CN105668251A - Storing and picking device and method for sample plates - Google Patents

Storing and picking device and method for sample plates Download PDF

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Publication number
CN105668251A
CN105668251A CN201610203603.0A CN201610203603A CN105668251A CN 105668251 A CN105668251 A CN 105668251A CN 201610203603 A CN201610203603 A CN 201610203603A CN 105668251 A CN105668251 A CN 105668251A
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China
Prior art keywords
sample dish
sample
described
dish
assembly
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CN201610203603.0A
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Chinese (zh)
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CN105668251B (en
Inventor
罗建文
周积文
姜超
周贺彬
黄双庆
胡创
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长沙开元仪器股份有限公司
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Priority to CN201610203603.0A priority Critical patent/CN105668251B/en
Publication of CN105668251A publication Critical patent/CN105668251A/en
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Publication of CN105668251B publication Critical patent/CN105668251B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G59/00De-stacking of articles
    • B65G59/02De-stacking from the top of the stack
    • B65G59/04De-stacking from the top of the stack by suction or magnetic devices
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/901Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/91Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90Devices for picking-up and depositing articles or materials
    • B65G47/92Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00Loading or unloading
    • B65G65/23Devices for tilting and emptying of containers
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02Articles
    • B65G2201/0235Containers
    • B65G2201/0258Trays, totes or bins

Abstract

The invention provides a storing and picking device for sample plates. The storing and picking device comprises a box body, a sample plate grabbing assembly, a sample plate stacking mechanism and a lifting mechanism, wherein the sample plate grabbing assembly and the sample plate stacking mechanism are located inside the box body and are sequentially arranged from top to bottom, the sample plates are stacked on the sample plate stacking mechanism, and the lifting mechanism drives the sample plate grabbing assembly to be vertically lifted for grabbing and lifting the sample plates. According to the storing and picking device for the sample plates, the lifting mechanism drives the sample plate grabbing assembly to be vertically lifted, one sample plate is lifted each time, and therefore the load in the lifting process of a motor is lowered, and the failure rate of the motor is lowered. Furthermore, a sample plate rejecting mechanism capable of picking the sample plates and rejecting the sample plates simultaneously is arranged additionally, and therefore the sample plates can be swept. According to the storing and picking device for the sample plates, the storing and picking function and the sweeping function are integrated, the occupied space of equipment is reduced, and the size of the equipment is reduced. In addition, the invention provides a storing and picking method for the sample plates.

Description

A kind of sample dish access device and sample disk access method

Technical field

The present invention relates to the collection of material sample, sample preparation and analysis field, be specifically related to a kind of sample dish access device and sample disk access method.

Background technology

In Chemical Manufacture, energy project field, it is requisite link to the collection of material sample, sample preparation and analysis. For coal industry, the chemical composition of coal is made up of organic hydrocarbons and inorganic substances, and wherein the moisture in coal is the component being easiest to change, and the moisture of coal is to evaluate the most basic index that Coal Economy is worth. The change of moisture in coal can cause the content of other component or the change of caloric value, and the inspection matter of coal, metering, examination, management etc. are produced certain impact, and Accurate Determining moisture in coal is significant to power production management and operation and management. Gather and process in sample analysis process at coal, it is necessary to use the moisture measurement instrument moisture experiment Analysis to coal sample, it is determined that the content of moisture in coal.

Adopt at sample, in sample preparation and analysis process, sample dish can be used. Sample dish is a kind of for loading sample to be analyzed, will not react with sample and without influence on a kind of experiment container of sample experiments data in gathering and processing the process of sample and analysis. In automated experiment equipment, it is necessary to complete the recycling to sample dish.

Existing sample dish access device such as CN201510637937.4, has the disadvantage in that

1, when sampling dish, needing to play whole sample pan arrests, the load that motor bears is bigger, it is easy to break down every time;

2, the crawl of sample dish could be realized owing to must hold up whole sample dish every time, sampling dish and stack sample dish and can not carry out simultaneously;

3, sample dish access device do not possess to test after material abandon the function that sample cleans;

4, the deposit of sample dish and sample dish to abandon sample cleaning function arranged apart, time length, efficiency are low.

Summary of the invention

For problems of the prior art, the technical problem to be solved is: under the premise that need not hold up whole sample dish, it is achieved the access of multiple sample dishes, and realize on this basis in sample dish abandon sample carry out automatically cleaning and sample dish automatically deposit.

For above-mentioned technical problem, the technical scheme is that

A kind of sample dish access device, including casing and be positioned at described box house, and the sample dish grabbing assembly set gradually from top to bottom and sample dish stacking mechanism, described sample dish stacking mechanism is stacked with sample dish, also include elevating mechanism, described elevating mechanism drives described sample dish grabbing assembly oscilaltion, completes crawl and the lifting of sample dish.

As a further improvement on the present invention, above-mentioned sample dish access device also includes the sample dish being arranged on below described sample dish stacking mechanism and abandons model machine structure, described sample dish is abandoned model machine structure and is included rotary dumping assembly, sample dish cleans assembly and for driving what described rotary dumping assembly moved up and down to abandon sample lifting assembly, described rotary dumping assembly includes rotating fixed station, rotate and drive and sample tray fixing device, described rotation fixed station is abandoned on sample lifting assembly described in being fixed on, described sample tray fixing device is hinged on described rotation fixed station by rotating shaft, described rotation driving is used for driving described sample tray fixing device to rotate around rotating shaft, described sample dish cleans assembly and is fixed on described casing, for cleaning described sample dish.

One of the present invention preferred embodiment in, described sample dish cleans the cleaning brush that assembly includes blowing nozzle, cleans cylinder and be fixed on described cleaning cylinder, cleaning brush described in described cleaning air cylinder driven with topple over after sample dish contact and clean sample dish, described blowing nozzle is fixed on described cleaning brush or on casing, abandons sample for removing to stick on sample dish.

As a further improvement on the present invention, described sample dish stacking mechanism includes fixing seat and rotating seat, described fixing seat is fixedly installed on described casing, described rotating seat is hinged on described fixing seat, described sample dish overlays on described rotating seat, described rotating seat can be flipped up under external force, and described fixing seat is provided with postive stop baffle, it is prevented that described rotating seat downwardly turns over.

Further, above-mentioned sample dish access device also includes abandoning sample collection assembly, described in abandon sample collection assembly and include aggregate bin and waste discharging device, described aggregate bin is connected with described casing, and described waste discharging device is arranged on the bottom of described aggregate bin.

Further, above-mentioned waste discharging device includes but not limited to suction feeder, conveyer belt, auger.

Further, sample dish grabbing assembly of the present invention includes sample dish induction installation and grabbing device, and behind described sample dish induction installation sensing sample dish position, sample dish is picked up by described grabbing device.

Preferably, above-mentioned grabbing device is the one in vacuum cup or electric magnet or gripper.

On the other hand, present invention also offers the sample disk access method based on above-mentioned sample dish access device, comprise the steps:

A. sending sampling dish instruction, elevating mechanism declines, and the sample dish grabbing assembly being connected with elevating mechanism declines therewith;

B. the sample dish induction installation of sample dish grabbing assembly senses sample dish, and elevating mechanism stops declining;

C. the work of sample dish grabbing assembly, picks up sample dish, and elevating mechanism drives sample dish grabbing assembly and sample dish to rise to sampling home position, and elevating mechanism quits work;

D. mechanical hand stretches to sampling home position from sample tap, and sample dish grabbing assembly quits work, and sample dish falls on mechanical hand and taken out by mechanical hand.

As a further improvement on the present invention, after the sample detection in sample dish completes, also include abandoning sample motion flow:

E. mechanical hand abandons model machine structure by delivering to sample dish with the sample dish abandoning sample, and mechanical hand exits;

F. sample dish is abandoned model machine structure and is driven the upset of sample dish, is poured out by the sample of abandoning in sample dish;

G. sample dish cleans component operation, cleans sample dish, and after having cleaned, sample dish cleans assembly and resets;

H. sample dish is abandoned model machine structure and is driven the reset of sample dish, and sample dish is upward;

I. abandon the work of sample collection assembly, the sample of abandoning collected is collected discharge;

J. the rising of model machine structure abandoned by sample dish, driving the sample dish after cleaning to move upward, the rotating seat of sample dish stacking mechanism upwards pushed open by sample dish, until sample dish by after rotating seat, sample dish is abandoned model machine structure and is declined, and the sample dish cleaned up and the sample dish above it overlay on rotating seat jointly.

From technique scheme it can be seen that the present invention compared with prior art, has an advantage in that:

The sample dish access device of the present invention drives sample dish grabbing assembly to move up and down by elevating mechanism, and single has only to promote single sample dish, decreases the load in motor lifting process, reduces electrical fault rate. Further, present invention also adds sample dish and abandon model machine structure, it is possible to be sampled dish simultaneously and sample dish is abandoned sample and processed, solve the problem that sample dish cleans. The sample dish access device of the present invention, by access facility and cleaning function integrated design, has reduced equipment occupation space, has reduced the volume of equipment.

Accompanying drawing explanation

In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, the accompanying drawing used required in embodiment or description of the prior art will be briefly described below, apparently, accompanying drawing in the following describes is only used to be more fully understood that the present invention, and should not be construed limitation of the present invention. For those of ordinary skill in the art, under the premise not paying creative work, it is also possible to obtain other accompanying drawing according to the accompanying drawing provided.

Fig. 1 is the structural representation of sample dish access device in an embodiment of the present invention;

Fig. 2 is the integrally-built side schematic view of sample dish access device in a kind of preferred embodiment of the present invention;

Fig. 3 is the integrally-built front schematic view of sample dish access device in a kind of preferred embodiment of the present invention;

Fig. 4 is sample dish superposed state schematic diagram in one preferred embodiment of the present invention;

Fig. 5 is the structural representation that in a kind of preferred embodiment of the present invention, spline structure abandoned by sample dish;

Fig. 6 be Fig. 5 embodiment in sample dish topple over rear sample dish and abandon the structural representation of model machine structure

Detailed description of the invention

In order to make those skilled in the art be more fully understood that the technical scheme in the application, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only some embodiments of the present application, rather than whole embodiments.

As shown in Figure 1, sample dish access device provided by the invention, including casing 1 with to be positioned at described casing 1 internal, and the sample dish grabbing assembly 2 set gradually from top to bottom and sample dish stacking mechanism 4, described sample dish stacking mechanism 4 is stacked with sample dish, the sample dish access device of the present invention also includes elevating mechanism 3, and described elevating mechanism 3 drives described sample dish grabbing assembly 2 oscilaltion, completes crawl and the lifting of sample dish.

In preferred embodiment of the present invention, elevating mechanism 3 comprise the drive motor 31 for driving, for the travelling gear of transmission, tooth bar 32, for the directive slide track led, slide block 33, drive motor 31 provides driving force, makes sample dish grabbing assembly 2 oscilaltion.

When experiment needs to take clean sample dish, sample dish to be used overlays on sample dish laminated assembly, sampling instruction is sent to equipment, the drive motor 31 of elevating mechanism 3 operates, pass through gear, sample dish grabbing assembly 2 on rack drives guide runner moves downward, sample dish grabbing assembly 2 moves to precalculated position, sample dish is picked up by sample dish grabbing assembly 2, elevating mechanism 3 drives sample dish grabbing assembly 2 to move upward, when the position moving to sampling dish, elevating mechanism 3 quits work, mechanical hand stretches into casing 1, sample dish grabbing assembly 2 quits work, unclamp sample dish, sample dish falls on a robotic arm, sample dish is taken out by mechanical hand.

The sample dish access device of the present invention avoids sample dish crawl each time all must make whole sample dish rise, can effectively alleviate the load of lifting assembly motor, and stacking of sample dish can be separately performed with the crawl step of sample dish, it is achieved sample dish supplements and sample dish captures and is synchronously performed.

In the present invention preferably embodiment, it is also added into sample dish and abandons model machine structure 5, as shown in Figures 2 to 6, sample dish is abandoned model machine structure 5 and is positioned at the lower section of sample dish stacking mechanism 4, and sample dish abandons that model machine structure 5 includes rotary dumping assembly 51, sample dish cleans assembly 52 and for driving what rotary dumping 51 assembly moved up and down to abandon sample lifting assembly 53. Rotary dumping assembly 51 is for realizing the fixing of sample dish and toppling over, and sample dish cleans assembly 52 and is fixed on casing 1, for carrying out the cleaning of sample dish. Rotary dumping assembly 51 includes rotating fixed station 511, rotating driving 512 and sample tray fixing device 514, rotation fixed station 511 is fixed on to be abandoned on sample lifting assembly 53, sample tray fixing device 514 is hinged on rotation fixed station 511 by rotating shaft 513, rotates and drives 512 to be used for driving sample tray fixing device 514 to rotate.

When detection completes, need in sample dish abandon sample process time, mechanical hand abandons model machine structure 5 by delivering to sample dish with the sample dish abandoning sample, mechanical hand exits, sample dish is fixed on sample tray fixing device 514, driving the rotary dumping assembly 51 that 512 drives are fixed with sample dish to rotate by rotating, poured out by the sample of abandoning in sample dish, sample dish cleans assembly 52 and sample dish is cleaned.

Refer to Fig. 5, in a preferred embodiment of the invention, sample dish cleans assembly 52 and includes blowing nozzle 523, cleans cylinder 521 and the cleaning brush 522 being fixed on described cleaning cylinder 521, described cleaning cylinder 521 drive described cleaning brush 522 and topple over after sample dish contact and clean sample dish, described blowing nozzle 523 is fixed on described cleaning brush 522 or on casing 1, abandons sample for removing to stick on sample dish. During cleaning, abandoning sample lifting assembly 53 and move up and down, drive that sample dish is relative with cleaning brush 522 moves up and down, cleaning brush 522 abandons sample cleaning by remaining on sample dish, and blowing nozzle 523 is blown, and is removed totally by the sample of abandoning of residual on sample dish further.

As preferred embodiment, above-mentioned described rotation driving 512 is the one in following driving structure:

The pulley sliding groove structure that cylinder promotes;

Motor direct-drive structure;

Motor-driven gear drive mechanism;

Motor-driven drive sprockets, chain drive structure;

As preferred embodiment, sample tray fixing device 514 can be the one in vacuum cup, gripper or electric magnet.

As preferred embodiment, above-mentioned sample dish grabbing assembly 2 includes sample disc detector and grabbing device, and grabbing device can be the one in vacuum cup, gripper or electric magnet.

Further, refer to Fig. 2, Fig. 3 and Fig. 4, in the present invention preferably embodiment, sample dish stacking mechanism 4 includes fixing seat 41 and rotating seat 42, and described fixing seat 41 is fixedly installed on described casing 1, and described rotating seat 42 is hinged on described fixing seat 41, described sample dish overlays on described rotating seat 42, described rotating seat 42 can be flipped up under external force, and described fixing seat 41 is provided with postive stop baffle, it is prevented that described rotating seat 42 downwardly turns over. Sample dish can move from the bottom up and be pushed open by rotating seat 42, then overlays on rotating seat 42.

After abandoning sample and being disposed, rotary dumping assembly 51 drives sample dish to reset to level, sample dish is abandoned model machine structure 5 and is driven sample dish to rise, when rising to the position of sample dish stacking mechanism 4, it is positioned at the sample dish that sample dish abandons on model machine structure 5 to be pushed open by rotating seat 42, then sample dish is abandoned model machine structure 5 and is declined, and discharges sample dish, and sample dish is namely superimposed tired to be placed on rotating seat 42.Preferably, between rotating seat 42 and fixing seat 41, it is provided with back-moving spring 43, to ensure that rotating seat 42 more reliably resets.

Above-mentioned improvement to all dish stacking mechanisms 4, it is possible to realizing abandoning sample process and be synchronously performed with the crawl of sample dish, it is standby that the sample dish cleaned up can be put into sample dish stacking mechanism 4 immediately, has been obviously improved sample and has taken inventory the efficiency taken.

Further, in the present invention preferably embodiment, also include abandoning sample collection assembly 54, described in abandon sample collection assembly 54 and include aggregate bin 541 and waste discharging device 542, described aggregate bin 541 is connected with described casing 1, and described waste discharging device 542 is arranged on the bottom of described aggregate bin 541. The sample of abandoning cleaned falls in the aggregate bin 541 abandoning sample collection assembly 54, is sent to appointed place by waste discharging device 542 and processes. Waste discharging device 542 can be suction feeder, conveyer belt or auger.

On the other hand, present invention also offers the sample disk access method based on above-mentioned sample dish access device, comprise the steps:

A. sending sampling dish instruction, elevating mechanism 3 declines, and the sample dish grabbing assembly 2 being connected with elevating mechanism 3 declines therewith;

B. the sample dish induction installation of sample dish grabbing assembly 2 senses sample dish, and elevating mechanism 3 stops declining;

C. sample dish grabbing assembly 2 works, and is picked up by sample dish, and elevating mechanism 3 drives sample dish grabbing assembly 2 and sample dish to rise to sampling home position, and elevating mechanism 3 quits work;

D. mechanical hand stretches to sampling home position from sample tap, and sample dish grabbing assembly 2 quits work, and sample dish falls on mechanical hand and taken out by mechanical hand.

Further, in preferred embodiment, also include abandoning sample motion flow:

E. mechanical hand abandons model machine structure 5 by delivering to sample dish with the sample dish abandoning sample, and mechanical hand exits;

F. sample dish is abandoned model machine structure 5 and is driven sample dish to overturn, and is poured out by the sample of abandoning in sample dish;

G. sample dish cleaning assembly 52 works, and cleans sample dish, and after having cleaned, sample dish cleans assembly 52 and resets;

H. sample dish is abandoned model machine structure 5 and is driven sample dish to reset, and sample dish is upward;

I. abandon sample collection assembly 54 to work, the sample of abandoning collected is collected discharge;

J. sample dish is abandoned model machine structure 5 and is risen, driving the sample dish after cleaning to move upward, the rotating seat 42 of sample dish stacking mechanism 4 upwards pushed open by sample dish, until sample dish by after rotating seat 42, sample dish is abandoned model machine structure 5 and is declined, and the sample dish cleaned up and the sample dish above it overlay on rotating seat 42 jointly.

The above is only the detailed description of the invention of the application, it is noted that for those skilled in the art, and the improvement without creative work made under the premise without departing from the application principle is all considered as the protection domain of the application.

Claims (10)

1. a sample dish access device, including casing (1) with to be positioned at described casing (1) internal, and sample dish grabbing assembly (2) set gradually from top to bottom and sample dish stacking mechanism (4), described sample dish stacking mechanism (4) is stacked with sample dish, it is characterized in that: also include elevating mechanism (3), described elevating mechanism (3) drives described sample dish grabbing assembly (2) oscilaltion, completes crawl and the lifting of sample dish.
2. sample dish access device according to claim 1, it is characterized in that: model machine structure (5) abandoned by the sample dish also including being arranged on described sample dish stacking mechanism (4) lower section, described sample dish is abandoned model machine structure (5) and is included rotary dumping assembly (51), sample dish cleans assembly (52) and is used for driving what described rotary dumping assembly (51) moved up and down to abandon sample lifting assembly (53), described rotary dumping assembly (51) includes rotating fixed station (511), rotate and drive (512) and sample tray fixing device (514), described rotation fixed station (511) is abandoned on sample lifting assembly (53) described in being fixed on, described sample tray fixing device (514) is hinged on described rotation fixed station (511) by rotating shaft (513), described rotation drives (512) to be used for driving described sample tray fixing device (514) to rotate around rotating shaft (513), described sample dish cleans assembly (52) and is fixed on described casing (1), for cleaning described sample dish.
3. sample dish access device according to claim 2, it is characterized in that: described sample dish cleans assembly (52) and includes blowing nozzle (523), cleans cylinder (521) and the cleaning brush (522) being fixed on described cleaning cylinder (521), described cleaning cylinder (521) drive described cleaning brush (522) and topple over after sample dish contact and clean sample dish, described blowing nozzle (523) is fixed on that described cleaning brush (522) is upper or on casing (1), abandons sample for removing to stick on sample dish.
4. the sample dish access device according to claims 1 to 3 any one, it is characterized in that: described sample dish stacking mechanism (4) includes fixing seat (41) and rotating seat (42), described fixing seat (41) is fixedly installed on described casing (1), described rotating seat (42) is hinged on described fixing seat (41), described sample dish overlays on described rotating seat (42), described rotating seat (42) can be flipped up under external force, described fixing seat (41) is provided with postive stop baffle, prevent described rotating seat (42) from downwardly turning over.
5. the sample dish access device according to claims 1 to 3 any one, it is characterized in that: also include abandoning sample collection assembly (54), described sample collection assembly (54) of abandoning includes aggregate bin (541) and waste discharging device (542), described aggregate bin (541) is connected with described casing (1), and described waste discharging device (542) is arranged on the bottom of described aggregate bin (541).
6. sample dish access device according to claim 5, it is characterised in that: described waste discharging device (542) includes but not limited to suction feeder, conveyer belt, auger.
7. the sample dish access device according to claims 1 to 3 any one, it is characterized in that: described sample dish grabbing assembly (2) includes sample dish induction installation and grabbing device, behind described sample dish induction installation sensing sample dish position, sample dish is captured by described grabbing device.
8. sample dish access device according to claim 7, it is characterised in that: described grabbing device is the one in vacuum cup or electric magnet or gripper.
9. a sample disk access method, it is characterised in that comprise the following steps:
A. sending sampling dish instruction, elevating mechanism (3) declines, and sample dish grabbing assembly (2) being connected with elevating mechanism (3) declines therewith;
B. the sample dish induction installation of sample dish grabbing assembly (2) senses sample dish, and elevating mechanism (3) stops declining;
C. sample dish grabbing assembly (2) work, picks up sample dish, and elevating mechanism (3) drives sample dish grabbing assembly (2) and sample dish to rise to sampling home position, and elevating mechanism (3) quits work;
D. mechanical hand stretches to sampling home position from sample tap, and sample dish grabbing assembly (2) quits work, and sample dish falls on mechanical hand and taken out by mechanical hand.
10. sample disk access method according to claim 9, it is characterised in that sample dish also includes abandoning sample motion flow after having taken out experiment:
E. mechanical hand abandons model machine structure (5) by delivering to sample dish with the sample dish abandoning sample, and mechanical hand exits;
F. sample dish is abandoned model machine structure (5) and is driven the upset of sample dish, is poured out by the sample of abandoning in sample dish;
G. sample dish cleans assembly (52) work, cleans sample dish, and after having cleaned, sample dish cleans assembly (52) and resets;
H. sample dish is abandoned model machine structure (5) and is driven the reset of sample dish, and sample dish is upward;
I. abandon sample collection assembly (54) work, the sample of abandoning collected is collected discharge;
J. model machine structure (5) rising abandoned by sample dish, the sample dish after cleaning is driven to move upward, the rotating seat (42) of sample dish stacking mechanism (4) upwards pushed open by sample dish, until sample dish by after rotating seat (42), sample dish is abandoned model machine structure (5) and is declined, and the sample dish cleaned up and the sample dish above it overlay on rotating seat (42) jointly.
CN201610203603.0A 2016-04-01 2016-04-01 A kind of sample dish access device and sample dish access method CN105668251B (en)

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CN106219238A (en) * 2016-08-29 2016-12-14 广东利迅达机器人系统股份有限公司 A kind of inter-embedding type dividing plate pay-off
CN107185698A (en) * 2017-05-31 2017-09-22 安徽铸星机械制造有限公司 A kind of organic fertilizer stirs the hopper clearing apparatus of pulverizer
CN108392421A (en) * 2018-01-29 2018-08-14 浙江厚达智能科技股份有限公司 Bear a heavy burden reflux mechanism and heavy burden reflow method
CN109534033A (en) * 2017-09-22 2019-03-29 博斯特(上海)有限公司 Method for the device of picking blank sample, the machine for modifying sheet material shape element and picking blank
CN110125231A (en) * 2019-04-11 2019-08-16 珠海锐翔智能科技有限公司 A kind of punching picks assembly line and its technique
CN109534033B (en) * 2017-09-22 2020-06-30 博斯特(上海)有限公司 Device for picking up a sample of a blank, machine for trimming a sheet-shaped element and method for picking up a blank

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