diagram of the utility model;

[0022] Figure 2 It is the structural schematic diagram of the clamp of the utility model;

[0023] Figure 3 It is the cutaway schematic diagram of the core sample clamp of the utility model after clamping the core sample;

[0024] Figure 4 It is the cutaway schematic diagram of the core sample clamp of the utility model after installing the first screw rod;

[0025] Figure 5 It is the cutaway schematic diagram of the outer sample clamp of the utility model after placing the outer sample;

[0026] Figure 6 It is the side view schematic diagram of the outer sample clamp of the utility model;

[0027] Figure 7 It is the structural schematic diagram of the core sample of the utility model;

[0028] Figure 8 It is the structural schematic diagram of the outer sample of the utility model;

[0029] Wherein, 1, six-axis mechanical arm, 2, support plate, 3, core sample clamp, 301, first clamp fixed part, 302, first clamp moving part, 303, first screw rod, 304, first blocking ring, 305, first rotating handle, 306, first light hole, 307, sample placing hole, 4, outer sample clamp, 401, second clamp fixed part, 402, second clamp moving part, 403, second screw rod, 404, second blocking ring, 405, second rotating handle, 406, sample placing groove, 407, second light hole, 408, screw hole, 5, core sample, 6, outer sample. CONCRETE IMPLEMENTATION

[0030] The utility model will be further described in detail in connection with the embodiments as follows:

[0031] As shown in Figure 1 and 2 A sample grinding mechanical arm device, comprising a six-axis mechanical arm 1 controlled by a PLC controller, the six-axis mechanical arm 1 comprising a rotating S-axis at the bottom and a lower arm L-axis, an upper arm U-axis, a wrist rotating R-axis, a wrist swinging B-axis and a wrist rotating T-axis in turn upwards, the rotating S-axis, the lower arm L-axis, the upper arm U-axis, the wrist rotating R-axis, the wrist swinging B-axis and the wrist rotating T-axis are respectively powered by corresponding servo motors, and the six servo motors are electrically connected with the PLC controller, and the six-axis mechanical arm 1 can be controlled by the PLC controller to realize multi-angle movement.

[0032] A support plate 2 is fixed on the wrist rotating T-axis at the top of the six-axis mechanical arm 1, and a core sample clamp 3 and an outer layer sample clamp 4 are respectively arranged at both ends of the support plate 2 to clamp a core sample 5 and an outer layer sample 6 respectively, and then the core sample 5 or the outer layer sample 6 is moved to a grinding wheel by the movement of the six-axis mechanical arm 1 for grinding and subsequent composition detection.

[0033] As shown in Figure 3 and 4 The core sample clamp 3 comprises a first clamp fixed part 301 fixed on the support plate 2 and a first clamp moving part 302 which is combined with or separated from the first clamp fixed part 301 by rotating a first screw 303, and a sample placing hole 307 is arranged in the middle part of the first clamp fixed part 301 and the first clamp moving part 302. The sample placing hole 307 comprises a tapered hole with a lower opening gradually narrowing and a stepped hole arranged below the tapered hole which can clamp the bottom small circle of the core sample, and a circular hole is arranged at the top of the tapered hole which can hold the top large circle of the core sample. The core sample is placed in the sample placing hole 307, and the first clamp moving part 302 is combined with the first clamp fixed part 301 after moving to fasten the core sample 5.

[0034] The first screw 303 penetrates the first clamp moving part 302 and extends into the threaded hole of the first clamp fixed part 301, and a first light hole 306 is arranged at the corresponding position of the first clamp moving part 302 to facilitate the back and forth movement of the first clamp moving part 302. The outer end of the first screw 303 is further provided with a first stop ring 304 with an outer diameter larger than the first light hole 306, and the outer end part is further provided with a first rotating handle 305 for easy rotation.

[0035] The first screw rod 303 of the embodiment is provided with two in transverse direction. In use, the two first screw rods 303 are rotated simultaneously to separate the first clamp moving part 302 from the first clamp fixed part 301, then the core sample 5 is placed in the sample placing hole 307, the first screw rod 303 is rotated, and the first stop ring 304 pushes the first clamp moving part 302 to adhere to the first clamp fixed part 301 to fix the core sample 5.

[0036] As shown in Figure 5 and 6 The outer sample clamp 4 comprises a second clamp fixed part 401 fixed on the support plate 2, the top of the second clamp fixed part 401 is provided with a sample placing groove 406, and the sample placing groove 406 is provided with a second clamp moving part 402 which can be moved along the sample placing groove 406 to fasten the outer sample 6 by rotating a second screw rod 403.

[0037] The second clamp fixed part 401 below the second clamp moving part 402 is provided with a stepped hole, the inside of the stepped hole is a threaded hole 408 matched with the second screw rod 403, and the outside is a second light hole 407 with a larger diameter, the second screw rod 403 passes through the second light hole 407 and extends into the threaded hole 408, and the outer end of the second screw rod 403 is provided with a second stop ring 404 which pushes the second clamp moving part 402, and the outer end is provided with a second rotating handle 405 which is convenient to rotate.

[0038] The number of the second screw rod 403 of the embodiment is one. In use, the second clamp moving part 402 is opened by rotating the second screw rod 403, the outer sample 6 is placed, the second screw rod 403 is rotated, the second stop ring 404 pushes the second clamp moving part 402 to move towards the outer sample 6, and the outer sample 6 is fastened until the outer sample 6 is fastened.

Claims

1. A sample grinding robot apparatus, characterized by: The application relates to a six-axis mechanical arm (1) capable of multi-angle movement controlled by a PLC controller and a support plate (2) mounted on the top of the six-axis mechanical arm (1); both ends of the support plate (2) are respectively provided with a core sample clamp (3) and an outer layer sample clamp (4); The core sample clamp (3) comprises a first clamp fixed part (301) fixed on the support plate (2) and a first clamp moving part (302) capable of being combined with the first clamp fixed part (301) by rotating a first screw rod (303), and the middle part of the first clamp fixed part (301) and the first clamp moving part (302) is provided with a sample placing hole (307) capable of fastening a core sample (5) after being combined; The outer layer sample clamp (4) comprises a second clamp fixed part (401) provided with a sample placing groove (406) on the top and fixed on the support plate (2), and the second clamp moving part (402) capable of fastening an outer layer sample (6) is arranged in the sample placing groove (406) and can move along the sample placing groove (406) by rotating a second screw rod (403).

2. The sample grinding robot apparatus according to claim 1, characterized by: The first screw rod (303) penetrates through the first clamp moving part (302) and extends into the threaded hole of the first clamp fixed part (301), and the corresponding part of the first clamp moving part (302) is provided with a first light hole (306), and the outer end of the first screw rod (303) is further provided with a first blocking ring (304) with a larger outer diameter than the first light hole (306).

3. The sample grinding robot apparatus of claim 2, wherein: The outer end of the first screw rod (303) is provided with a first rotating handle (305) facilitating rotation.

4. The sample grinding robot apparatus of claim 1, wherein: The first screw rod (303) is transversely provided with two.

5. The sample grinding robot apparatus of claim 1, wherein: The sample placing hole (307) comprises a tapered hole with a gradually reduced lower opening in the upper part and a stepped hole arranged below the tapered hole and capable of clamping the bottom small circle of the core sample, and the top of the tapered hole is provided with a circular hole capable of supporting the large circle of the top of the core sample.

6. The sample grinding robot apparatus of claim 1, wherein: The second clamp fixed part (401) below the second clamp moving part (402) is provided with a stepped hole with a threaded hole (408) matched with the second screw rod (403) in the inside and a second light hole (407) with a larger diameter in the outside, the second screw rod (403) penetrates through the second light hole (407) and extends into the threaded hole (408), and the outer end of the second screw rod (403) is provided with a second blocking ring (404) for pushing the second clamp moving part (402).

7. The sample grinding robot apparatus of claim 6, wherein: The outer end of the second screw rod (403) is provided with a second rotating handle (405) facilitating rotation.

8. The sample grinding robot apparatus of claim 1, wherein: The number of the second screw rod (403) is one.

9. The sample grinding robot apparatus of claim 1, wherein: The six-axis mechanical arm (1) comprises a rotating S-axis at the bottom and a lower arm L-axis, an upper arm U-axis, a wrist rotating R-axis, a wrist swinging B-axis and a wrist rotating T-axis in sequence upwards, and the support plate (2) is fixed on the wrist rotating T-axis.

10. The sample grinding robot apparatus of claim 9, wherein: The rotating S-axis, the lower arm L-axis, the upper arm U-axis, the wrist rotating R-axis, the wrist swinging B-axis and the wrist rotating T-axis of the six-axis mechanical arm (1) are respectively driven by corresponding servo motors, and the six servo motors are electrically connected with the PLC controller.

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