CN110303496A - A kind of crucible of filler instrument automatically grabs control system and control method - Google Patents
A kind of crucible of filler instrument automatically grabs control system and control method Download PDFInfo
- Publication number
- CN110303496A CN110303496A CN201910438793.8A CN201910438793A CN110303496A CN 110303496 A CN110303496 A CN 110303496A CN 201910438793 A CN201910438793 A CN 201910438793A CN 110303496 A CN110303496 A CN 110303496A
- Authority
- CN
- China
- Prior art keywords
- crucible
- turntable
- clamping jaw
- circle
- pneumatic clamping
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 45
- 239000000945 filler Substances 0.000 title claims abstract description 24
- 239000000463 material Substances 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 239000000843 powder Substances 0.000 claims abstract description 21
- 239000000835 fiber Substances 0.000 claims abstract description 20
- 230000003287 optical effect Effects 0.000 claims abstract description 20
- 238000012545 processing Methods 0.000 claims abstract description 10
- JEIPFZHSYJVQDO-UHFFFAOYSA-N ferric oxide Chemical group O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 claims description 54
- 230000008569 process Effects 0.000 claims description 29
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 19
- 239000010439 graphite Substances 0.000 claims description 18
- 229910002804 graphite Inorganic materials 0.000 claims description 18
- 230000009467 reduction Effects 0.000 claims description 6
- 230000005389 magnetism Effects 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 2
- 230000003321 amplification Effects 0.000 claims 1
- 238000003199 nucleic acid amplification method Methods 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 239000000523 sample Substances 0.000 description 28
- 238000010586 diagram Methods 0.000 description 6
- 229910052500 inorganic mineral Inorganic materials 0.000 description 5
- 239000011707 mineral Substances 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 229910052571 earthenware Inorganic materials 0.000 description 3
- 238000000227 grinding Methods 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000006101 laboratory sample Substances 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000004611 spectroscopical analysis Methods 0.000 description 1
- 238000010183 spectrum analysis Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The crucible that the present invention discloses a kind of filler instrument automatically grabs control system and control method, including crucible mounting table, funnel, crucible picks and places module, motion module, signal detection module and output control module, crucible mounting table is placed with the crucible of sample powder, funnel is for collecting crucible and sample powder, it includes for clamping the Pneumatic clamping jaw of crucible and controlling the rotating device of Pneumatic clamping jaw rotation that crucible, which picks and places module, motion module for realizing Pneumatic clamping jaw movement, signal detection module includes position sensor, magnetic switch and fibre optical sensor, output control module includes solenoid valve and controller, counter is equipped in controller, for storing the number of the successful crucible of material grasping on turntable.The object of the present invention is to provide a kind of crucibles of filler instrument to automatically grab control system and control method, and instead of artificial, progress sample ore material grasping is improved benefit to realize production and processing automation.
Description
Technical field
The present invention relates to mineral machining experiment automatic fields, and in particular to a kind of crucible of filler instrument automatically grabs control
System and control method.
Background technique
With China's rapid economic development, various mineral resources demands are sharply increased, and to economize on resources, are avoided to mineral products
The exploitation of resource extensive style, thus will have to compare to the ingredient of various geology minerals, content and be well understood, Ministry of Geology and Mineral Resources
Door usually reconnoitres geology elementary composition using spectroscopic analysis methods.This method step are as follows: firstly, in field acquisition ground sample,
And laboratory by sample comminution, grinding；Secondly, the buffer that equivalent will be added in sample after grinding, is sufficiently mixed；Then,
Sample powder after mixing is loaded into the graphite electrode of corresponding construction；Finally, by equipped with sample mixing electrode into
Row spectrum analysis calculates sample elementary composition.Currently, sample ore material grasping process mainly passes through manual work, then by worker by crucible
Interior sample is filled into graphite electrode after taking out, sample ore material grasping process large labor intensity, needs artificial continuous repeated work.
Summary of the invention
Insufficient according to prior art, the object of the present invention is to provide a kind of crucibles of filler instrument to automatically grab control system
And control method, instead of artificial, progress sample ore material grasping is improved benefit to realize production and processing automation.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of crucible of filler instrument automatically grabs control system, including crucible mounting table, funnel, crucible pick and place module, fortune
Dynamic model block, signal detection module, output control module；
The crucible mounting table is placed with crucible, and sample powder is placed in the crucible；
The funnel is for collecting the sample powder and crucible that crucible is poured out；
It includes for clamping the Pneumatic clamping jaw of crucible and controlling the rotation dress of Pneumatic clamping jaw rotation that the crucible, which picks and places module,
It sets；
The motion module will clamp the Pneumatic clamping jaw of the crucible from described for realizing the movement of Pneumatic clamping jaw
It is moved to above crucible mounting table above the funnel, and the Pneumatic clamping jaw of the crucible will be clamped above the funnel
It is moved to above the crucible mounting table；
The signal detection module includes position sensor, magnetic switch and fibre optical sensor.The position sensor is used
In the position for detecting the motion module；The magnetic switch is used to detect the movement of the Pneumatic clamping jaw and the rotating device
State, the fibre optical sensor is for detecting the whether described crawl crucible of the Pneumatic clamping jaw；
The output control module includes solenoid valve and controller, the solenoid valve for changing Pneumatic clamping jaw opening and closing shape
State, detection signal of the controller based on position sensor, magnetic switch and fibre optical sensor, judges entire control system
Working condition, and regulate and control the folding condition of solenoid valve, so that entire control system is further completed material grasping work, is equipped in controller
Counter, for storing the number of the successful crucible of material grasping on turntable.
Further, the motion module includes the first lead screw, drives the first motor of the second lead screw rotation and first
The first sliding block slided on lead screw, the Pneumatic clamping jaw are mounted on first sliding block, and the position sensor includes negative limit
Level sensor, positive limit sensors and photoelectric sensor, the negative limit sensors and the positive limit sensors are installed respectively
The both ends of first lead screw, for limiting the position of first sliding block, first photoelectric sensor is mounted on described negative
Between limit sensors and the positive limit sensors, enabling the light source position of photoelectric sensor is origin position, when the pneumatic clamps
After pawl grabs the crucible, the first motor drives Pneumatic clamping jaw Aligning control position, at this time in the Pneumatic clamping jaw
Bell mouth surface of the heart just at the funnel.
Further, the Pneumatic clamping jaw includes the first cylinder, and the Pneumatic clamping jaw passes through first cylinder control
It opens or is closed, clamp crucible.
Further, the rotating device includes the second cylinder and turntable, and the Pneumatic clamping jaw is mounted on the rotation
On platform, the turntable is by second cylinder control rotation, so that the Pneumatic clamping jaw is rotated, described in help
Pneumatic clamping jaw pours into the sample powder in crucible and crucible in funnel.
Further, the magnetic switch includes multiple, and two magnetic switch are respectively used to detect the pneumatic clamps
The open configuration and closed state of pawl, two magnetic switch are respectively used to detect the nonrotating state of the turntable and turn
Dynamic state.
Further, the crucible mounting table includes the second motor of turntable and driving turntable rotation, is set on the turntable
There are the turret apertures of multi-ring annular array, a crucible is placed in each turret apertures, the turntable bottom is equipped with multiple
One discharge set for holding up the straight line cylinder for the crucible placed in turret apertures, be first straight line cylinder respectively, second straight
J-th line cylinder, third straight line cylinder ... of straight line cylinder, center of turntable bottom part down are equipped with for detecting center of turntable position
Second photoelectric sensor.
Further, two magnetic switch are respectively used to the non-of detection first straight line cylinder and make state and working condition, and two
A magnetic switch is respectively used to the off working state and working condition of detection second straight line cylinder, and two magnetic switch are respectively used to
The off working state and working condition of third straight line cylinder are detected, and so on, it is straight that two magnetic switch are respectively used to detection jth
The off working state and working condition of line cylinder,
The present invention also proposes that a kind of crucible of filler instrument automatically grabs control method, comprising the following steps:
Step 1: damaging it when grabbing crucible in order to avoid Pneumatic clamping jaw during controlling servo mould group crawl crucible
Sample in his crucible first controls first straight line cylinder, second straight line cylinder, third when controlling Pneumatic clamping jaw crawl crucible
J-th of straight line cylinder of straight line cylinder ... holds up a crucible.Each turret apertures on turntable are numbered, with first lap
Turret apertures where first crucible that one straight line cylinder is held up are No. 1, turntable rotation, with the picking-up of first lap first straight line cylinder
Second crucible where turret apertures be No. 2, turntable rotation, with first lap first straight line cylinder hold up third crucible institute
Turret apertures be No. 3, and so on.Crucible due to loading sample powder is orderly placed on turntable, and j is distributed on turntable
The turret apertures for enclosing annular array, since the circumferential size of each circle is different, first straight line cylinder, second straight line cylinder or third are straight
Line cylinder is holding up the crucible in first lap turret apertures, the crucible in the second circle turret apertures or the crucible in third circle turret apertures
When, the angle that the second motor respectively drives turntable rotation is also different:
Therefore hold up the angle of the second motor control of first lap crucible turntable single revolution are as follows:
Therefore hold up the angle of second circle the second motor control of crucible turntable single revolution are as follows:
Therefore hold up the angle of third circle crucible the second motor control turntable single revolution are as follows:
…
Therefore hold up the angle of jth circle crucible the second motor control turntable single revolution are as follows:
Wherein, θ1、θ2、θ3...θjTurntable first lap, the second circle, third circle ... jth circle crucible where respectively representing crawl
When the second motor control turntable angle for needing to rotate every time, n1、n2、n3...njTurntable first lap where respectively representing crawl,
The number of second circle, third circle ... jth circle crucible,
It controlling turntable and rotates corresponding angle, essence is umber of pulse required for calculating the second motor,
Therefore hold up umber of pulse required for the second motor of first lap crucible turntable single revolution are as follows:
Therefore hold up umber of pulse required for second circle the second motor of crucible turntable single revolution are as follows:
Therefore hold up umber of pulse required for third circle crucible turntable the second motor of single revolution are as follows:
Therefore the umber of pulse required for jth circle turntable the second motor of single revolution are as follows:
Wherein, PTurn 1、PTurn 2、PTurn 3...PTurn jRespectively represent Pneumatic clamping jaw crawl turntable first lap, the second circle, third circle ...
Umber of pulse required for the second motor of turntable single revolution, θ when jth circle crucible1、θ2、θ3...θjRespectively represent Pneumatic clamping jaw crawl
The angle that the second motor control turntable needs to rotate every time when turntable first lap, the second circle, third circle ... jth circle crucible, i generation
The reduction ratio of table retarder, umber of pulse needed for n represents one circle of the second motor rotation；
Step 2: control Pneumatic clamping jaw moves to turntable first lap first straight line cylinder top rotary table hole center first motor institute
The umber of pulse needed:
Therefore control Pneumatic clamping jaw moves to turntable second and encloses above second straight line cylinder needed for the first motor of turret apertures center
The umber of pulse wanted:
Therefore control Pneumatic clamping jaw moves to above turntable third circle second straight line cylinder required for turret apertures first motor
Umber of pulse:
…
Therefore control Pneumatic clamping jaw moves to above turntable jth circle jth straight line cylinder required for the first motor of turret apertures center
Umber of pulse:
Wherein, P1、P2、P3…PjIt respectively indicates a circle, the second circle, third circle ... n-th and encloses first motor driving Pneumatic clamping jaw
To the required umber of pulse of each circle, x1、x2、x3…xjRespectively represent Pneumatic clamping jaw and first lap, the second circle, third circle ...
For jth circle to the distance at turret apertures center, i represents the reduction ratio of retarder, pulse needed for n represents one circle of first motor rotation
Number, the lead of behalf screw rod；
Step 3: starting pusher process, controller sends pulse signal control third motor and rotates forward, and drives on third lead screw
The second slide block movement, and then drive push rod the graphite electrode in hopper is pushed in the processing hole in funnel, push away carbon at this time
Stick process terminates；
Step 4: controller issues material grasping process request signal after pusher process, driving first motor is positioned,
The counter inside controller has a value at this time, which represents the number of the success successful crucible sample of material grasping on turntable.
(such as: when Counter Value is n, representing on turntable has n crucible process finishing, and lower task will process (n+1)th earthenware
Crucible；When n is less than or equal to the number n of first lap crucible1When, indicate first motor is positioned to make Pneumatic clamping jaw to move to turntable
One circle crucible overcentre, umber of pulse required for first motor is P at this time1, when n is greater than the number n of first lap crucible1And it is small
In the number n for being equal to the second circle crucible2When, indicate first motor is positioned to make Pneumatic clamping jaw to move to the circle crucible of turntable second
Overcentre, umber of pulse required for first motor is P at this time2, when n is greater than the number n of the second circle crucible2And it is less than or equal to the
The number n of three circle crucibles3When, indicate first motor is positioned to make Pneumatic clamping jaw to move on turntable third circle crucible center
Side, umber of pulse required for first motor is P at this time3, analogized with secondary；
Verification station also refers to the value of monitor counter, makes which crucible controller determination will grab, convenient for control
Servo motor positioning；It (is illustrated after positioning with first lap), according to the position of crucible to be processed, first straight line cylinder is by crucible
It holds up, when the 6th magnetic switch triggers, expression first straight line cylinder movement terminates, and the first cylinder operation controls Pneumatic clamping jaw work
Grab crucible, indicate that Pneumatic clamping jaw successfully grabs crucible when fibre optical sensor triggers, at this time controller send signal make it is first straight
Line cylinder resets, and indicates that first straight line cylinder resets successfully when the 5th magnetic switch triggers, and turntable is moveable to next station, this
When the second motor driven turntable single required for umber of pulse be PTurn 1；
If the position of crucible to be processed is enclosed in turntable second, second straight line cylinder holds up crucible, when the 8th magnetic switch
Triggering indicates that second straight line cylinder movement terminates, and the first cylinder operation controls Pneumatic clamping jaw work crawl crucible, works as Fibre Optical Sensor
Device triggering indicates that Pneumatic clamping jaw successfully grabs crucible, and controller, which sends signal, at this time resets second straight line cylinder, when the 7th magnetic
Property switch triggering indicate second straight line cylinder reset successfully, turntable is moveable to next station, at this time the second motor driven turntable
Umber of pulse required for single is PTurn 2；
If the position of crucible to be processed holds up crucible in turntable third circle, third straight line cylinder, when the tenth magnetic switch
Triggering indicates that the movement of third straight line cylinder terminates, and the first cylinder operation controls Pneumatic clamping jaw work crawl crucible, works as Fibre Optical Sensor
Device triggering indicates that Pneumatic clamping jaw successfully grabs crucible, and controller, which sends signal, at this time resets third straight line cylinder, when the 9th magnetic
Property switch triggering indicate that third straight line cylinder resets successfully, turntable is moveable to next station, at this time the second motor driven turn
Umber of pulse required for disk single is PTurn 3；
...
And so on；
Step 5: controller makes first motor drive Pneumatic clamping jaw Aligning control position after Pneumatic clamping jaw grabs crucible, this
When Pneumatic clamping jaw center just at funnel bell mouth right above, photoelectric sensor triggering indicate first motor return to zero end,
Controller controls the turntable in rotating device and rotates 180 °, is opened by the first cylinder operation control Pneumatic clamping jaw and decontrols crucible,
Crucible and its interior sample powder are poured into funnel, material grasping process terminates at this time, and each moving cell in material grasping process resets
Carry out next task.
Compared with prior art, the present invention has the following advantages and beneficial effects:
1. a kind of crucible of filler instrument of the present invention automatically grabs control system and control method, sensed by comprehensive
Device information, controls system components, and Pneumatic clamping jaw is enable accurately to catch the crucible of different location on turntable, improves light
Compose the degree of automation of making in laboratory sample.
2. a kind of crucible of filler instrument of the present invention automatically grabs control system and control method, crucible sample is had
The crawl of sequence simultaneously carries out next step processing, and feeding is stablized, and improves work efficiency.
3. a kind of crucible of filler instrument of the present invention automatically grabs control system and control method, driven using cylinder
Pneumatic clamping jaw and cylinder driving rotating device, keep control process simpler.
4. a kind of crucible of filler instrument of the present invention automatically grabs control system and control method, pass through straight line cylinder
Crucible is held up, can prevent Pneumatic clamping jaw from damaging other crucibles when grabbing a certain crucible.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of an angle of the invention.
Fig. 2 is the structural schematic diagram of another angle of the invention.
Fig. 3 is the structural schematic diagram of crucible mounting table of the present invention, crucible pick-and-place module and the cooperation of motion module structure.
Fig. 4 is controller architecture schematic diagram of the present invention.
Fig. 5 is motion module scheme of installation of the present invention.
Fig. 6 is that Pneumatic clamping jaw of the present invention and rotating device sensor install three-view diagram.
Fig. 7 is the top view of turntable of the present invention.
Fig. 8 is the structural schematic diagram of straight line cylinder of the present invention.
Fig. 9 is that the crucible of filler instrument of the present invention automatically grabs control system flow chart.
Wherein: 1, crucible mounting table；11, crucible；12, turntable；121, turret apertures；13, the second motor；14, straight line cylinder；
141, first straight line cylinder；142, second straight line cylinder；143, third straight line cylinder；144, motor reducer
2, funnel
3, crucible picks and places module；31, Pneumatic clamping jaw；32, rotating device；321, Pneumatic rotary table；322, the second cylinder；
4, motion module；41, the first lead screw；42, first motor；43, the first sliding block；
5, signal detection module；51, position sensor；511, negative limit sensors；512, positive limit sensors；513,
One photoelectric sensor；514, the second photoelectric sensor；52, magnetic switch；521, the first magnetic switch；522, the second magnetism is opened
It closes；523, third magnetic switch；524, the 4th magnetic switch；525, the 5th magnetic switch；526, the 6th magnetic switch；527,
Seven magnetic switch；528, the 8th magnetic switch；529, the 9th magnetic switch；520, the tenth magnetic switch；53, fibre optical sensor；
6, output control module；61, solenoid valve；611, the first solenoid valve；612, second solenoid valve；613, third electromagnetism
Valve；614, the 4th solenoid valve；615, the 5th solenoid valve；62, controller；621, counter
7, pusher module；71, the second lead screw；72, third motor；73, the second sliding block；74, push rod；
8, magazine；
9, hopper；
10, oscillating cylinder.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply phase
To importance or implicitly indicate the quantity of indicated technical characteristic.The feature for defining " first ", " second " etc. as a result, can
To explicitly or implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, " multiple "
It is meant that two or more.
Referring to Fig.1 shown in-Fig. 8, a kind of crucible of filler instrument automatically grabs control system, including crucible mounting table 1, funnel
2, crucible 11 picks and places module 3, motion module 4, signal detection module 5, output control module 6；
Crucible mounting table 1 is placed with crucible 11, and sample powder is placed in crucible 11；
Funnel 2 is for collecting the sample powder and crucible 11 that crucible 11 is poured out；
It includes for clamping the Pneumatic clamping jaw 31 of crucible 11 and controlling the rotation of the rotation of Pneumatic clamping jaw 31 that crucible, which picks and places module 3,
Device 32；
Motion module 4 places the Pneumatic clamping jaw 31 for clamping crucible 11 from crucible for realizing the movement of Pneumatic clamping jaw 31
It is moved to 2 top of funnel above platform 1, and the Pneumatic clamping jaw 31 for clamping crucible 11 is moved to crucible mounting table 1 above funnel 2
Top；
Signal detection module 5 includes position sensor 51, magnetic switch 52 and fibre optical sensor 53.Its Position Sensor
51, for detecting the position of motion module 4；Magnetic switch 52 is used to detect the movement shape of Pneumatic clamping jaw 31 and rotating device 32
State, fibre optical sensor 53 is for detecting whether Pneumatic clamping jaw 31 grabs crucible 11；
Output control module 6 include solenoid valve 61 and controller 62, solenoid valve 61 for changing Pneumatic clamping jaw 31 opening and closing
State, detection signal of the controller 62 based on position sensor 51, magnetic switch 52 and fibre optical sensor 53 judge entire control
The working condition of system, and regulate and control the folding condition of solenoid valve 61, so that entire control system is further completed material grasping work.Control
Counter 621 is equipped in device 62, for storing the number of the successful crucible 11 of material grasping on turntable 12
Referring to Fig.1, shown in Fig. 3 and Fig. 5, motion module 4 includes the first lead screw 41, drives the first of the rotation of the second lead screw 71
Motor 42 and the first sliding block 43 slided on the first lead screw 41, Pneumatic clamping jaw 31 are mounted on the first sliding block 43.Position sensing
Device 51 includes negative limit sensors 511, positive limit sensors 512 and the first photoelectric sensor 513, negative 511 He of limit sensors
Positive limit sensors 512 install the both ends of the first lead screw 41 respectively, for limiting the position of the first sliding block 43, the first photoelectric sensing
Device 513 is mounted between negative limit sensors 511 and positive limit sensors 512, enables the light source position of the first photoelectric sensor 513 be
The origin position of motion module 4, after Pneumatic clamping jaw 31 grabs crucible 11, controller 62 makes first motor 42 drive Pneumatic clamping jaw
31 Aligning control positions, at this time 31 center of Pneumatic clamping jaw just at funnel 2 bell mouth right above.
Referring to Fig.1 shown in-Fig. 3, in order to make this control system repeatedly automatically grab crucible 11, crucible mounting table 1 includes turning
The second motor 13 that disk 12 and driving turntable 12 rotate, can also connect motor reducer 14 on the second motor 13, set on turntable 12
There are the turret apertures 121 of multi-ring annular array, each crucible 11 is placed in each turret apertures 121, is placed in each crucible 11
Sample powder.12 bottom of turntable is equipped with the straight line cylinder 14 that multiple discharges are set, and is that first straight line cylinder 141, second is straight respectively
J-th line cylinder 142, third straight line cylinder 143 ... of straight line cylinder.In each one circle turret apertures 121 of the alignment of straight line cylinder 14
One turret apertures 121.Straight line cylinder 14 is used to hold up the crucible 11 placed in turret apertures 121.It is set below 12 centre bottom of turntable
There is the second photoelectric sensor 514, the second photoelectric sensor 514 is used to detect the initial position at 12 center of turntable.The present invention is implemented
In example, the turret apertures 121 equipped with 3 circle annular arrays, 12 bottom of turntable is equipped with more 3 one and discharges the straight line cylinder 14 set, respectively
It is first straight line cylinder 141, second straight line cylinder 142 and third straight line cylinder 143, each one circle turntable of the alignment of straight line cylinder 14
A turret apertures 121 in hole 121.
Referring to shown in Fig. 6, Pneumatic clamping jaw 31 includes the first cylinder, and Pneumatic clamping jaw is opened or closed by the control of the first cylinder
It closes, clamps crucible.
Referring to Fig.1, shown in Fig. 3 and Fig. 5, rotating device 32 includes the second cylinder 322 and Pneumatic rotary table 321, pneumatic clamps
Pawl 31 is mounted in Pneumatic rotary table 321, and Pneumatic rotary table 321 is by the control rotation of the second cylinder 322, so that pneumatic clamps
Pawl 31 is rotated, and helps Pneumatic clamping jaw 31 to pour into the sample powder in crucible 11 and crucible 11 in funnel 2, the second cylinder
322 can be rotary cylinder.
Preferably, solenoid valve 61 be equipped with it is multiple, solenoid valve 61 include the first solenoid valve 611 and second solenoid valve 612, first
Solenoid valve 611 is used to control the opening and closing of Pneumatic clamping jaw 31, and second solenoid valve 612 is pneumatic in rotating device 32 for controlling
The rotation of turntable 321, and then control the rotation of Pneumatic clamping jaw 31.Each straight line cylinder 14 passes through the control fortune of solenoid valve 61
Dynamic, due to being equipped with 3 straight line cylinders in the embodiment of the present invention, solenoid valve 61 further includes third solenoid valve 613, the 4th electromagnetism
Valve 614 and the 5th solenoid valve 615, third solenoid valve 613 control the movement of first straight line cylinder 141, the control of the 4th solenoid valve 614
The movement of second straight line cylinder 142, the 5th solenoid valve 615 control the movement of third straight line cylinder 143.
Magnetic switch 52 be equipped with it is multiple, magnetic switch 52 include the first magnetic switch 521, the second magnetic switch 522, third
Magnetic switch 523, the 4th magnetic switch 524, the 5th magnetic switch 525, the 6th magnetic switch 526, the 7th magnetic switch 527,
8th magnetic switch 528, the 9th magnetic switch 529 and the tenth magnetic switch 520, the first magnetic switch 521 and the second magnetism are opened
522 are closed for detecting the open configuration and closed state of Pneumatic clamping jaw 31, third magnetic switch 523 and the 4th magnetic switch 524
For detecting the nonrotating state and rotary state of the Pneumatic rotary table 321 in rotating device 32.Due in the embodiment of the present invention
Equipped with 3 straight line cylinders 14, therefore the 5th magnetic switch 525 and the 6th magnetic switch 526 are for detecting first straight line cylinder 141
It is non-make state and working condition, therefore the 7th magnetic switch 527 and the 8th magnetic switch 528 are for detecting second straight line cylinder
142 off working state and working condition, therefore the 9th magnetic switch 529 and the tenth magnetic switch 520 are straight for detecting third
The off working state and working condition of line cylinder 143.
Referring to shown in Fig. 2, this control system further includes pusher module 7 and hopper 9, pusher module 7 include the second lead screw 71,
The third motor 72 for driving the second lead screw 71 to rotate and the second sliding block 73 for sliding on the second lead screw 71 are pacified on second sliding block 73
Equipped with push rod 74, graphite electrode is equipped in hopper 9, push rod 74 is used to for graphite electrode to be sent to the processing hole below 2 hole of funnel
In, after Pneumatic clamping jaw 31 pours into the sample powder in crucible 11 in funnel 2, graphite electrode is sent to funnel 2 by push rod 74
In processing hole below hole, so that sample powder packed is into graphite electrode.
Referring to shown in Fig. 2, it is equipped with magazine 8 above hopper 9, is equipped with multiple graphite electrodes in magazine 8, magazine 8 passes through swing
The driving shake of 10 (not shown) of cylinder falls in the graphite electrode sieve in magazine 8 in the hopper 9 of 8 lower section of magazine, hopper 9
After interior sensor detects signal, illustrate successfully to fall into graphite electrode in hopper 9, if without detection signal, (the figure of oscillating cylinder 10
In be not shown) shake again, repeat this process, until hopper 9 in fall into graphite electrode；Secondly, controller 62 sends pulse letter
Number control third motor 72 rotate forward, drive third lead screw on the second sliding block 73 movement, and then drive push rod 74 will be in hopper 9
Graphite electrode is pushed in the processing hole in funnel 2, and pushing away carbon-point process at this time terminates.
A kind of crucible 11 of filler instrument automatically grabs control method
Step 1: during controlling servo mould group crawl crucible 11, when grabbing crucible 11 in order to avoid Pneumatic clamping jaw 31
The sample in other crucibles 11 is damaged, when controlling Pneumatic clamping jaw 31 and grabbing crucible 11, first controls first straight line cylinder 141, the
Two straight line cylinder 142 ... third straight line cylinders 143 or j-th of straight line cylinder hold up a crucible 11.To each of on turntable
Turret apertures 121 are numbered, and the turret apertures 121 where first crucible 11 held up with first lap first straight line cylinder 141 is 1
Number, turntable 12 rotates, with the turret apertures 121 where second crucible 11 of the picking-up of first lap first straight line cylinder 141 for No. 2,
Turntable 12 rotates, and the turret apertures 121 where the third crucible 11 held up with first lap first straight line cylinder 141 is No. 3, with this
Analogize.Crucible 11 due to loading sample powder is orderly placed on turntable, and the turntable of j circle annular array is distributed on turntable 12
Hole 121, since the circumferential size of each circle is different, first straight line cylinder 141, second straight line cylinder 142 or third straight line cylinder
143 are holding up the crucible 11 or third circle turret apertures 121 that the crucible 11, second in first lap turret apertures 121 encloses in turret apertures 121
In crucible 11 when, the second motor 13 respectively drive turntable 12 rotation angle be also different:
Therefore hold up the angle of 11 second motor 13 of first lap crucible control 12 single revolution of turntable are as follows:
Therefore hold up the angle of the second circle 11 second motor 13 of crucible control 12 single revolution of turntable are as follows:
Therefore hold up the angle of 11 second motor 13 of third circle crucible control 12 single revolution of turntable are as follows:
...
Therefore hold up the angle that 11 second motor 13 of jth circle crucible controls turntable list 12 times rotations are as follows:
Wherein, θ1、θ2、θ3...θj12 first lap of turntable, the second circle, third circle ... jth circle earthenware where respectively representing crawl
The angle that second motor 13 control turntable 12 needs to rotate every time when crucible 11, n1、n2、n3...njTurntable where respectively representing crawl
The number of first lap, the second circle, third circle ... jth circle crucible 11.
Control turntable 12 rotates corresponding angle, and essence is umber of pulse required for calculating the second motor 13,
Therefore hold up umber of pulse required for 11 turntable of first lap crucible, 12 the second motor of single revolution 13 are as follows:
Therefore hold up umber of pulse required for second circle 11 turntable of crucible, 12 the second motor of single revolution 13 are as follows:
Therefore hold up umber of pulse required for 11 turntable of third circle crucible, 12 the second motor of single revolution 13 are as follows:
Therefore the umber of pulse required for the second motor of jth circle turntable single revolution 13 are as follows:
Wherein, PTurn 1、PTurn 2、PTurn 3...PTurn jIt respectively represents Pneumatic clamping jaw 31 and grabs 12 first lap of turntable, the second circle, third
Circle ... umber of pulse required for the second motor of turntable single revolution 13, θ when jth circle crucible 111、θ2、θ3...θjIt respectively represents pneumatic
Second motor 13 control turntable 12 needs every time when clamping jaw 31 grabs turntable first lap, the second circle, third circle ... jth circle crucible 11
The angle to be rotated, i represent the reduction ratio of motor reducer, umber of pulse needed for n represents one circle of the second motor 13 rotation；
Step 2:
Control Pneumatic clamping jaw 31 moves to 141 top rotary table hole of turntable first lap first straight line cylinder, 121 center first motor
Umber of pulse required for 42:
Therefore control Pneumatic clamping jaw 31 moves to the circle of turntable second 142 top turret apertures of second straight line cylinder, 121 center first
Umber of pulse required for motor 42:
Therefore control Pneumatic clamping jaw 31 moves to 142 top turret apertures of turntable third circle second straight line cylinder, 121 first motor
Umber of pulse required for 42:
…
Therefore control Pneumatic clamping jaw 31 moves to 121 center first motor 42 of turret apertures above turntable jth circle jth straight line cylinder
Required umber of pulse:
Wherein, P1、P2、P3…PjA circle, the second circle, third circle ... n-th is respectively indicated to enclose first motor 42 and drive pneumatic clamps
Pawl 31 arrives the required umber of pulse of each circle, x1、x2、x3…xjRespectively represent Pneumatic clamping jaw 31 and first lap, the second circle, the
Three circle ... the distances of jth circle to 121 center of turret apertures, i represent the reduction ratio of retarder, and n represents one circle of the rotation of first motor 42
Required umber of pulse, the lead of behalf screw rod；
Step 3:
Start pusher process, controller 62 sends pulse signal control third motor 72 and rotates forward, drives on third lead screw
The movement of second sliding block 73, and then drive push rod 74 that the graphite electrode in hopper 9 is pushed in the processing hole in funnel 2, at this time
Pushing away carbon-point process terminates；
Specifically, magazine 8 falls in 8 lower section of magazine by the driving shake of oscillating cylinder 10, by the graphite electrode sieve in magazine 8
Hopper 9 in, after the sensor in hopper 9 detects signal, illustrate successfully to fall into graphite electrode in hopper 9, if without detection believe
Number, oscillating cylinder 10 is shaken again, this process is repeated, until graphite electrode is fallen into hopper 9, when successfully falling into stone in hopper 9
After electrode ink, controller 62 sends pulse signal control third motor 72 and rotates forward, and drives the second sliding block 73 fortune on third lead screw
It is dynamic, and then drive push rod 74 that the graphite electrode in hopper 9 is pushed in the processing hole in funnel 2, carbon-point process knot is pushed away at this time
Beam.
Step 4:
After pusher process, controller 62 issues material grasping process request signal, and driving first motor 42 positions, at this time
Counter 621 inside controller 62 has a value, which represents the number of success successful 11 sample of crucible of material grasping on turntable.
(such as: when 621 value of counter is n, representing on turntable has the process finishing of n crucible 11, and lower task will process (n+1)th
A crucible 11；When n is less than or equal to the number n of first lap crucible 111When, indicate first motor 42 is positioned to make Pneumatic clamping jaw 31
11 overcentre of turntable first lap crucible is moved to, umber of pulse required for first motor 42 is P at this time1, when n is greater than first lap
The number n of crucible 111And it is less than or equal to the number n of the second circle crucible 112When, indicate first motor 42 be positioned to make pneumatic clamps
Pawl 31 moves to turntable second and encloses 11 overcentre of crucible, and umber of pulse required for first motor 42 is P at this time2, when n is greater than the
The number n of two circle crucibles 112And it is less than or equal to the number n of third circle crucible 113When, indicate first motor 42 be positioned to make gas
Dynamic clamping jaw 31 moves to 11 overcentre of turntable third circle crucible, and umber of pulse required for first motor 42 is P at this time3, with secondary
Analogize.
Verification station also refers to the value of monitor counter 621, makes 62 determination of controller will grab which crucible 11, just
In control servo motor positioning；It (is illustrated after positioning with first lap), according to the position of crucible 11 to be processed, first straight line gas
Cylinder 141 holds up crucible 11, and when the 6th magnetic switch 526 triggers, indicating that first straight line cylinder 141 acts terminates, by the first gas
Cylinder working controls the work crawl crucible 11 of Pneumatic clamping jaw 31, indicates that Pneumatic clamping jaw 31 successfully grabs earthenware when fibre optical sensor 53 triggers
Crucible 11, controller 62, which sends signal, at this time resets first straight line cylinder 141, when the triggering of the 5th magnetic switch 525 indicates first
Straight line cylinder 141 resets successfully, and turntable is moveable to next station, pulse required for the turntable single of the second motor 13 driving at this time
Number is PTurn 1。
If the position of crucible 11 to be processed is enclosed in turntable second, second straight line cylinder 142 holds up crucible 11, when the 8th magnetic
Property switch 528 trigger, indicate second straight line cylinder 142 movement terminates, by the first cylinder operation control Pneumatic clamping jaw 31 work grab
Crucible 11 is taken, indicates that Pneumatic clamping jaw 31 successfully grabs crucible 11 when fibre optical sensor 53 triggers, controller 62 sends signal at this time
Second straight line cylinder 142 is resetted, indicates that second straight line cylinder 142 resets successfully when the 7th magnetic switch 527 triggers, turntable can
Next station is moved to, umber of pulse required for the turntable single of the second motor 13 driving at this time is PTurn 2。
If the position of crucible 11 to be processed holds up crucible 11 in turntable third circle, third straight line cylinder 143, when the tenth magnetic
Property switch 520 trigger, indicate third straight line cylinder 143 movement terminates, by the first cylinder operation control Pneumatic clamping jaw 31 work grab
Crucible 11 is taken, indicates that Pneumatic clamping jaw 31 successfully grabs crucible 11 when fibre optical sensor 53 triggers, controller 62 sends signal at this time
Third straight line cylinder 143 is resetted, indicates that third straight line cylinder 143 resets successfully when the 9th magnetic switch 529 triggers, turntable
It is moveable to next station, umber of pulse required for the turntable single of the second motor 13 driving at this time is PTurn 3。
...
And so on；
Step 5:
After Pneumatic clamping jaw 31 grabs crucible 11, controller 62 makes 42 Aligning control of first motor, and the position of origin setting is
31 center of Pneumatic clamping jaw indicates that first motor 42 returns to zero end just at 2 surface of funnel, when photoelectric sensor triggers, at this time
Controller 62 controls the Pneumatic rotary table 321 in rotating device 32 and rotates 180 °, and crucible 11 and its interior sample powder are poured into
In funnel 2, material grasping process terminates at this time, and controller 62 controls the turntable 321 in rotating device 32 and reversely rotates 180 °, by the
One cylinder operation controls Pneumatic clamping jaw 31 and opens relieving crucible 11, and each moving cell in material grasping process, which resets, carries out work next time
Make.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (8)
1. a kind of crucible of filler instrument automatically grabs control system, it is characterised in that: taken including crucible mounting table, funnel, crucible
Amplification module, motion module, signal detection module, output control module；
The crucible mounting table is placed with crucible, and sample powder is placed in the crucible；
The funnel is for collecting the sample powder and crucible that crucible is poured out；
It includes for clamping the Pneumatic clamping jaw of crucible and controlling the rotating device of Pneumatic clamping jaw rotation that the crucible, which picks and places module,；
The motion module will clamp the Pneumatic clamping jaw of the crucible from the crucible for realizing the movement of Pneumatic clamping jaw
It is moved to above mounting table above the funnel, and the Pneumatic clamping jaw for clamping the crucible is mobile above the funnel
To above the crucible mounting table；
The signal detection module includes position sensor, magnetic switch and fibre optical sensor.The position sensor is for examining
Survey the position of the motion module；The magnetic switch is used to detect the movement shape of the Pneumatic clamping jaw and the rotating device
State, the fibre optical sensor is for detecting the whether described crawl crucible of the Pneumatic clamping jaw；
The output control module includes solenoid valve and controller, the solenoid valve for changing Pneumatic clamping jaw open and-shut mode,
Detection signal of the controller based on position sensor, magnetic switch and fibre optical sensor, judges the work of entire control system
Make state, and regulate and control the folding condition of solenoid valve, so that entire control system is further completed material grasping work, be equipped with meter in controller
Number device, for storing the number of the successful crucible of material grasping on turntable.
2. the crucible of filler instrument according to claim 1 automatically grabs control system, it is characterised in that: the motion module
It is described pneumatic including the first lead screw, the first motor that the second lead screw of driving rotates and the first sliding block slided on the first lead screw
Clamping jaw is mounted on first sliding block, and the position sensor includes negative limit sensors, positive limit sensors and photoelectric transfer
Sensor, the negative limit sensors and the positive limit sensors install the both ends of first lead screw respectively, for limiting
The position of the first sliding block is stated, first photoelectric sensor is mounted on the negative limit sensors and the positive limit sensors
Between, enabling the light source position of photoelectric sensor is origin position, after the Pneumatic clamping jaw grabs the crucible, first electricity
Machine drives Pneumatic clamping jaw Aligning control position, and the Pneumatic clamping jaw center is just in the bell mouth just of the funnel at this time
Side.
3. the crucible of filler instrument according to claim 2 automatically grabs control system, it is characterised in that: the Pneumatic clamping jaw
Including the first cylinder, the Pneumatic clamping jaw is opened by first cylinder control or closure, clamps crucible.
4. the crucible of filler instrument according to claim 3 automatically grabs control system, it is characterised in that: the rotating device
Including the second cylinder and turntable, the Pneumatic clamping jaw is mounted on the turntable, and the turntable passes through second gas
Cylinder control rotation, so that the Pneumatic clamping jaw is rotated, helps the Pneumatic clamping jaw by the sample in crucible and crucible
Powder pours into funnel.
5. the crucible of filler instrument according to claim 4 automatically grabs control system, it is characterised in that: the magnetic switch
Including multiple, two magnetic switch are respectively used to detect the open configuration and closed state of the Pneumatic clamping jaw, two institutes
Magnetic switch is stated to be respectively used to detect the nonrotating state and rotary state of the turntable.
6. the crucible of filler instrument according to claim 5 automatically grabs control system, it is characterised in that: the crucible is placed
Platform includes the second motor of turntable and driving turntable rotation, and the turntable is equipped with the turret apertures of multi-ring annular array, Mei Yisuo
It states and places a crucible in turret apertures, the turntable bottom is placed equipped with what multiple discharges were set for holding up in turret apertures
The crucible straight line cylinder, be j-th first straight line cylinder, second straight line cylinder, third straight line cylinder ... of straight line respectively
Cylinder.Center of turntable bottom part down is equipped with the second photoelectric sensor for detecting center of turntable position.
7. the crucible of filler instrument according to claim 6 automatically grabs control system, it is characterised in that: two magnetic switch
It is respectively used to the non-of detection first straight line cylinder and makees state and working condition, two magnetic switch are respectively used to detection second straight line
The off working state and working condition of cylinder, two magnetic switch be respectively used to detection third straight line cylinder off working state and
Working condition, and so on, two magnetic switch are respectively used to the off working state and working condition of detection jth straight line cylinder.
8. a kind of crucible of filler instrument automatically grabs control method, grabbed automatically using the crucible of filler instrument as claimed in claim 7
Take control system, which comprises the following steps:
Step 1: damaging other earthenwares when grabbing crucible in order to avoid Pneumatic clamping jaw during controlling servo mould group crawl crucible
Sample in crucible first controls first straight line cylinder, second straight line cylinder, third straight line when controlling Pneumatic clamping jaw crawl crucible
J-th of straight line cylinder of cylinder ... holds up a crucible.Each turret apertures on turntable are numbered, it is straight with first lap first
Turret apertures where first crucible that line cylinder is held up are No. 1, turntable rotation, the held up with first lap first straight line cylinder
Turret apertures where two crucibles are No. 2, turntable rotation, where the third crucible held up with first lap first straight line cylinder
Turret apertures are No. 3, and so on, the crucible due to loading sample powder is orderly placed on turntable, and j ring is distributed on turntable
The turret apertures of shape array, since the circumferential size of each circle is different, first straight line cylinder, second straight line cylinder or third straight line gas
Cylinder is when holding up the crucible in first lap turret apertures, the crucible in the second circle turret apertures or crucible in third circle turret apertures, and the
The angle that two motors respectively drive turntable rotation is also different:
Therefore hold up the angle of the second motor control of first lap crucible turntable single revolution are as follows:
Therefore hold up the angle of second circle the second motor control of crucible turntable single revolution are as follows:
Therefore hold up the angle of third circle crucible the second motor control turntable single revolution are as follows:
...
Therefore hold up the angle of jth circle crucible the second motor control turntable single revolution are as follows:
Wherein, θ1、θ2、θ3...θjWhere respectively representing crawl the when turntable first lap, the second circle, third circle ... jth circle crucible
The angle that two motor control turntables need to rotate every time, n1、n2、n3...njTurntable first lap, second where respectively representing crawl
The number of circle, third circle ... jth circle crucible,
It controlling turntable and rotates corresponding angle, essence is umber of pulse required for calculating the second motor,
Therefore hold up umber of pulse required for the second motor of first lap crucible turntable single revolution are as follows:
Therefore hold up umber of pulse required for second circle the second motor of crucible turntable single revolution are as follows:
Therefore hold up umber of pulse required for third circle crucible turntable the second motor of single revolution are as follows:
Therefore the umber of pulse required for jth circle turntable the second motor of single revolution are as follows:
Wherein, PTurn 1、PTurn 2、PTurn 3...PTurn jRespectively represent Pneumatic clamping jaw crawl turntable first lap, the second circle, third circle ... jth circle
Umber of pulse required for the second motor of turntable single revolution, θ when crucible1、θ2、θ3...θjRespectively represent Pneumatic clamping jaw crawl turntable the
The angle that the second motor control turntable needs to rotate every time when one circle, the second circle, third circle ... jth circle crucible, i, which is represented, to slow down
The reduction ratio of device, umber of pulse needed for n represents one circle of the second motor rotation；
Step 2: control Pneumatic clamping jaw moves to required for the first motor of turntable first lap first straight line cylinder top rotary table hole center
Umber of pulse:
Therefore control Pneumatic clamping jaw moves to turntable second and encloses above second straight line cylinder required for the first motor of turret apertures center
Umber of pulse:
Therefore control Pneumatic clamping jaw moves to pulse required for turret apertures first motor above turntable third circle second straight line cylinder
Number:
…
Therefore control Pneumatic clamping jaw moves to above j-th of straight line cylinder of turntable jth circle required for the first motor of turret apertures center
Umber of pulse:
Wherein, P1、P2、P3…PjIt respectively indicates a circle, the second circle, third circle ... n-th and encloses first motor driving Pneumatic clamping jaw to often
The required umber of pulse of one circle, x1、x2、x3…xjRespectively represent Pneumatic clamping jaw and first lap, the second circle, third circle ... jth circle
To the distance at turret apertures center, i represents the reduction ratio of retarder, umber of pulse needed for n represents one circle of first motor rotation, s generation
The lead of table screw rod；
Step 3: starting pusher process, controller sends pulse signal control third motor and rotates forward, and drives the on third lead screw
Two slide block movements, and then drive push rod that the graphite electrode in hopper is pushed in the processing hole in funnel, carbon-point stream is pushed away at this time
Journey terminates；
Step 4: controller issues material grasping process request signal after pusher process, driving first motor is positioned, at this time
Counter inside controller has a value, which represents the number of the success successful crucible sample of material grasping on turntable, work as counting
When device value is n, representing on turntable has n crucible process finishing, and lower task will process (n+1)th crucible；When n be less than etc.
In the number n of first lap crucible1When, indicate first motor is positioned to make Pneumatic clamping jaw to move to turntable first lap crucible center
Top, umber of pulse required for first motor is P at this time1, when n is greater than the number n of first lap crucible1And it is less than or equal to the second circle
The number n of crucible2When, indicate first motor is positioned to make Pneumatic clamping jaw to move to the circle crucible overcentre of turntable second, this
When first motor required for umber of pulse be P2, when n is greater than the number n of the second circle crucible2And it is less than or equal to of third circle crucible
Number n3When, indicate first motor is positioned to make Pneumatic clamping jaw to move to turntable third circle crucible overcentre, at this time the first electricity
Umber of pulse required for machine is P3, analogized with secondary；
Verification station also refers to the value of monitor counter, makes which crucible controller determination will grab, convenient for control servo
Motor positioning；It (is illustrated after positioning with first lap), according to the position of crucible to be processed, first straight line cylinder is by crucible tray
It rises, when the 6th magnetic switch triggers, expression first straight line cylinder movement terminates, by the control Pneumatic clamping jaw crawl of the first cylinder operation
Crucible indicates that Pneumatic clamping jaw successfully grabs crucible when fibre optical sensor triggers, and controller, which sends signal, at this time makes first straight line gas
Cylinder resets, and indicates that first straight line cylinder resets successfully when the 5th magnetic switch triggers, and turntable is moveable to next station, and at this time the
Umber of pulse required for two motor driven turntable singles is PTurn 1；
If the position of crucible to be processed is enclosed in turntable second, second straight line cylinder holds up crucible, when the 8th magnetic switch triggers,
Indicate that second straight line cylinder movement terminates, the first cylinder operation controls Pneumatic clamping jaw and grabs crucible, when fibre optical sensor triggers table
Show that Pneumatic clamping jaw successfully grabs crucible, controller, which sends signal, at this time resets second straight line cylinder, when the 7th magnetic switch touches
It delivers and shows that second straight line cylinder resets successfully, turntable is moveable to next station, at this time needed for the second motor driven turntable single
Wanting umber of pulse is PTurn 2；
If the position of crucible to be processed holds up crucible in turntable third circle, third straight line cylinder, when the tenth magnetic switch trigger,
Indicate that the movement of third straight line cylinder terminates, the first cylinder operation controls Pneumatic clamping jaw work crawl crucible, when fibre optical sensor touches
It delivers and shows that Pneumatic clamping jaw successfully grabs crucible, controller, which sends signal, at this time resets third straight line cylinder, when the 9th magnetism is opened
Closing triggering indicates that third straight line cylinder resets successfully, and turntable is moveable to next station, at this time the second motor driven turntable list
Umber of pulse required for secondary is PTurn 3；
...
And so on；
Step 5: controller makes first motor drive Pneumatic clamping jaw Aligning control position, at this time gas after Pneumatic clamping jaw grabs crucible
Just at the bell mouth surface of funnel, photoelectric sensor, which triggers, indicates that first motor returns to zero end at dynamic clamping jaw center, controls
Device controls the turntable in rotating device and rotates 180 °, crucible and its interior sample powder is poured into funnel, at this time material grasping stream
Journey terminates, and controller controls the turntable in rotating device and reversely rotates 180 °, by the first cylinder operation control Pneumatic clamping jaw
Crucible is opened, each moving cell reset in material grasping process is worked next time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438793.8A CN110303496A (en) | 2019-05-24 | 2019-05-24 | A kind of crucible of filler instrument automatically grabs control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910438793.8A CN110303496A (en) | 2019-05-24 | 2019-05-24 | A kind of crucible of filler instrument automatically grabs control system and control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110303496A true CN110303496A (en) | 2019-10-08 |
Family
ID=68075260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910438793.8A Pending CN110303496A (en) | 2019-05-24 | 2019-05-24 | A kind of crucible of filler instrument automatically grabs control system and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110303496A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112432504A (en) * | 2020-11-20 | 2021-03-02 | 田立勇 | Automatic replenishment type pet food detection device |
| CN113821002A (en) * | 2021-04-29 | 2021-12-21 | 宁波舜宇智能科技有限公司 | Sorting control system |
| CN117303720A (en) * | 2023-09-26 | 2023-12-29 | 廊坊赫尔劳斯太阳能光伏有限公司 | Forming equipment and production method of quartz crucible |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101962086A (en) * | 2009-07-22 | 2011-02-02 | 日本超精石英株式会社 | A handling device and handling method of quartz glass crucible |
| CN205835301U (en) * | 2016-06-16 | 2016-12-28 | 桂林电子科技大学 | A kind of mechanical hand of rotatable lifting |
| CN206277693U (en) * | 2016-08-16 | 2017-06-27 | 浙江申振机械科技有限公司 | A kind of full-automatic shoe-shaped gold ingot production line |
| CN107167352A (en) * | 2017-06-21 | 2017-09-15 | 湖北工业大学 | A kind of exciting of spectra sample mixes filler device and mixed filling method |
| WO2018059977A1 (en) * | 2016-09-28 | 2018-04-05 | Grosbois Jerome | Method for the automated filling of a crate with objects by means of a robot hand |
| CN108127465A (en) * | 2018-02-05 | 2018-06-08 | 中山市川上智能设备有限公司 | A kind of automatic charging machine and its automatic charging method |
| CN207551328U (en) * | 2017-10-27 | 2018-06-29 | 昆山恒荣泰机器人系统工程有限公司 | A kind of online balance material collecting device |
| CN108801750A (en) * | 2018-06-08 | 2018-11-13 | 湖北省地质勘查装备中心 | Full-automatic miberal powder fills out stick instrument |
| CN109227593A (en) * | 2018-10-22 | 2019-01-18 | 长沙开元仪器有限公司 | A kind of crucible and tripod transfer device |
| CN208568814U (en) * | 2018-06-08 | 2019-03-01 | 湖北省地质勘查装备中心 | Full-automatic miberal powder fills out stick instrument batch turning module |
| CN208588747U (en) * | 2018-02-22 | 2019-03-08 | 长沙开元仪器股份有限公司 | A kind of sample transfer device and sample processing device |
-
2019
- 2019-05-24 CN CN201910438793.8A patent/CN110303496A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101962086A (en) * | 2009-07-22 | 2011-02-02 | 日本超精石英株式会社 | A handling device and handling method of quartz glass crucible |
| CN205835301U (en) * | 2016-06-16 | 2016-12-28 | 桂林电子科技大学 | A kind of mechanical hand of rotatable lifting |
| CN206277693U (en) * | 2016-08-16 | 2017-06-27 | 浙江申振机械科技有限公司 | A kind of full-automatic shoe-shaped gold ingot production line |
| WO2018059977A1 (en) * | 2016-09-28 | 2018-04-05 | Grosbois Jerome | Method for the automated filling of a crate with objects by means of a robot hand |
| CN107167352A (en) * | 2017-06-21 | 2017-09-15 | 湖北工业大学 | A kind of exciting of spectra sample mixes filler device and mixed filling method |
| CN207551328U (en) * | 2017-10-27 | 2018-06-29 | 昆山恒荣泰机器人系统工程有限公司 | A kind of online balance material collecting device |
| CN108127465A (en) * | 2018-02-05 | 2018-06-08 | 中山市川上智能设备有限公司 | A kind of automatic charging machine and its automatic charging method |
| CN208588747U (en) * | 2018-02-22 | 2019-03-08 | 长沙开元仪器股份有限公司 | A kind of sample transfer device and sample processing device |
| CN108801750A (en) * | 2018-06-08 | 2018-11-13 | 湖北省地质勘查装备中心 | Full-automatic miberal powder fills out stick instrument |
| CN208568814U (en) * | 2018-06-08 | 2019-03-01 | 湖北省地质勘查装备中心 | Full-automatic miberal powder fills out stick instrument batch turning module |
| CN109227593A (en) * | 2018-10-22 | 2019-01-18 | 长沙开元仪器有限公司 | A kind of crucible and tripod transfer device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112432504A (en) * | 2020-11-20 | 2021-03-02 | 田立勇 | Automatic replenishment type pet food detection device |
| CN113821002A (en) * | 2021-04-29 | 2021-12-21 | 宁波舜宇智能科技有限公司 | Sorting control system |
| CN117303720A (en) * | 2023-09-26 | 2023-12-29 | 廊坊赫尔劳斯太阳能光伏有限公司 | Forming equipment and production method of quartz crucible |
| CN117303720B (en) * | 2023-09-26 | 2024-03-12 | 廊坊赫尔劳斯太阳能光伏有限公司 | Forming equipment and production method of quartz crucible |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110303496A (en) | A kind of crucible of filler instrument automatically grabs control system and control method | |
| CN105115853B (en) | A kind of auto moisture tester | |
| CN109520882B (en) | Coal moisture analysis system | |
| CN206832508U (en) | A kind of new automatic fertilizer sampler | |
| CN110631879B (en) | Medical equipment for automatic liquid-based cell flaking and dyeing | |
| CN108045935A (en) | A kind of sampling and preparing system for sample | |
| CN109877697A (en) | A kind of crystal bevelling bucket changes sand device | |
| CN113063955B (en) | Laboratory material automatic analysis system | |
| CN208264720U (en) | A kind of transformer testing and mounted box all-in-one machine | |
| US8397473B2 (en) | Apparatus for closing biological material containers | |
| CN105044374B (en) | On-line automatic determination of moisture system | |
| CN207671323U (en) | A kind of automatic charging equipment for sample | |
| CN115096686B (en) | Automatic weighing and sample separating equipment for soil powder | |
| CN206951741U (en) | Sample dish processing mechanism | |
| CN110342016A (en) | A kind of the graphite electrode automatic accomodation control system and control method of filler instrument | |
| CN205003044U (en) | Automatic moisture tester | |
| CN215479602U (en) | Sample bottle transfer cover opening assembly | |
| CN207223322U (en) | Intelligent tubulature equipment | |
| CN105066882A (en) | Working tip thread detection device and detection method thereof | |
| CN112374164B (en) | Metal smelting sample conveying device | |
| CN108655029A (en) | A kind of automatization test system | |
| CN210400588U (en) | Powder micro-weighing device | |
| CN219380684U (en) | Sulfur detector with mechanical arm | |
| CN108502527A (en) | Full-automatic Flour blending machine with match powder method | |
| CN204648967U (en) | The automatic oscillating uniform device of saggar powder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191008 |