Highly automatic coal quality industrial analysis system

Abstract

The utility model discloses a highly-automatic coal quality industrial analysis system, and relates to the field of coal quality analys.According to the coal quality industrial analysis system, a sample adding device and an industrial analysis instrument are arranged on a workbench in the X-axis direction, then a transfer manipulator capable of moving in the X-axis direction is arranged, and the highly-automatic process of a coal quality industrial analysis test can be achieved; the overall occupied area is small, installation is easy and convenient, other testing instruments can be expanded in the X-axis direction according to needs, when the transferring mechanical arm breaks down and fails, the transferring mechanical arm can be moved to one side, and then an industrial analysis instrument can be independently operated for experiments; the sample adding device integrates functional parts of feeding, shaking up, bottle cap transferring, discharging and weighing, the automation degree and the integration degree of the coal quality industrial analysis system are greatly improved, equipment arrangement is simplified, occupied space is reduced, and the suitability of the analysis system installed in different environments is enhanced.

Description

Technical Field

[0001] This application relates to the field of coal quality analysis, and more particularly to a highly automated industrial coal quality analysis system. Background Technology

[0002] When conducting industrial analysis (water and ash content analysis, volatile matter analysis) on coal samples, there are manual and automatic operation methods, with automatic operation being the mainstream form of technological development.

[0003] In the prior art, Chinese patent CN113687089A discloses an intelligent unmanned testing system and an intelligent unmanned testing method. The system arranges multiple devices in a circular direction, with a robotic arm in the middle to replace human operation. This approach has the following drawbacks: 1. The integrated equipment is large and requires a lot of space; 2. Installation is limited in limited laboratory space; 3. When the robotic arm system malfunctions, a person cannot operate a single device alone; 4. There is a lack of space to install other devices.

[0004] On the other hand, Chinese patent CN205562582U discloses a coal quality analysis device. This device is arranged sequentially along the movement direction of the robotic arm, including a sample transfer component (turntable), a weighing component, a crucible storage component, and an industrial analysis component. This patent has the following drawbacks: 1. It only proposes the idea of ​​arranging instruments in a straight line. The flow of products between the instruments is highly dependent on the robotic arm. When the robotic arm fails, there is no effective product flow mechanism between the sample transfer component (turntable) and the weighing component, resulting in low automation; 2. The coal quality testing process generally includes coal sample bottle loading, shaking, feeding, and testing, etc. The analysis device in this patent cannot achieve fully automated testing of the above process; 3. Coal samples are generally in the form of fine powder, and this patent cannot achieve uniform, small-batch, and accurate feeding. Utility Model Content

[0005] This application provides a highly automated coal quality industrial analysis system to achieve a high degree of automation in coal quality industrial analysis, improve equipment flexibility, and reduce space occupation.

[0006] This application provides a highly automated coal quality industrial analysis system, including a worktable and sample dispensing devices and industrial analysis instruments arranged at intervals along the X-axis on the worktable; a transfer robot is moved along the X-axis on the worktable to move the sample container to a different position in three-dimensional space.

[0007] The sample dispensing device includes a main frame, a feeding turntable assembly, a bottle cap storage assembly, a gripping assembly, a shaking and dispensing assembly, and a weighing assembly. The main frame is mounted on a workbench. The feeding turntable assembly rotates around the Z-axis and is mounted on the main frame. The feeding turntable assembly has multiple first placement holes for accommodating a first sample container. The bottle cap storage assembly has a first bottle cap storage position and a second bottle cap storage position. The gripping assembly is mounted on the main frame and is used to grip and transfer the first sample container to the shaking and dispensing assembly, and to grip and transfer the first and second bottle caps between the first sample container and the bottle cap storage position. The shaking and dispensing assembly includes a mounting bracket, a first rotating component, and a first gripper for clamping the first sample container. The mounting bracket is mounted on the main frame, the first rotating component is mounted on the mounting bracket, and the first gripper is connected to the first rotating component. The first rotating component drives the first gripper and the first sample container to rotate around the Y-axis. The weighing assembly is mounted on the main frame and located below the first gripper. The weighing assembly has a second placement hole for accommodating a second sample container.

[0008] Preferably, the feeding turntable assembly includes a first turntable drive mechanism and a first turntable. The first turntable drive mechanism is located at the bottom of the main structure, and the first turntable is connected to the first turntable drive mechanism. The first turntable has a plurality of first placement holes spaced apart around the Z-axis. The first turntable drive mechanism is used to drive the first turntable to rotate around the Z-axis.

[0009] Preferably, the bottle cap temporary storage component includes an extension frame connected to the main structure. The extension frame is provided with a first negative pressure cleaning hole and a second negative pressure cleaning hole along the X-axis direction. The first negative pressure cleaning hole is configured as a first bottle cap temporary storage position, and the second negative pressure cleaning hole is configured as a second bottle cap temporary storage position. The first negative pressure cleaning hole and the second negative pressure cleaning hole are connected to an external negative pressure generating device.

[0010] Preferably, the gripping component includes an X-axis motion component, a Z-axis motion component, a second rotating component, and a second gripper; the X-axis motion component of the gripping component is connected to the main structure and is used to drive the second gripper to move in the X-axis direction above the feeding turntable component, the bottle cap temporary storage component, and the shaking and sample adding component; the Z-axis motion component is connected to the X-axis motion component; the second rotating component is connected to the Z-axis motion component and is used to drive the second gripper to rotate around the Z-axis direction; the second gripper is connected to the second rotating component and is used to clamp the first sample container and the bottle cap.

[0011] Preferably, the shaking and sample dispensing assembly further includes a first Y-axis motion assembly connected to the main structure, and a mounting bracket connected to the first Y-axis motion assembly. The first Y-axis motion assembly is used to drive the first gripper and the first sample container to move along the Y-axis direction to above the second placement hole and directly below the first gripper.

[0012] Preferably, the shaking and sample dispensing assembly further includes a guide post and an elastic element; the guide post is connected to the mounting bracket, and the first rotating element slides in cooperation with the guide post along the Z-axis; the elastic element is sleeved on the guide post, and the two ends of the elastic element abut against the mounting bracket and the first rotating element, respectively.

[0013] Preferably, the shaking and sample dispensing assembly further includes a vibrating element, which is disposed on the first rotating element or the first gripper and is used to drive the first gripper and the first sample container to vibrate.

[0014] Preferably, the shaking and sample dispensing assembly further includes a powder receiving tray disposed below the first gripper. The powder receiving tray is used to receive the material in the first sample container. The powder receiving tray is provided with a vacuum adsorption hole, which is connected to an external negative pressure generating device.

[0015] Preferably, the weighing assembly includes a lifting mechanism, a second turntable drive mechanism, a second turntable, and a weighing mechanism; the lifting mechanism is located at the bottom of the main structure and is used to drive the second turntable drive mechanism to move in the Z-axis direction; the second turntable is located on the second turntable drive mechanism and is driven to rotate around the Z-axis direction by the second turntable drive mechanism; the second turntable is provided with a plurality of second placement holes at intervals around the Z-axis direction; the weighing mechanism is located below the second turntable, and the weighing mechanism corresponds to the second placement holes in the Z-axis direction.

[0016] Preferably, the main structure is further provided with a cleaning component, which includes a second Y-axis motion component and a negative pressure suction head. The second Y-axis motion component is located at the bottom of the main structure, and the negative pressure suction head is located on the second Y-axis motion component. The negative pressure suction head is connected to an external negative pressure generating device. The main structure is provided with a third placement hole and a fourth placement hole arranged sequentially along the Y-axis direction. The second Y-axis motion component drives the negative pressure suction head to move above the third placement hole or the fourth placement hole.

[0017] The coal quality industrial analysis system of this application has at least the following beneficial effects:

[0018] The coal quality industrial analysis system of this application arranges the sample loading device and industrial analysis instruments along the X-axis on the worktable, and then sets up a transfer robot that can move along the X-axis, which can realize a highly automated process of coal quality industrial analysis test. It has a small overall footprint, is easy to install, and can also be expanded along the X-axis as needed. When the transfer robot fails, it can be moved aside, and then the industrial analysis instruments can be operated independently for experiments. The sample loading device of this application integrates functional components for feeding, shaking, bottle cap transfer, unloading, and weighing, which greatly improves the automation and integration of the coal quality industrial analysis system, simplifies equipment layout, reduces space occupation, and enhances the adaptability of the analysis system to different environments. Attached Figure Description

[0019] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0020] Figure 1 This is a top view of the coal quality industrial analysis system of this application;

[0021] Figure 2 This is an isometric drawing of the coal quality industrial analysis system of this application;

[0022] Figure 3 yes Figure 2 Axonometric view of the sample loading device;

[0023] Figure 4 yes Figure 3 A schematic diagram of the sample dispensing device with its outer casing concealed.

[0024] Figure 5 yes Figure 4 The front view;

[0025] Figure 6 yes Figure 4 Top view;

[0026] Figure 7 yes Figure 4 Axonometric drawing;

[0027] Figure 8 This is a schematic diagram of the shaker and sample dispensing assembly;

[0028] Figure 9 yes Figure 7 Enlarged view of point C in the middle;

[0029] Figure 10 This is a partial structural diagram of the weighing component;

[0030] The annotations in the attached figures are explained as follows:

[0031] 100. Workbench;

[0032] 200. Sample dispensing device; 201. Main structure; 2011. Base; 2012. Support frame; 2013. Outer shell; 202. Feeding turntable assembly; 2021. First turntable drive mechanism; 2022. First turntable; 203. Bottle cap temporary storage assembly; 2031. Extension frame; 204. Gripping assembly; 2041. X-axis motion assembly; 2042. Z-axis motion assembly; 2043. Second rotating component; 2044. Second gripper; 205. Shaking and dispensing assembly; 2 051. Mounting bracket; 2052. First rotating component; 2053. First gripper; 2054. First Y-axis motion assembly; 2055. Guide post; 2056. Elastic component; 2057. Vibrating component; 2058. Powder receiving tray; 206. Weighing assembly; 2061. Lifting mechanism; 2062. Second turntable drive mechanism; 2063. Second turntable; 2064. Weighing mechanism; 207. Cleaning assembly; 2071. Second Y-axis motion assembly; 2072. Negative pressure suction head;

[0033] 300. Industrial analytical instruments; 301. Water-ash analyzer; 302. Volatile matter analyzer;

[0034] 400. Transfer robot; 401. Guide rail;

[0035] 500. First sample container;

[0036] 600. Second sample container;

[0037] A1, First placement hole; A2, First bottle cap temporary storage position; A3, Second bottle cap temporary storage position; A4, Second placement hole; A5, Third placement hole; A6, Fourth placement hole; A7, Second sample container temporary storage position;

[0038] 700, First bottle cap;

[0039] 800. Second bottle cap; 801. Discharge hole;

[0040] 900, Control Unit;

[0041] P1, position of the first bottle cap temporary storage position; P2, position of the second bottle cap temporary storage position; P3, gripping position of the first turntable; P4, first working position of the first gripper; P5, second working position of the first gripper. Detailed Implementation

[0042] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0043] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0044] like Figure 1 As shown, this embodiment discloses a highly automated coal quality industrial analysis system for automated industrial analysis of coal samples. To facilitate understanding of the technical solution of this embodiment, the horizontal direction is first defined as the X-axis, the vertical direction as the Y-axis, and the height direction as the Z-axis. The X-axis, Y-axis, and Z-axis intersect each other perpendicularly to form a three-dimensional rectangular coordinate system.

[0045] like Figure 1 As shown, the coal quality industrial analysis system includes a workbench 100, a sample loading device 200, an industrial analysis instrument 300, and a transfer robot 400. The workbench 100 extends a certain length along the X-axis. The sample loading device 200 and the industrial analysis instrument 300 are both mounted on the workbench 100 and are spaced apart along the X-axis on the workbench 100. The transfer robot 400 is mounted on the workbench 100 and can move relative to the workbench 100 in the X-axis direction. The transfer robot 400 is used to realize the transfer of sample containers between various devices and instruments. In this embodiment, the sample containers include a first sample container 500 and a second sample container 600. The first sample container 500 is configured as a coal sample bottle, and the bottle mouth of the coal sample bottle is provided with a first bottle cap 700. The second sample container 600 is configured as a crucible.

[0046] like Figure 2 As shown, in some preferred embodiments, a guide rail 401 is provided on the worktable 100, and the guide rail 401 extends along the X-axis direction. The transfer robot 400 moves in the X-axis direction through the guide rail 401. In some other embodiments, the transfer robot 400 can also move in the X-axis direction through a wheel mechanism. The actuator of the transfer robot 400 has a part that can clamp the sample container. The transfer robot 400 is similar to existing six-axis collaborative robots, SCARA robots, etc.

[0047] like Figure 3 As shown, the sample feeding device 200 is used to feed coal samples or other materials, switch bottle caps, shake, discharge, and weigh them, and can realize automated operation.

[0048] like Figure 4 As shown, the sample dispensing device 200 includes a main structure 201, a feeding turntable assembly 202, a bottle cap temporary storage assembly 203, a gripping assembly 204, a shaking sample dispensing assembly 205, and a weighing assembly 206.

[0049] like Figure 4 As shown, the main structure 201 includes a base 2011 and a support frame 2012. The base 2011 is disposed on the table surface of the workbench 100, and the support frame 2012 is disposed on the base 2011. The outer side of the support frame 2012 is covered by a shell 2013. In some preferred embodiments, the base 2011 is divided into two parts in the Y-axis direction. The first part is provided with the support frame 2012, and the second part is provided with a third placement hole A5, a fourth placement hole A6, and a second sample container temporary storage position A7. The second part is configured as a detachable and replaceable component.

[0050] like Figure 5 and Figure 6 As shown, the feeding turntable assembly 202 includes a first turntable drive mechanism 2021 and a first turntable 2022. The first turntable drive mechanism 2021 is mounted on the base 2011, and the first turntable 2022 is horizontally positioned. The first turntable 2022 is coaxially connected to the output end of the first turntable drive mechanism 2021. The first turntable drive mechanism 2021 drives the first turntable 2022 to rotate around the Z-axis. The first turntable drive mechanism 2021 is based on existing motor drive mechanisms. Multiple first placement holes (labeled A1) are provided at the edge of the first turntable 2022. These holes are spaced apart along the circumference of the first turntable 2022. The first placement holes A1 are used to place the first sample container 500. Rotation of the first turntable 2022 causes the first sample container 500 to rotate to a position below the gripping assembly 204, facilitating the gripping assembly 204 to transfer the first sample container 500 to the shaking and adding assembly 205.

[0051] like Figure 6 As shown, the bottle cap temporary storage assembly 203 includes an extension frame 2031, which is connected to the middle of the support frame 2012. The extension frame 2031 extends a certain length along the X-axis. The extension frame 2031 is provided with a first negative pressure cleaning hole and a second negative pressure cleaning hole. The first negative pressure cleaning hole is configured as a first bottle cap temporary storage position (labeled A2), and the second negative pressure cleaning hole is configured as a second bottle cap temporary storage position (labeled A3). The first bottle cap temporary storage position A2 is used to temporarily buffer the first bottle cap 700, and the second bottle cap temporary storage position A3 is used to temporarily buffer the second bottle cap 800. The structure of the second bottle cap 800 is basically the same as that of the first bottle cap 700. The difference is that the second bottle cap 800 is provided with a discharge hole 801. The inner diameter of the discharge hole 801 is ten to twenty times the particle size of the coal powder. In this embodiment, the inner diameter of the discharge hole 801 is 2mm to 4mm, which can achieve small-volume uniform discharge and facilitate control of discharge accuracy. Before the first sample container 500 is fed to the first turntable 2022, the first bottle cap 700 is tightened at the bottle mouth of the first sample container 500. After the gripping component 204 transfers the first sample container 500 to the shaking and adding component 205, the gripping component 204 and the shaking and adding component 205 work together to unscrew the first bottle cap 700. Then, the second bottle cap 800, which is temporarily stored in the second bottle cap storage position A3, is assembled onto the first sample container 500. Subsequently, when the first sample container 500 is inverted, the material (coal powder) inside the first sample container 500 will fall out from the discharge hole 801 of the second bottle cap 800.

[0052] In this preferred embodiment, both the first and second negative pressure cleaning holes are connected to an external negative pressure generating device (not shown) via negative pressure pipes. The negative pressure generating device creates negative pressure, causing the positions of the first and second negative pressure cleaning holes to generate adsorption force, thereby removing residual material from the first bottle cap 700 and the second bottle cap 800, achieving the purpose of cleaning the bottle caps. The first negative pressure cleaning hole is connected to one end of pipe one, and the second negative pressure cleaning hole is connected to one end of pipe two. The other ends of both pipe one and pipe two are connected to a vacuum switching valve (not shown), which is connected to the external negative pressure generating device. The vacuum switching valve controls the positions of the first and second negative pressure cleaning holes to generate negative pressure adsorption force.

[0053] like Figure 5 As shown, the gripping component 204 is disposed on the support frame 2012. The gripping component 204 is used to transfer the first sample container 500 and the two bottle caps (i.e., the first bottle cap and the second bottle cap) to various positions within the sample dispensing device 200. In other embodiments, the gripping component 204 may refer to existing multi-axis robotic arms.

[0054] like Figure 5As shown, in this preferred embodiment, the gripping component 204 includes an X-axis motion component 2041, a Z-axis motion component 2042, a second rotating component 2043, and a second gripper 2044. The X-axis motion component 2041 is located at the middle of the support frame 2012 and is used to drive the Z-axis motion component 2042 to move in the X-axis direction. The Z-axis motion component 2042 is connected to the X-axis motion component 2041. The Z-axis motion component 2042 is used to drive the second rotating component 2043 to move in the Z-axis direction. The second rotating component 2043 is connected to the Z-axis motion component 2042 and is used to drive the second gripper 2044 to rotate around the Z-axis direction. When the second rotating component 2043 rotates, it can tighten or loosen the bottle cap at the mouth of the first sample container 500. In this embodiment, the second rotating component 2043 is configured as an actuator with rotational capability, such as a rotary motor or a rotary cylinder, and the second gripper 2044 is a component with gripping capability, such as an existing cylinder finger.

[0055] like Figure 6 As shown, the positions P1 of the first bottle cap temporary storage position A2, P2 of the second bottle cap temporary storage position A3, P3 of the gripping position of the first turntable 2022, and the clamping position of the shaking and sample dispensing component 205 (i.e., the first working position P4 of the first gripper 2053) are arranged in a straight line along the X-axis. The X-axis motion component 2041 of the gripping component 204 can drive the second gripper 2044 to move in the X-axis direction and move to directly above the above-mentioned position, so as to realize the gripping of the first sample container 500 and the transfer of the bottle cap by the second gripper 2044.

[0056] like Figure 7 and Figure 8 As shown, the shaking and sample dispensing assembly 205 includes a mounting bracket 2051, a first rotating component 2052, and a first gripper 2053. The mounting bracket 2051 is directly or indirectly connected to the middle position of the support frame 2012. The first rotating component 2052 is disposed on the mounting bracket 2051. The first gripper 2053 is connected to the first rotating component 2052. The first rotating component 2052 is used to drive the first gripper 2053 to rotate around the Y-axis. The first gripper 2053 is used to clamp the first sample container 500. In this embodiment, the first rotating component 2052 is configured as an actuator with rotational capability, such as a rotary motor or a rotary cylinder. The first gripper 2053 is referenced to existing components with clamping capability, such as cylinder fingers.

[0057] like Figure 8As shown, in some preferred embodiments, the shaking and sample dispensing assembly 205 further includes a first Y-axis motion assembly 2054, which is located at the middle of the support frame 2012. The mounting bracket 2051 is located on the first Y-axis motion assembly 2054. The first Y-axis motion assembly 2054 is used to drive the mounting bracket 2051 and the first rotating member 2052, the first gripper 2053 and the first sample container 500 located on the mounting bracket 2051 to move in the Y-axis direction.

[0058] Please refer to it again. Figure 6 In the Y-axis direction, the first gripper 2053 has two working positions. The first working position (labeled P4) is aligned with the second gripper 2044 in the X-axis direction, and the second working position (labeled P5) is aligned vertically with the weighing assembly 206. The first gripper 2053 can receive and clamp the first sample container 500 in the first working position. The first rotating component 2052 drives the first sample container 500 to rotate, so that the material in the first sample container 500 is shaken evenly. After the first sample container 500 is shaken evenly and the bottle cap is switched, it flips over and then extends to the second working position to discharge the material into the second sample container 600 on the weighing assembly 206.

[0059] Please refer to it again. Figure 6 In this embodiment, the bottle cap on the first sample container 500 can be switched by the cooperation of the first gripper 2053 and the second gripper 2044. Specifically, the first gripper 2053 clamps the first sample container 500, at which time the first sample container 500 is provided with the first bottle cap 700. The second gripper 2044 clamps the first bottle cap 700. Under the drive of the second rotating component 2043, the first bottle cap 700 is unscrewed. With the cooperation of the X-axis motion component 2041 and the Z-axis motion component 2042, the first bottle cap 700 is placed in the first bottle cap temporary storage position A2. Then, the second gripper 2044 clamps the second bottle cap 800 on the second bottle cap temporary storage position A3 and places it on the first sample container 500 and tightens it.

[0060] like Figure 8 As shown, in some preferred embodiments, the shaking and sample dispensing assembly 205 further includes guide posts 2055 and elastic elements 2056. There are two guide posts 2055, both of which are vertically arranged on the mounting bracket 2051. The guide posts 2055 slide through the structure on the back of the first rotating member 2052 to achieve sliding engagement with the first rotating member 2052. The guide posts 2055 restrict the first rotating member 2052 to slide up and down only in the Z-axis direction. The elastic elements 2056 are coaxially sleeved on the outer periphery of the guide posts 2055. The lower end of the elastic element 2056 abuts against the mounting bracket 2051, and the upper end abuts against the lower surface of the first rotating member 2052. The elastic element 2056 is configured as a spring.

[0061] In this embodiment, the guide post 2055 and the elastic element 2056 serve two purposes. First, they enable flexible engagement between the second gripper 2044 and the first gripper 2053 when switching bottle caps, thus providing a buffering effect. Second, they work in conjunction with the vibrating element 2057 to cause the first sample container 500 to vibrate up and down to release material.

[0062] like Figure 8 As shown, the shaking and sample dispensing assembly 205 also includes a vibrating element 2057, which is disposed on the first rotating element 2052 or the first gripper 2053. In this embodiment, the vibrating element 2057 is preferably disposed on the upper surface of the first gripper 2053, specifically on the upper surface of the driving cylinder of the first gripper 2053. The vibrating element 2057 can generate vibration so that the first gripper 2053 and the first sample container 500 can shake up and down. In this embodiment, the vibrating element 2057 is configured as a vibration motor.

[0063] like Figure 9 As shown, the shaking and sample dispensing assembly 205 also includes a powder receiving tray 2058, which is indirectly connected to the middle of the support frame 2012. The powder receiving tray 2058 is arc-shaped and is used to collect material leaking from the first sample container 500. Specifically, when the first gripper 2053 and the first sample container 500 are in the first working position (labeled P4), the powder receiving tray 2058 is located directly below the first gripper 2053 and the first sample container 500, and the arc direction of the powder receiving tray 2058 is the same as the rotation direction of the first gripper 2053. When the first sample container 500 is switched to the second cap 80... After the initial rotation, the first sample container 500 is driven to rotate so that its opening faces downwards. Then, the first sample container 500 is extended along the Y-axis to the second working position (labeled P5). When the first sample container 500 is rotated to the point where its opening faces downwards for the first time, a small amount of material will leak from the discharge hole 801 of the second cap 800. The powder receiving tray 2058 catches the leaked material to prevent contamination of the instrument. In some preferred embodiments, the powder receiving tray 2058 is provided with a vacuum adsorption hole (not shown). The vacuum adsorption hole is connected to an external vacuum generator through an external pipe, so a negative pressure can be created at the opening of the vacuum adsorption hole to suck away the leaked material. It should be noted that due to the material characteristics of coal powder and the small inner diameter of the discharge hole 801, a small amount of material leakage will generally only occur when the first sample container 500 is rotated to the point where its opening faces downwards for the first time. During the process of the first sample container 500 moving along the Y-axis to the second working position (labeled P5), no leakage will occur.

[0064] like Figure 5 and Figure 10As shown, the weighing assembly 206 includes a lifting mechanism 2061, a second turntable drive mechanism 2062, a second turntable 2063, and a weighing mechanism 2064. The lifting mechanism 2061 is mounted on the base 2011 and is used to drive the second turntable drive mechanism 2062 to move up and down in the height direction. The lifting mechanism 2061 can be a linear module, a telescopic cylinder, or other component with linear execution capability. The second turntable drive mechanism 2062 is used to drive the second turntable 2063 to rotate around the Z-axis. The second turntable drive mechanism 2062 can be a rotary motor or a rotary motor with belt drive. The second turntable 2063 and the second turntable drive mechanism 2064 are connected. 2. The second turntable 2063 is horizontally rotatable and can rotate around the Z-axis under the drive of the second turntable drive mechanism 2062. Multiple second placement holes (labeled A4) are provided on the edge of the second turntable 2063. The multiple second placement holes A4 are arranged at intervals around the Z-axis. The second sample container 600 can be placed in the second placement hole A4. The weighing mechanism 2064 is located below the second turntable 2063. The weighing mechanism 2064 corresponds vertically to the second sample container 600 set on the second turntable 2063. The center of the weighing mechanism 2064 is coaxially aligned with the second working position (labeled P5) of the first gripper.

[0065] like Figure 5 As shown, the working principle of the weighing component 206 is as follows: When the lifting mechanism 2061 drives the second turntable drive mechanism 2062 and the second turntable 2063 to move downward as a whole, the weighing mechanism 2064 below the second turntable 2063 can lift the second sample container 600 on the second turntable 2063 upward and detach it from the second turntable 2063. Then, the material in the first sample container 500 falls into the second sample container 600. The overall weight of the second sample container 600 is measured by the weighing mechanism 2064. After the weight is measured, the second turntable 2063 moves upward and the second sample container 600 returns to the second placement hole A4 of the second turntable 2063.

[0066] like Figure 3 As shown, in this embodiment, at least a portion of the first turntable 2022 and the second turntable 2063 are exposed on the outside of the housing 2013 of the sample application device 200, which facilitates the placement and removal of the first sample container 500 and the second sample container 600.

[0067] like Figure 7As shown, in this preferred embodiment, the coal quality industrial analysis system further includes a cleaning component 207. The cleaning component 207 includes a second Y-axis motion component 2071 and a negative pressure suction head 2072. The second Y-axis motion component 2071 is disposed on the base 2011, and the negative pressure suction head 2072 is connected to the second Y-axis motion component 2071. The second Y-axis motion component 2071 can drive the negative pressure suction head 2072 to move in the Y-axis direction. The negative pressure suction head 2072 is connected to an external negative pressure generating device, which can generate negative pressure at the opening position of the negative pressure suction head 2072. The base 2011 is provided with a third placement hole (labeled A5) and a fourth placement hole (labeled A6). Both placement holes A5 and A6 are located on the outer side of the outer casing 2013, arranged sequentially along the Y-axis. The negative pressure suction head 2072 can move to directly above either placement hole A5 or A6 under the drive of the second Y-axis motion component 2071, and use the suction force generated by the negative pressure to clean the components placed in either placement hole A5 or A6. Preferably, in this embodiment, the third placement hole A5 is used to place the used second sample container 600, and the fourth placement hole A6 is used to place other components as needed.

[0068] like Figure 7 As shown, in this preferred embodiment, the base 2011 is also provided with a plurality of second sample container 600 temporary storage positions (reference A7), and the plurality of second sample container 600 temporary storage positions are located on the outside of the outer shell 2013.

[0069] In this embodiment, the X-axis motion component 2041, Z-axis motion component 2042, first Y-axis motion component 2054, and second Y-axis motion component 2071 can all refer to existing linear modules, sliding modules, linear telescopic mechanisms, and other components with linear driving capabilities.

[0070] like Figure 1 As shown, in this preferred embodiment, the coal quality industrial analysis system also includes a control unit 900 disposed on one side of the workbench 100. The control unit 900 is electrically connected to each electrical component and drive component in the sample feeding device 200. The control unit 900 is also electrically connected to the industrial analysis instrument 300.

[0071] like Figure 1 As shown, the industrial analytical instrument 300 in this embodiment includes a water-ash analyzer 301 and a volatile matter analyzer 302, both electrically connected to the control unit 900. In this embodiment, the control unit 900, the sample dispensing device 200, the water-ash analyzer 301, and the volatile matter analyzer 302 are arranged along the X-axis. The specific structural forms of the water-ash analyzer 301 and the volatile matter analyzer 302 can be referred to in the prior art.

[0072] The workflow of the coal quality industrial analysis system in this embodiment is as follows:

[0073] Step S100, feeding: The manual or transfer robot 400 places the first sample container 500 (coal sample bottle) containing the material into the first placement hole A1 of the first turntable 2022. At this time, the first bottle cap 700 is tightened on the first sample container 500. The manual or transfer robot 400 places the second sample container 600 (crucible) into the second placement hole A4 of the second turntable 2063. The first turntable 2022 drives the first sample container 500 to rotate to the inside to realize the feeding of the first sample container 500. The second turntable 2063 drives the second sample container 600 to rotate to the inside to realize the feeding of the second sample container 600.

[0074] Step S200, Transfer of the first sample container 500: The X-axis motion component 2041 of the gripping component 204 drives the second gripper 2044 to the gripping position P3 above the first turntable 2022. The second gripper 2044 moves downward under the drive of the Z-axis motion component 2042 until the second gripper 2044 clamps the first sample container 500 at the gripping position. Then the second gripper 2044 moves upward and then moves along the X-axis to the top of the shaking and dispensing component 205, that is, moves to the first working position P4 of the first gripper. The second gripper 2044 drives the first sample container 500 downward until the first sample container 500 is within the gripping range of the first gripper 2053 of the shaking and dispensing component 205. The first gripper 2053 clamps the first sample container 500. At this time, the bottle mouth of the first sample container 500 is facing upward.

[0075] Step S300, Shaking: The first rotating part 2052 of the shaking and adding component 205 drives the first gripper 2053 and the first sample container 500 clamped by the first gripper 2053 to rotate around the Y-axis, so that the material in the first sample container 500 is shaken evenly.

[0076] Step S400: Switching bottle caps: With the bottle opening of the first sample container 500 facing upwards, the second gripper 2044 of the gripping component 204 clamps the first bottle cap 700 on the first sample container 500. Then, the second rotating component 2043 drives the second gripper 2044 and the first bottle cap 700 clamped by the second gripper 2044 to rotate around the Z-axis. During this process, the first gripper 2053 firmly clamps the outer periphery of the first sample container 500 while the Z-axis motion component 2042 moves upward slowly, so that the first bottle cap 700 is unscrewed from the first sample container 500. Then, the second gripper 2044 transfers the first bottle cap 700 to the first bottle cap temporary storage position A2. Next, the second gripper 2044 clamps the second bottle cap 800 at the second bottle cap temporary storage position A3 and tightens the second bottle cap 800 onto the first sample container 500 by referring to the operation of tightening the first bottle cap 700.

[0077] Step S500: Rotate the bottle mouth: The first rotating component 2052 drives the first gripper 2053 and the first sample container 500 clamped by the first gripper 2053 to rotate around the Y-axis so that the bottle mouth of the first sample container 500 faces downward. During this process, a small amount of material will leak out from the discharge hole 801 of the second bottle cap 800. The leaked material is collected by the powder receiving tray 2058.

[0078] Step S600, Extend feeding: The first Y-axis motion component 2054 drives the first gripper 2053 and the first sample container 500 with the second bottle cap 800 replaced to move along the Y-axis to the second working position P5 of the first gripper 2053. At this time, the first sample container 500 is located above the second turntable 2063.

[0079] Step S700, weighing component 206 first action: the second turntable 2063 rotates and causes a second sample container 600 to rotate to correspond vertically with the weighing mechanism 2064. The lifting mechanism 2061 drives the second turntable 2063 to move downward, so that the weighing mechanism 2064 lifts the second sample container 600 upward and removes it from the second turntable 2063. The lifted second sample container 600 corresponds vertically with the first sample container 500.

[0080] Step S800, Vibration feeding: The vibrating component 2057 operates, controlled by the control unit 900. The vibration intensity of the vibrating component 2057 is initially strong. When the sample is about to reach the rated weight, the vibration intensity is reduced to achieve accurate weighing. After the weight reaches the requirement, vibration feeding stops.

[0081] Step S900, weighing component 206 second action: lifting mechanism 2061 drives the second turntable 2063 to move upward, and the second sample container 600 that was lifted returns to the second turntable 2063;

[0082] Repeat steps S700 to S900 as needed, so that the material in the first sample container 500 is dispensed into multiple second sample containers 600.

[0083] Step S1000: Change the bottle cap again: The first gripper 2053 drives the first sample container 500 back to the first working position (labeled P4). Referring to the above step S400, the first bottle cap 700 is reassembled onto the first sample container 500, and the first sample container 500 is placed back onto the first turntable 2022 by the gripping component 204. The first turntable 2022 rotates the new first sample container 500 to the gripping position again.

[0084] In step S1100, the transfer robot 400 picks up the second sample container 600, which has been loaded with materials on the second turntable 2063, and transfers it along the X-axis to the industrial analysis instrument 300 for industrial analysis. After the analysis is completed, the used second sample container 600 is placed in the third placement hole A5 of the base 2011 and cleaned under negative pressure using the cleaning component 207.

[0085] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A highly automated coal quality industrial analysis system, characterized in that, It includes a worktable (100) and sample dispensing devices (200) and industrial analytical instruments (300) arranged at intervals along the X-axis on the worktable (100); a transfer robot (400) is movable along the X-axis on the worktable (100) and is used to move the sample container to a different position in three-dimensional space; The sample dispensing device (200) includes a main frame (201), a feeding turntable assembly (202), a bottle cap storage assembly (203), a gripping assembly (204), a shaking and dispensing assembly (205), and a weighing assembly (206). The main frame (201) is mounted on a workbench (100). The feeding turntable assembly (202) is mounted on the main frame (201) and rotates around the Z-axis. The feeding turntable assembly (202) has multiple first placement holes (A1) for accommodating the first sample container (500). The bottle cap storage assembly (203) has a first bottle cap storage position (A2) and a second bottle cap storage position (A3). The gripping assembly (204) is mounted on the main frame (201) and is used to grip the first sample container (500) and transfer it to the shaking and dispensing assembly (205), as well as to grip the first bottle cap (700) and the second bottle cap (800). 0) Transfer between the first sample container (500) and the bottle cap storage position; the shaking sample dispensing assembly (205) includes a mounting bracket (2051), a first rotating component (2052) and a first gripper (2053) for clamping the first sample container (500); the mounting bracket (2051) is disposed on the main structure (201), the first rotating component (2052) is disposed on the mounting bracket (2051), the first gripper (2053) is connected to the first rotating component (2052), and the first rotating component (2052) is used to drive the first gripper (2053) and the first sample container (500) to rotate around the Y-axis; the weighing assembly (206) is disposed on the main structure (201) and located below the first gripper (2053), and the weighing assembly (206) is provided with a second placement hole (A4) for accommodating the second sample container (600).

2. The coal quality industrial analysis system according to claim 1, characterized in that, The feeding turntable assembly (202) includes a first turntable drive mechanism (2021) and a first turntable (2022). The first turntable drive mechanism (2021) is located at the bottom of the main structure (201). The first turntable (2022) is connected to the first turntable drive mechanism (2021). The first turntable (2022) is provided with a plurality of first placement holes (A1) spaced apart around the Z-axis. The first turntable drive mechanism (2021) is used to drive the first turntable (2022) to rotate around the Z-axis.

3. The coal quality industrial analysis system according to claim 2, characterized in that, The bottle cap storage assembly (203) includes an extension frame (2031) connected to the main structure (201). The extension frame (2031) is provided with a first negative pressure cleaning hole and a second negative pressure cleaning hole along the X-axis. The first negative pressure cleaning hole is configured as a first bottle cap storage position (A2), and the second negative pressure cleaning hole is configured as a second bottle cap storage position (A3). The first negative pressure cleaning hole and the second negative pressure cleaning hole are connected to an external negative pressure generating device.

4. The coal quality industrial analysis system according to claim 1, characterized in that, The gripping assembly (204) includes an X-axis motion assembly (2041), a Z-axis motion assembly (2042), a second rotating component (2043), and a second gripper (2044). The X-axis motion assembly (2041) of the gripping assembly (204) is connected to the main structure (201) and is used to drive the second gripper (2044) to move in the X-axis direction above the feeding turntable assembly (202), the bottle cap temporary storage assembly (203), and the shaking and sample adding assembly (205). The Z-axis motion assembly (2042) is connected to the X-axis motion assembly (2041). The second rotating component (2043) is connected to the Z-axis motion assembly (2042) and is used to drive the second gripper (2044) to rotate around the Z-axis direction. The second gripper (2044) is connected to the second rotating component (2043) and is used to clamp the first sample container (500) and the bottle cap.

5. The coal quality industrial analysis system according to any one of claims 1 to 4, characterized in that, The shaking and sample dispensing assembly (205) also includes a first Y-axis motion assembly (2054) connected to the main structure (201). The mounting bracket (2051) is connected to the first Y-axis motion assembly (2054). The first Y-axis motion assembly (2054) is used to drive the first gripper (2053) and the first sample container (500) to move along the Y-axis direction to above the second placement hole (A4) and directly below the first gripper (2053).

6. The coal quality industrial analysis system according to claim 5, characterized in that, The shaker and sample addition assembly (205) also includes a guide post (2055) and an elastic element (2056); the guide post (2055) is connected to the mounting bracket (2051), and the first rotating element (2052) slides in cooperation with the guide post (2055) along the Z-axis; the elastic element (2056) is sleeved on the guide post (2055), and the two ends of the elastic element (2056) abut against the mounting bracket (2051) and the first rotating element (2052) respectively.

7. The coal quality industrial analysis system according to claim 6, characterized in that, The shaking and sample dispensing assembly (205) also includes a vibrating element (2057), which is disposed on the first rotating element (2052) or the first gripper (2053) and is used to drive the first gripper (2053) and the first sample container (500) to vibrate.

8. The coal quality industrial analysis system according to claim 6 or 7, characterized in that, The shaking and adding component (205) also includes a powder receiving tray (2058) located below the first gripper (2053). The powder receiving tray (2058) is used to receive the material in the first sample container (500). The powder receiving tray (2058) is provided with a vacuum adsorption hole, which is connected to an external negative pressure generating device.

9. The coal quality industrial analysis system according to claim 1, characterized in that, The weighing assembly (206) includes a lifting mechanism (2061), a second turntable drive mechanism (2062), a second turntable (2063), and a weighing mechanism (2064). The lifting mechanism (2061) is located at the bottom of the main structure (201) and is used to drive the second turntable drive mechanism (2062) to move in the Z-axis direction. The second turntable (2063) is located on the second turntable drive mechanism (2062) and drives the second turntable (2063) to rotate around the Z-axis direction. The second turntable (2063) is provided with a plurality of second placement holes (A4) at intervals around the Z-axis direction. The weighing mechanism (2064) is located below the second turntable (2063) and the weighing mechanism (2064) corresponds to the second placement holes (A4) in the Z-axis direction.

10. The coal quality industrial analysis system according to claim 1 or 9, characterized in that, The main structure (201) is also provided with a cleaning component (207). The cleaning component (207) includes a second Y-axis motion component (2071) and a negative pressure suction head (2072). The second Y-axis motion component (2071) is located at the bottom of the main structure (201), and the negative pressure suction head (2072) is located on the second Y-axis motion component (2071). The negative pressure suction head (2072) is connected to an external negative pressure generating device. The main structure (201) is provided with a third placement hole (A5) and a fourth placement hole (A6) arranged sequentially along the Y-axis direction. The second Y-axis motion component (2071) drives the negative pressure suction head (2072) to move to the top of the third placement hole (A5) or the fourth placement hole (A6).

Images