CN112873238A - Robot detection platform for fuel granularity or humidity - Google Patents

Abstract

The invention provides a robot detection platform for fuel granularity or humidity, which comprises a control system, a control system and a control system, wherein the control system comprises a control system; the robot is in communication connection with the control system; the clamping jaw device comprises a first driving device and a first gripper; the first driving device is fixedly connected to the robot, and the output end of the first driving device is connected to the first gripper; a microwave drying tray detachably connected to the first gripper; the receiving device comprises a first support frame and a metering module; the weighing device comprises a second support frame, a weighing sensor and a weighing support; the microwave drying device is in communication connection with the control system; the screening machine is in communication connection with the control system. The control system controls the clamping jaw device to clamp the microwave drying disc to take samples, and detection steps such as weighing, drying and screening are performed, so that full-automatic detection is realized, and detection data can be obtained without manual operation on a detection site.

Description

Robot detection platform for fuel granularity or humidity

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of particle size detection equipment for particles or powder, in particular to a robot detection platform for fuel particle size or humidity.

[ background of the invention ]

In the prior art, for detecting parameters such as humidity and granularity of a solid or semi-solid material, manual field sampling is generally adopted, then the solid or semi-solid material is taken back to a laboratory for weighing, liquid nitrogen cooling solidification or drying, weighing, screening, reweighing and other steps, and the granularity proportion and the humidity are calculated by computer assistance. It has the following drawbacks:

firstly, the process is generally operated manually, which causes low efficiency, long detection period, detection data can not be fed back to a production line in time, the requirement of manual operation on the proficiency of operators is high, and errors are easy to occur in the operation process;

secondly, dust is easily generated in the detection process, and the human body is adversely affected when the human stays in the environment for a long time;

thirdly, some sampling points are on a belt line of a production line, many belt lines like steel plants are in the high altitude, and when manual sampling is carried out, sampling is carried out from the high altitude, and certain safety risks exist in personnel operation;

fourth, steel and iron works are generally large, manual sampling can be carried out for a long distance to reach a sampling point, the labor intensity of sampling once is high, and therefore the sampling frequency is determined to be not too high.

[ summary of the invention ]

The technical problem to be solved by the invention is to provide a robot detection platform for fuel granularity or humidity, which can automatically detect parameters such as granularity ratio and humidity of fuel, is not easy to make mistakes and has higher efficiency.

The invention is realized by the following steps: a robot detection platform for fuel granularity or humidity comprises

A control system;

the robot is in communication connection with the control system;

the clamping jaw device comprises a first driving device and a first gripper; the first driving device is fixedly connected to the robot, and the output end of the first driving device is connected to the first gripper; the first driving device is also in communication connection with the control system;

a microwave drying tray detachably connected to the first gripper;

the receiving device comprises a first support frame and a metering module; a first blanking port is formed in the first support frame; the metering module is connected to the first support frame, is positioned below the first blanking port and is communicated with the first blanking port; the metering module is also in communication connection with the control system;

the weighing device comprises a second support frame, a weighing sensor and a weighing support; the weighing sensor is fixedly connected to the second support frame and is in communication connection with the control system; the weighing bracket is fixedly connected to the weighing sensor;

the microwave drying device is in communication connection with the control system;

the screening machine is in communication connection with the control system.

Further, the clamping jaw device also comprises

The connecting piece is fixedly connected to the robot;

the first driving device is fixedly connected to the connecting piece;

the first gripper comprises two first gripping pieces, each first gripping piece is provided with a first positioning part, the two first gripping pieces are symmetrically connected to the output end of the first driving device, the first positioning parts of the two first gripping pieces are arranged oppositely, and the first driving device drives the two first gripping pieces to synchronously open and close.

Further, the clamping jaw device also comprises

The first air gun is fixedly connected to the connecting piece and positioned below the first gripper, and an outlet of the first air gun is obliquely arranged downwards and inwards;

and the first electromagnetic valve is in communication connection with the control system, and an outlet of the first electromagnetic valve is connected with the first air gun.

Further, the microwave drying tray comprises

The first chuck is symmetrically provided with first positioning matching parts at two sides, the number of the first positioning matching parts is the same as that of the first positioning parts, and the first positioning parts are matched with the first positioning matching parts in a positioning way;

the top end of the first shell is open, the side surface of the first shell is provided with a first wave-transmitting hole, and the first shell is fixedly connected with the first chuck;

the first disc body is arranged in the first shell;

the flexible interlayer is arranged between the first shell and the first disc body;

and the annular pressing plate is fixedly connected to the top end of the first shell and presses the first disc body.

Further, the first tray body is a quartz tray body.

Further, a second positioning matching part is arranged at the bottom end of the first chuck;

and a second positioning part is arranged on the weighing bracket and is in positioning fit with the second positioning fit part.

Furthermore, a third positioning part is arranged on the second support frame, and the third positioning part is also in positioning fit with the second positioning fit part.

Further, also includes

The fourth positioning part is fixedly connected to the second supporting frame;

the hanging and sweeping plate is provided with a second chuck; the second chuck is provided with a third positioning matching part which is matched with the first positioning part in a positioning way; the hanging and sweeping plate is also provided with a fourth positioning matching part; the hanging and sweeping plate is arranged on the second supporting frame, and the fourth positioning part is matched with the fourth positioning matching part in a positioning way;

and the first detection device is in communication connection with the control system and is used for detecting whether the hanging and sweeping plate is placed at a preset position on the second support frame.

Furthermore, a plurality of sawtooth grooves are formed in the bottom end of the hanging and sweeping plate.

Further, the metering module comprises

The fixed-volume push plate is rotationally connected to the first support frame and is positioned below the first blanking port;

the second driving device is fixedly connected to the first support frame, is in communication connection with the control system, and has an output end connected to the fixed-volume push plate to drive the fixed-volume push plate to rotate;

the quantitative cup is provided with openings at the upper end and the lower end, is fixedly connected to the first support frame, is positioned below the fixed-volume push plate and is right opposite to the first blanking port;

the supporting plate is rotatably connected to the first supporting frame and is positioned at the bottom end of the quantifying cup, and the area of the supporting plate is larger than the cross-sectional area of the inner cavity of the quantifying cup;

and the third driving device is fixedly connected to the first support frame, is in communication connection with the control system, and has an output end connected to the supporting plate to drive the supporting plate to rotate.

Further, also includes

And the material baffle is fixedly connected with the first support frame and encloses and blocks the outer sides of the quantitative cup and the quantitative push plate.

Further, the receiving device also comprises

The first hopper is fixedly connected to the first support frame, and the outlet at the bottom end of the first hopper covers the first blanking port.

Further, the receiving device also comprises

The second air gun is fixedly connected to the first supporting frame and used for blowing the supporting plate;

and the second electromagnetic valve is in communication connection with the control system, and an outlet of the second electromagnetic valve is connected with the second air gun.

Further, the receiving device also comprises

The fourth driving device is fixedly connected to the first support frame and is in communication connection with the control system;

and the brush is connected to the output end of the fourth driving device.

Further, the receiving device also comprises

The second funnel is fixedly connected to the first support frame and located below the brush and the supporting plate, and projections of the supporting plate, the quantifying cup and the brush in the vertical direction are located in an open port at the top end of the second funnel.

Further, the screening machine comprises

A fixed frame;

the fifth driving device is fixedly connected to the fixed frame and is in communication connection with the control system;

the eccentric wheel is fixedly connected with the output end of the fifth driving device;

one end of the screening connecting rod is connected with the eccentric wheel;

and the screening assembly is connected to the fixed frame in a sliding mode and is connected to the other end of the screening connecting rod.

Furthermore, a first connecting hole is formed in the center of the eccentric wheel;

the eccentric wheel is also provided with a plurality of second connecting holes, and the distances between the second connecting holes and the first connecting holes are different;

the output end of the fifth driving device is fixedly connected with the first connecting hole;

one end of the screening connecting rod is rotatably connected to one of the second connecting holes.

Further, the screen assembly includes

The bottom plate is connected to the fixed frame through a slide rail and a slide block;

the telescopic frame comprises a plurality of layers of screening discs, and a third hopper is arranged right above the uppermost screening disc; each screening disc is provided with an eighth positioning matching part, and the eighth positioning matching part is in positioning matching with the first positioning part;

and the sixth driving device is in communication connection with the control system, is fixedly connected with the bottom plate, and has an output end connected with the telescopic frame.

Furthermore, a limit protection piece is convexly arranged on the fixed frame;

the bottom plate is provided with a first groove, and the length of the first groove is greater than the maximum sliding stroke of the bottom plate;

the limiting protection piece extends into the first groove.

Furthermore, a plurality of screening holes are formed in the screening disc, but the screening disc at the bottommost layer is not provided with the screening holes;

the pore diameters of the screening holes of the screening disks in each layer are different, and the pore diameters of the screening holes are sequentially reduced from top to bottom.

Further, the telescopic frame comprises

The middle of the top plate is provided with a first avoidance opening and is fixedly connected above the bottom plate; the third funnel is located within the first avoidance opening;

the guide shafts are provided with a plurality of guide shafts, are respectively fixedly connected to the top plate and the bottom plate and are vertically arranged;

the cover plate is connected to each guide shaft in a vertically sliding mode, a second blanking port is formed in the middle of the cover plate, and the third funnel is fixedly connected to the cover plate and communicated with the second blanking port;

the laminated plates are equal to the screening plates in number, provided with fifth positioning parts, connected to each guide shaft in a vertically sliding manner and positioned between the cover plate and the bottom laminated plate;

a plurality of lifting pull rods are vertically arranged;

wherein:

the output end of the sixth driving device is connected to the cover plate;

the screening disc is also provided with a fifth positioning matching part; the fifth positioning matching part is matched with the third positioning part in a positioning way;

a plurality of lifting pull rods are respectively arranged between the adjacent laminates, and the mounting mode of the lifting pull rods is as follows: the top end of the laminated plate is fixed on the upper layer, and the bottom end of the laminated plate is vertically slidably arranged on the lower layer in a penetrating manner and is used for hoisting the laminated plate on the lower layer;

the plywood of top layer with the apron is direct also to be equipped with a plurality of lifting pull rod, just lifting pull rod's mounting means does: the top end of the top plate is fixedly connected with the cover plate, and the bottom end of the top plate is vertically slidably arranged on the topmost layer in a penetrating manner and used for hoisting the topmost layer;

the screening discs are correspondingly arranged on the laminate one by one and are embedded into the screening disc accommodating holes, and the fifth positioning parts are in positioning fit with the fifth positioning matching parts;

when the telescopic frame is retracted to a preset position, the screening disc is covered by the layer plate or the cover plate on the upper layer.

Furthermore, a screening disc accommodating hole is formed in the middle of each layer plate;

the bottom end of the screening disc is also provided with a convex part, the outer diameter of the convex part is equal to the inner diameter of the containing hole of the screening disc, and the convex part is in clearance fit with the containing hole of the screening disc;

the convex parts are embedded into the accommodating holes of the screening disc in a one-to-one correspondence mode.

Further, the sixth driving means includes

The lifting motor is fixedly connected to the bottom plate;

the screw rod is rotationally connected with the bottom plate and the top plate and is vertically arranged;

the nut is in threaded connection with the screw rod and is fixedly connected with the cover plate;

the output shaft of the lifting motor and the screw rod are respectively fixedly sleeved with one synchronous belt wheel;

and the synchronous belts are connected to the synchronous pulleys.

Further, also includes

The idler shaft is fixedly connected to the fixed frame and is parallel to the screw rod;

the idler wheel is rotationally sleeved on the idler wheel shaft, and the synchronous belt is pressed on the outer side;

the protective covers are provided with a plurality of same or different sizes, are respectively sleeved on the guide shaft and the screw rod, and cover the exposed parts of the screw rod and the guide shaft when the telescopic frame is retracted to a preset position.

Further, also includes

A receiving tray;

the third chuck is provided with a sixth positioning matching part and a seventh positioning matching part and is fixedly connected to the receiving tray;

the sixth positioning part is matched with the sixth positioning matching part in a positioning way;

the seventh driving device is fixedly connected to the robot and is in communication connection with the control system;

the second gripper comprises two second gripping pieces, each second gripping piece is provided with a seventh positioning part, the two second gripping pieces are symmetrically connected to the output end of the seventh driving device, the seventh positioning parts are arranged oppositely, the second gripping pieces are positioned below the first gripping pieces, and the seventh driving device drives the two second gripping pieces to synchronously open and close; the seventh positioning matching part is matched with the seventh positioning part in a positioning way;

and the second detection device is in communication connection with the control system and is used for detecting whether the sixth positioning part and the sixth positioning matching part are matched in place or not.

Further, the sixth positioning matching part is arranged on the first support frame.

Further, also includes

The robot, the material receiving device, the weighing device, the microwave drying device and the screening machine are positioned in the rack;

the upper computer is in communication connection with the control system;

the display screen is fixedly connected to the rack and is in communication connection with the control system;

the alarm device is in communication connection with the control system and is fixedly connected with the rack;

the safety protection cover is provided with an access door, is fixedly connected to the rack, and is arranged outside the robot, the material receiving device, the weighing device, the microwave drying device and the screening machine in a surrounding manner;

the receiving pipe is fixed on the safety protection cover, a bottom port is arranged right above the first blanking port and communicated with the first blanking port, and a top port penetrates through the safety protection cover;

the exhaust hood is arranged above the sieving machine;

the tuber pipe is fixed in safety protection casing, and a port fixed connection in exhaust hood, and both intercommunications, another port pierces through safety protection casing.

Further, the safety protection cover further comprises a static elimination device which is arranged in the safety protection cover and is in communication connection with the control system.

Further, the static electricity eliminating device is fixedly connected to the first support frame.

The invention has the advantages that: the invention provides a robot detection platform for fuel granularity or humidity, which comprises a control system, a control system and a control system, wherein the control system comprises a control system; the robot is in communication connection with the control system; the clamping jaw device comprises a first driving device and a first gripper; the first driving device is fixedly connected to the robot, and the output end of the first driving device is connected to the first gripper; a microwave drying tray detachably connected to the first gripper; the receiving device comprises a first support frame and a metering module; the weighing device comprises a second support frame, a weighing sensor and a weighing support; the microwave drying device is in communication connection with the control system; the screening machine is in communication connection with the control system. The clamping jaw device is controlled by the control system to clamp the microwave drying disc to receive and take samples, the samples are weighed, dried and weighed, the samples are poured into the screening machine to be screened, and after the weighing and the weighing are finished, the samples are taken out to be weighed and detected, so that full-automatic detection is realized, and the efficiency is improved.

[ description of the drawings ]

The invention will be further described with reference to the following examples with reference to the accompanying drawings.

Fig. 1 is a first perspective view of a robotic detection platform for mixture particle size or humidity according to the present invention.

Fig. 2 is a second perspective view of the mix particle size or humidity robot detection platform according to the present invention.

Fig. 3 is a schematic diagram of an internal structure of the mix particle size or humidity detection platform of the present invention.

Fig. 4 is a schematic diagram of an internal structure of the mixture granularity or humidity robot detection platform according to the present invention.

Fig. 5 is a schematic diagram of the internal structure of the mixture granularity or humidity robot detection platform according to the invention.

FIG. 6 is a top view of the internal structure of the batch size or moisture robotic testing platform of the present invention.

Fig. 7 is a perspective view of the receiving device of the present invention.

Fig. 8 is an explosion diagram i of the receiving device according to the present invention.

Fig. 9 is an exploded view of the receiving device according to the present invention.

Fig. 10 is a first perspective view of a metering module and a brush according to the present invention.

Fig. 11 is a second perspective view of a metering module and a brush or the like according to the present invention.

Fig. 12 is a top view of a metering module and brush, etc., according to the present invention.

Fig. 13 is a sectional view a-a in fig. 12.

Fig. 14 is a sectional view B-B in fig. 12.

Figure 15 is a perspective view of a screen according to the present invention.

Figure 16 is an exploded view of the screen of the present invention.

Figure 17 is an exploded view of the screen according to the present invention.

Figure 18 is a side view of the housing of the screen according to the present invention shown hidden.

Fig. 19 is a cross-sectional view taken along line C-C of fig. 18.

Figure 20 is a top view of the housing of the screen according to the present invention shown hidden.

Fig. 21 is a cross-sectional view taken along line D-D of fig. 20.

Fig. 22 is a cross-sectional view E-E of fig. 20.

Figure 23 is an exploded view of the screen according to the present invention with the housing hidden.

Figure 24 is an exploded view of the second embodiment of the screen according to the present invention with the housing concealed.

Figure 25 is an exploded view of the first laminate and screening disk of the present invention.

Fig. 26 is a partially enlarged schematic view of F in fig. 25.

Figure 27 is an exploded view of a screening disk according to the present invention.

Figure 28 is a perspective view of a hang-broom plate and microwave drying tray of the present invention positioned on a weighing apparatus.

Figure 29 is an exploded view of a sweep plate, microwave drying tray, of the present invention positioned on a weighing device.

Fig. 30 is a perspective view of a weighing apparatus according to the present invention.

Fig. 31 is an exploded view of the internal structure of the weighing apparatus of the present invention.

Fig. 32 is a first perspective view of a microwave drying tray according to the present invention.

Fig. 33 is a second perspective view of a microwave drying tray according to the present invention.

Fig. 34 is an exploded view of a microwave drying tray according to the present invention.

Fig. 35 is a first perspective view of the sweep plate of the present invention.

Fig. 36 is a second perspective view of the sweep plate of the present invention.

Fig. 37 is an assembly view of a microwave drying tray, a receiving tray and a robot according to the present invention.

Fig. 38 is an exploded view of a microwave drying tray, a receiving tray and a robot according to the present invention.

Figure 39 is a first perspective view of a jaw apparatus according to the present invention.

Figure 40 is a second perspective view of the jaw apparatus of the present invention.

Figure 41 is an exploded view of a jaw apparatus according to the present invention.

Fig. 42 is a front view of a microwave drying apparatus according to the present invention.

Fig. 43 is a sectional view H-H in fig. 42.

Fig. 44 is a sectional view taken along line I-I in fig. 42.

Fig. 45 is a top view of a microwave drying apparatus according to the present invention.

Fig. 46 is a sectional view taken along line J-J of fig. 45.

Fig. 47 is a schematic structural view of the microwave drying device according to the present invention after the door panel is hidden.

Description of reference numerals:

a robot 1;

the clamping jaw device 2, the first driving device 21, the clamping jaw arm 211, the first gripper 22, the first gripping piece 221, the first positioning part 2211, the connecting piece 23, the first air gun 24, the seventh driving device 25, the second gripper 26, the second gripping piece 261, the seventh positioning part 2611 and the third air gun 27;

the microwave drying plate 3, the first chuck 31, the first positioning matching part 311, the second positioning matching part 312, the first shell 32, the first wave-transmitting hole 321, the circular bottom plate 322, the first weight-reducing hole 3221, the annular shell 323, the first plate body 33, the annular pressure plate 34 and the flexible interlayer 35;

the material receiving device 4, a first supporting frame 41, a first blanking port 411, a metering module 42, a volume-fixing push plate 421, a vertical rotating shaft 4211, a bearing 4212, a vertical bearing sleeve 4213, a second driving device 422, a quantifying cup 423, a supporting plate 424, a third driving device 425, a baffle plate 426, a first funnel 43, a second air gun 44, a fourth driving device 45, a brush 46, a second funnel 47, a pipeline 48 and a first suction port 49;

the weighing device 5, the second support frame 51, the outer frame 511, the inner frame 512, the third positioning part 513, the third detection device 514, the weighing sensor 52, the weighing bracket 53, the second positioning part 531, the fourth positioning part 54, the hanging and sweeping plate 55, the second chuck 551, the third positioning matching part 5511, the fourth positioning matching part 5512, the sawtooth groove 552 and the first detection device 56;

the microwave drying device 6, the turntable 61, the tenth positioning part 611, the driving motor 62, the speed reducer 621, the door frame 63, the door panel 64, the first cylinder 65, the longitudinal connecting plate 651, the transverse connecting plate 652, the second cylinder 66 and the microwave oven 67;

the screening machine 7, a fixing frame 71, a limiting protection member 711, a fifth driving device 72, an eccentric wheel 73, a first connecting hole 731, a second connecting hole 732, a screening connecting rod 74, a screening assembly 75, a bottom plate 751, a first groove 7511, a screening disc 752, an eighth positioning matching part 7521, a screening hole 7522, a fifth positioning matching part 7523, a convex part 7524, an annular outer frame 7525, a screen 7526, a circular pressing sheet 7527, a third hopper 753, a sixth driving device 754, a lifting motor 7541, a screw 7542, a nut 7543, a synchronous pulley 7544, a synchronous belt 7545, an idle wheel shaft 7546, an idle wheel 7547, a protective cover 7548, a top plate 755, a first avoiding opening 7551, a guide shaft 756, a cover plate 757, a second blanking opening 7571, a plate 758, a fifth positioning part 7581, a screening disc accommodating hole 7582 and a lifting pull rod 759;

an air pipe 8 and a fan 81;

a static eliminating device 9;

a receiving tray 10, a third chuck 101, a sixth positioning matching part 1011, a seventh positioning matching part 1012 and a sixth positioning part 1013;

a second detecting device 20;

a frame 30;

a display screen 40;

a safety shield 50, an access door 501;

a material receiving pipe 60;

a hood 70.

[ detailed description ] embodiments

In the description of the present invention, it is to be understood that the description indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the scope of the present invention.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The general concept of the invention is as follows:

(1) control clamping jaw device 2 through control system (not shown) and cliied microwave drying dish 3 and connect and get the sample, and weigh, dry, weigh again, pour the sample into screening machine 7 again and sieve, accomplish the back, take out the sample again and weigh the detection, realize full automated inspection, raise the efficiency, and in the testing process operating personnel need not always wait at the check out test set next door, can reduce the influence of dust to the human body.

(2) Screening machine 7 adopts fifth drive arrangement 72 drive screening connecting rod 74, eccentric wheel 73 pivoted mode, can increase vibration amplitude, and screening connecting rod 74 and eccentric wheel 73 have a plurality of hookup locations, correspond the vibration amplitude of different gears, can further adjust vibration amplitude according to the user demand for screening effect is better.

(3) The sixth driving device 754 adopts a mode of driving the screw rod by a motor, and has better synchronism compared with an air cylinder or a hydraulic cylinder.

(4) The screening plate 752 is split, detachable, easy to clean and replace, and high in precision and rigidity.

(5) The spacing protection member 711 and the first groove 7511 play a role of safety protection, and the screen assemblies are prevented from falling off.

(6) The falling fine particles can be caught at the bottom 752 of the screening tray through the receiving tray 10, so that the falling fine particles are prevented from directly falling to the ground, and the field is kept clean.

(7) The picked up sample can be scraped flat by the sweep plate 55, resulting in more uniform drying.

(8) Through each location portion and the location cooperation portion location cooperation that corresponds for robot 1 is in the operation process, and the position is more accurate.

(9) The first air gun 24 can blow the fifth positioning part 7581, the second positioning part 531, the sixth positioning part 1013 and the third positioning part 513, so that the accumulation of contaminated dust at each positioning part and the influence on the positioning fit are avoided.

Similarly, the second air gun 44 blows the pallet, and the third air gun 27 blows the seventh positioning portion 2611.

(10) The fourth driving device 45 is controlled by the control system (not shown) to drive the brush 46 to rotate, so that each tray can be automatically cleaned.

Please refer to fig. 1 to 47. It should be noted that: in one embodiment provided in the drawings, as shown in fig. 25, the screening holes 7522 have a smaller diameter and are densely packed to form a very dark space, so that the screening plate 752 only partially illustrates some of the screening holes 7522 for easy viewing, and in particular, the screening holes 7522 may be distributed over the bottom of the screening plate 752 or a desired number of screening holes 7522 may be provided as desired; the aperture and shape of the screening holes 7522 may be predetermined according to actual requirements, corresponding to different particle sizes.

Example (b):

the invention discloses a robot detection platform for fuel granularity or humidity, which comprises

A control system (not shown); existing control systems, PLCs, etc. may be employed, for example: the PLC model is Siemens S7-1200.

The robot 1 is in communication connection with the control system (not shown), is controlled by the control system (not shown) to move according to a preset track, and is used for grabbing corresponding parts to realize automatic operation; for example, a robot 1 of type KR10-R1100 may be used, although in other embodiments, other configurations of robots 1 may be used.

A jaw device 2 comprising a first drive 21 and a first gripper 22; the first driving device 21 is fixedly connected to the robot 1, and the output end of the first driving device is connected to the first gripper 22; the first driving device 21 is also communicatively connected to the control system (not shown); the first driving device 21 is controlled by a control system (not shown) to operate, and the first gripper 22 is driven to operate. In a specific embodiment, the first driving device 21 may adopt an actuator, for example, an air cylinder, such as the following types: the HDW-50 clamp is embodied such that it is only necessary to fixedly attach the two first gripping tabs 221 to the two parallel gripper arms 211 of the clamp.

The microwave drying disc 3 is detachably connected to the first gripper 22, the first gripper 22 grips the microwave drying disc 3 and moves along a preset track, the microwave drying disc 3 is used for receiving a detected sample, the procedures before screening such as weighing and drying are carried out, and the sample is poured into the screening machine 7 for screening after the procedures are finished;

the receiving device 4 comprises a first support frame 41 and a metering module 42; a first blanking port 411 is arranged on the first support frame 41; the metering module 42 is connected to the first support frame 41, is located below the first blanking port 411, and is communicated with the first blanking port 411; the metering module 42 is also communicatively connected to the control system (not shown); the sample is conveyed in from the first blanking port 411 and is metered by the metering module 42;

a weighing device 5 including a second support frame 51, a load cell 52 and a weighing bracket 53; the weighing sensor 52 is fixedly connected to the second support frame 51 and is in communication connection with the control system (not shown); the weighing bracket 53 is fixedly connected to the weighing sensor 52; after the microwave drying tray 3 receives the sample, the microwave drying tray 3 is placed on a weighing bracket 53 for weighing, the weighing sensor 52 feeds the measured weight back to a control system (not shown), and the control system (not shown) stores the received weight data; or forwarded to other devices such as a computer for storage; in specific implementation, the second supporting frame 51 may adopt the embodiment shown in the drawings, and includes a split outer frame 511 and an inner frame 512, wherein the components such as the sweeping plate 55, the microwave drying tray and the like are fixed on the outer frame 511, and the weighing bracket 53 and the weighing sensor 52 are fixed on the inner frame 512; of course, in other embodiments, the outer frame 511 and the inner frame 512 may be integrated.

A microwave drying device 6 communicatively connected to the control system (not shown); the microwave drying device 6 is controlled by a control system (not shown) to dry the sample, and the weight of the dried sample and the humidity of the sample can be measured. In a specific embodiment, the microwave drying device 6 may be a microwave dryer. In a specific embodiment, the microwave drying device 6 may be a microwave dryer, and only needs to be capable of realizing automatic control.

Alternatively, in other embodiments, the microwave drying unit 6 may be retrofitted with existing non-automated microwave ovens. For example:

the door of the microwave oven is changed into an automatic door, a tenth positioning part 611 is added to the turntable 61 for placing objects in the oven body, and the driving motor 62 of the turntable 61 can be selected according to the required precision, for example, a stepping motor can be used for driving a speed reducer and then the turntable 61 is driven to rotate; the stepping motor is high in precision, the position of the turntable 61 stopping before working and the position of the turntable 61 stopping after working can be adjusted to be the same, namely, during drying, the turntable 61 rotates, the turntable 61 stops after the completion, and the position of the turntable 61 at the moment is consistent with the position of the turntable before drying, so that detection equipment such as a position detection sensor is not needed, the microwave drying disc 3 can be grabbed in the original position only by driving the first gripper 22 through the robot 1 through a preset track.

And the turntable 61 can be additionally provided with a tenth positioning part 611, the tenth positioning part is in positioning fit with the second positioning fit part 312, and the tenth positioning part and the second positioning fit part have limiting and positioning functions, so that the microwave drying disc 3 is ensured not to deviate when the turntable rotates, and the position accuracy of the microwave drying disc 3 is ensured.

And an embodiment of the automatic door: comprises a door frame 63, a door plate 64, a first air cylinder 65 and a second air cylinder 66;

the two sides of the door panel 64 are symmetrically provided with sliding blocks, the door frame 63 is provided with two vertical sliding rails, and the sliding rails are in sliding connection with the sliding blocks, so that the door panel 64 can be connected to the door frame 63 in a vertical sliding manner;

the first air cylinder 65 is fixed on one side of the door frame 63, the piston rod is vertically arranged and fixedly connected with the door panel 64 or the sliding block, for example, the end part of the piston rod is fixedly connected with a longitudinal connecting plate 651, the longitudinal connecting plate 651 penetrates through the door frame 63 and is fixedly connected with a transverse connecting plate 652, and the transverse connecting plate 652 is fixedly connected with the door panel 64, so that the first air cylinder 65 drives the door panel to slide up and down to realize automatic control;

the second cylinders 66 are four in number, are arranged in a rectangular shape, and are fixed on the frame of the microwave oven, and the piston rods are horizontally arranged and fixedly connected to four corners of the door frame 63 in a one-to-one correspondence manner, so that the door frame 63 is hung on the microwave oven 67 by the four second cylinders 66, the door frame 63 is driven to move horizontally by the second cylinders 66, the door frame 63 can be attached to the frame of the microwave oven, and finally the door is closed.

In a specific implementation, the microwave oven 67, the driving motor 62, the first cylinder 65, and the second cylinder 66 may be respectively connected to a control system (not shown) in a communication manner, and may be controlled by the control system (not shown) in a unified manner.

The working principle is as follows: when drying, the control system (not shown) first controls the piston rod of the first cylinder 65 to move downward, so as to drive the door panel 64 to slide downward, and open the door panel 64;

then, the robot 1 is controlled to move to a predetermined position on the turntable 61 with the microwave drying disk 3 according to a predetermined track, and the tenth positioning part 611 is in positioning fit with the second positioning fit part 312;

then, controlling the first driving device 21 to drive the first gripper 22 to release the microwave drying plate 3;

then controlling the robot 1 to withdraw from the microwave drying device 6 with the first gripper 22 according to a preset track;

then, the four second air cylinders 66 are controlled to synchronously retract, and the door frame 63 is tightened and sealed; in addition, the process can also control the piston rod of the first air cylinder 65 to reset at the same time, so as to drive the door panel 64 to slide upwards and cover the door frame 63; finally, the door is closed;

and finally, controlling the microwave oven 67 to work according to a preset program to dry the sample in the microwave drying disc 3, and controlling the driving motor 62 to work simultaneously in the drying process to drive the speed reducer 621 to rotate so as to drive the rotary disc to rotate, so that the microwave drying disc 3 is driven to rotate, and drying is more uniform.

After the drying is finished, the second air cylinder 66 is controlled to work synchronously, the door frame 63 is driven to open outwards, the first air cylinder 65 is controlled to work, the door plate 64 is driven to slide downwards, the door plate 64 is opened, and finally the door is opened;

then, the robot 1 is controlled to work according to a preset track, the first gripper 22 is moved to a preset position, and the first driving device 21 is controlled to drive the first gripper 22 to clamp the microwave drying disc 3 again; and finally, controlling the robot 1 to move to carry out the next weighing process.

The screening machine 7 is connected to the control system (not shown) in communication. The control system (not shown) controls the operation of the sieving machine 7 to sieve the sample, so that the granularity can be detected.

The clamping jaw device 2 further comprises

A connecting member 23 fixedly connected to the robot 1; in a specific implementation, the robot can be fixed on the robot through bolts; in specific implementation, the connecting piece 23 can adopt a connecting plate, a connecting block or other structures; mainly plays a role of supporting seat or switching. In the embodiment shown in the drawings, the connecting member 23 is a connecting plate.

The first driving device 21 is fixedly connected to the connecting member 23, and in a specific implementation, the first driving device may also be fixed by bolts or welding;

the first gripper 22 comprises two first gripping sheets 221, each first gripping sheet 221 is provided with a first positioning portion 2211, the two first gripping sheets 221 are symmetrically connected to the output end of the first driving device 21, the first positioning portions 2211 of the two first gripping sheets 22 are arranged in opposite directions, and the first driving device 21 drives the two first gripping sheets 221 to synchronously open and close. In specific implementation, each positioning part and each positioning matching part can adopt a pin-hole matching mode, wherein if one positioning pin is adopted, the other positioning hole is adopted; and vice versa. The positioning part and the positioning matching part are matched in a positioning way, so that when the two first grabbing pieces 221 grab the microwave drying tray 3 or the screening tray 752 to move, deviation does not occur. In a specific implementation, the first catch 221 and the first driving device claw arm 211 can be fastened by screws.

The clamping jaw device 2 further comprises

The first air gun 24 is fixedly connected to the connecting piece 23 and positioned below the first gripper, and an outlet of the first air gun is obliquely and downwards and inwards arranged; because the sample is solid or semi-solid particles, dust is easily generated in the detection process, and the dust on the fifth positioning part 7581, the second positioning part 531, the sixth positioning part 1013 and the third positioning part 513 is swept by the first air gun 24, so that the interference of the positioning fit caused by the dust accumulation is avoided; namely, the positioning part for placing each tray body is used for blowing, and dust accumulation is avoided. When the dust removing device works, when the first gripper 22 grips the corresponding tray body and places the corresponding positioning part, the first electromagnetic valve (not shown) is firstly opened, and the first air gun 24 blows air to the corresponding positioning part to remove dust;

a first solenoid valve (not shown) communicatively connected to the control system (not shown) and having an outlet connected to the first air gun 24. The control system (not shown) controls the on/off of the air passage of the first air gun 24 by controlling the on/off of the first electromagnetic valve (not shown). In a specific implementation, the air inlet of the first solenoid valve (not shown) is connected to the air source.

The microwave drying tray 3 comprises

First chuck 31, bilateral symmetry is equipped with first location cooperation portion 311, just the quantity of first location cooperation portion 311 with the quantity of first location portion 2211 is the same, first location portion 2211 with first location cooperation portion 311 location cooperation to when first tongs 22 snatchs first chuck 31 and removes, avoid both to take place relative skew, and cause the inaccurate of follow-up removal process position.

The first housing 32 has an open top end, a side surface provided with a first wave-transmitting hole 321, and is fixedly connected to the first chuck 31, in a specific embodiment, a front end of the first chuck 31 may be provided with a mounting hole, and the first housing 32 is fastened to the side surface of the first housing 32 by passing a screw through the mounting hole; the first wave-transmitting hole 321 is convenient for transmitting microwaves of the microwave dryer, so that the wave-transmitting property of the microwave drying disk 3 is better, and thus, the sample inside the first disk body 33 is better subjected to microwave drying; in specific implementation, the first shell 32 may be an integral type, or may be a split type, for example, in the embodiment shown in the drawings, a split type circular bottom plate 322 and a split type annular shell 323 are used, and first weight-reducing holes 3221 may be formed in the circular bottom plate 322 and may be uniformly arranged in a circumference. The first wave-transmitting holes 321 are formed in the side surface of the annular shell 323 and are also uniformly arranged in the circumferential direction; the circular bottom plate 322 and the annular shell 323 are locked and fixed through bolts; the first housing 32 may be made of an aluminum alloy.

A first tray 33 disposed in the first housing 32; in specific implementation, the shape of the first disc 33 and the first housing can be designed to be various, such as cylindrical, polygonal, irregular, etc.

A flexible interlayer 35 provided between the first housing 32 and the first disc 33; the flexible interlayer 35 can enable the first disc 33 to be embedded with the first shell 32 more tightly, and the first disc 33 is prevented from being loosened and collapsed and the first shell is prevented from colliding with each other to damage the first disc 33 in the moving process; in a specific implementation, the flexible interlayer 35 may be made of a material that is soft and can be used in microwave heating, such as asbestos, and is filled between the first casing 32 and the first disk 33. In a specific embodiment, the flexible interlayer is annular.

And an annular pressing plate 34 fixedly connected to the top end of the first casing 32 and pressing the first disc 33.

The first tray 33 is a quartz tray.

The bottom end of the first chuck 31 is provided with a second positioning matching part 312;

be equipped with second location portion 531 on weighing support 53, second location portion 531 and second location cooperation portion 312 location cooperation for when weighing support 53 was placed to microwave drying dish 3 at every turn, the position kept unanimous, and the robot 1 of being convenient for drives first chuck 31 that first tongs 22 snatched microwave drying dish 3, ensures the precision of position in the automatic control of being convenient for. The weighing support 53 can be designed in various shapes and structures.

The second supporting frame 51 is provided with a third positioning portion 513, and the third positioning portion 513 is also in positioning fit with the second positioning fitting portion 312, so that the microwave drying tray 3 can be used as a predetermined first position, that is, a placing position when the sample in the microwave drying tray 3 is not used or needs to be scraped. The positional accuracy is ensured by the positioning engagement of the third positioning portion 513 and the second positioning engagement portion 312. In a specific embodiment, a third detecting device 514 may be further added, which is communicatively connected to the control system (not shown), and is used for detecting whether the third positioning portion 513 and the second positioning engaging portion 312 complete positioning engagement, so as to play a role of error prevention, and timely find out an abnormal error. In the same way, the first detection device 56 and the second detection device 20 also have the same function, and sensors such as proximity sensors can be used for all the three detection devices, however, in other embodiments, the first detection device 56 and the second detection device 20 do not need to be provided, and each position is preset, and only in this embodiment, the abnormal error cannot be known in time, and needs to be found manually.

Also comprises

A fourth positioning portion 54 fixedly connected to the second supporting frame 51; the second support frame 51 is fixed on the second support frame 51, so that the moving track of the robot 1 can be optimized, the path can be shorter in the operation process, the robot can be firstly strickled and then weighed after a sample is received, and the second support frame 51 is a part of the weighing device 5 and is closer to the weighing support 53; of course, in other embodiments, the microwave drying device can be fixed on the receiving device 4, the microwave drying device 6, the rack 30 and other equipment. In a specific implementation, there are two ways for placing the microwave drying tray 3 on the second supporting frame 51, that is, there are two ways for the fourth positioning portion 54 to be fixedly connected to the second supporting frame 51: the first is that the microwave drying tray 3 is directly placed on the second support frame, the fourth positioning portion 54 is directly fixed on the top surface of the second support frame 51, the other microwave drying tray 3 is placed on a plurality of support members, the support members may be L-shaped, square, column-shaped or other support members, which are the embodiments shown in the drawings, at this time, the fourth positioning portion 54 is fixedly connected to one of the support members, and each of the support members is fixedly connected to the second support frame 51, the difference between the first and second is that the first mode requires processing the contact surface of the second support frame 51 for supporting the microwave drying tray 3, the processing area is larger, the second mode requires processing the contact surface of each of the support members and the microwave drying tray 3, and the processing area is smaller than that of the first mode, and the processing is more convenient.

The hanging and sweeping plate 55 is provided with a second chuck 551; the second chuck 551 is provided with a third positioning matching part 5511, and the third positioning matching part 5511 is in positioning matching with the first positioning part 2211 and is used for positioning matching when the first gripper 22 grips the second chuck 551, so that the hanging and sweeping plate 55 is gripped, and the situation that the second chuck 551 and the first gripper 22 shift relatively in the moving process to cause inaccurate position in the subsequent operation process is avoided; the hanging and sweeping plate 55 is further provided with a fourth positioning matching part 5512; the hanging and sweeping plate 55 is placed on the second supporting frame 51, and the fourth positioning portion 54 and the fourth positioning matching portion 5512 are in positioning matching; the hanging and sweeping plate 55 is used for scraping samples in the microwave drying tray 3, so that the samples are distributed more uniformly in the microwave drying tray 3, the subsequent drying is more convenient, and the drying is more uniform.

A first detecting device 56, communicatively connected to the control system (not shown), for detecting whether the sweeping board 55 is placed at a predetermined position on the second supporting frame 51. In a specific implementation, the first detecting device 56 may be a proximity sensor, but may be other sensing devices, such as a touch sensor, a photoelectric sensor, etc., in other embodiments.

The bottom end of the hanging and sweeping plate 55 is provided with a plurality of sawtooth grooves 552. Because the sample has the granularity, the sawtooth groove 552 has the avoidance function, and the sample with larger particles passes through the sawtooth groove 552, so that the blockage caused by scraping is avoided.

The metering module 42 comprises

The fixed-volume push plate 421 is rotatably connected to the first support frame 41 and is located below the first blanking port 411; the excessive sample falling on the quantitative cup 423 is pushed away by the fixed-volume push plate 421; in a specific embodiment, the fixed-volume push plate 421 is in an arc shape and is fixedly connected to a vertical rotating shaft 4211, a bearing 4212 is sleeved on the vertical rotating shaft 4211, a vertical bearing sleeve 4213 is nested outside the bearing 4212, and the vertical bearing sleeve 4213 is fixedly connected to the first support frame 41, so that the fixed-volume push plate 421 is rotatably connected to the first support frame 41; wherein, the vertical rotating shaft 4211 is further hinged with the piston rod of the second driving device 422. Similarly, the supporting plate 424 can be connected to the first supporting frame 41 by using the same rotating structure.

A second driving device 422 fixedly connected to the first supporting frame 41, communicatively connected to the control system (not shown), and having an output end connected to the constant volume push plate 421, for driving the constant volume push plate 421 to rotate, so as to push away the excess sample on the quantification cup 423; in a specific embodiment, the second driving device 422 may be an actuator, such as a pneumatic cylinder.

A quantitative cup 423 with the upper and lower ends open, fixedly connected to the first support frame 41, positioned below the fixed-volume push plate 421, and directly opposite to the first blanking port 411; the quantitative detection device is used for quantitatively measuring samples, so that the amount of the samples detected each time is equal, and the subsequent analysis and comparison of detection results are facilitated.

A support plate 424 rotatably connected to the first support frame 41 and located at the bottom end of the quantitative cup 423, wherein the area of the support plate 424 is larger than the cross-sectional area of the inner cavity of the quantitative cup 423; the switch door of layer board 424 in the bottom of ration cup 423 can hold the sample when the sample is got to the ration volume, avoids from the bottom funnel of ration cup 423, can rotate when microwave drying dish 3 connects the material again and open for the sample in the ration cup 423 falls in the microwave drying dish 3.

A third driving device 425 fixedly connected to the first supporting frame 41 and communicatively connected to the control system (not shown), and an output end connected to the supporting plate 424, for driving the supporting plate 424 to rotate, thereby closing or opening the bottom port of the dosing cup 423. In a specific embodiment, the third driving device 425 may employ an actuator, such as a pneumatic cylinder.

Also comprises

And the material baffle plate 426 is fixedly connected to the first support frame 41 and encloses the quantitative cup 423 and the quantitative push plate 421. The situation that the sample is thrown to the outside of the material receiving device 4 and scattered everywhere when the fixed-volume push plate 421 rotates to push away the redundant sample of the quantitative cup 423 is avoided. The thrown sample is stopped by the baffle 426, so that the sample falls to the first funnel 43 below, and then falls onto the pipe 48 from the second funnel 47, and the abandoned sample is guided to the outside for collection. In a specific embodiment, the left, right and rear side surfaces of the receiving device 4 are all wrapped by a housing, and the front end side surface is provided with an inlet and an outlet of the microwave drying plate, so that the striker plate 426 only needs to be arranged on one side of the quantifying cup close to the inlet and the outlet. In other embodiments, the striker plate 426 may be arranged in other ways as long as it can prevent the sample from splashing outside the receiving device 4.

The receiving device 4 further comprises

The first funnel 43 is fixedly connected to the first support frame 41, and the outlet at the bottom end covers the first blanking opening 411. The first funnel 43 is arranged so that the sample can fall into the first blanking port 411 and is not easy to spill outside.

The receiving device 4 further comprises

The second air gun 44 is fixedly connected to the first support frame 41 and used for blowing the supporting plate 424 to clean the supporting plate 424;

a second solenoid valve (not shown) communicatively connected to the control system (not shown) and having an outlet connected to the second air gun 44. A second solenoid valve (not shown) is used to control the on/off of the air path of the second air gun 44, and in a specific implementation, an air inlet of the second solenoid valve (not shown) may be connected to an air source.

The receiving device 4 further comprises

A fourth driving device 45 fixedly connected to the first support frame 41 and communicatively connected to the control system (not shown); in a specific embodiment, the fourth driving device 45 may adopt a motor, and an output shaft thereof is arranged vertically downward;

and a brush 46 connected to an output end of the fourth driving device 45. Therefore, the control system (not shown) controls the fourth driving device 45 to operate, and drives the brush 46 to operate, so that the microwave drying tray 3 or the screening tray 752 can be cleaned, and the detection result can be prevented from being influenced by the residue. In a specific embodiment, the top end of the brush 46 and the output shaft of the fourth driving device 45 are connected by a coupling.

The receiving device 4 further comprises

A second hopper 47 fixedly connected to the first support frame 41 and located below the brushes 46 and the support plate 424, and projections of the support plate 424, the dosing cups 423 and the brushes 46 in the vertical direction are located in an open top end of the second hopper 47, so that samples falling on the dosing cups 423 and the support plate 424 fall from the second hopper 47 to a lower pipeline 48, and are prevented from being scattered everywhere;

in a specific embodiment, a pipe 48 may be further fixedly connected to the bottom outlet of the second funnel 47, and the pipe 48 passes through the safety shield 50 to guide the excess sample dropped from the quantifying cup 423 to the outside of the apparatus for recovering the detected waste sample. In one embodiment, a receiving container, such as a bucket, may be placed at the bottom outlet of the conduit 48 to collect the waste sample.

The screening machine 7 comprises

A fixed frame 71;

a fifth driving device 72 fixedly connected to the fixed frame 71 and communicatively connected to the control system (not shown); in a specific implementation, the fifth driving device 72 may be a motor, and may also be in the form of a motor + speed reducer.

The eccentric wheel 73 is fixedly connected with the output end of the fifth driving device 72; the fifth driving device 72 is controlled by a control system (not shown) to drive the eccentric wheel 73 to rotate, so as to drive the screening connecting rod 74 and the screening assembly 75 to swing, the eccentric wheel 73 is arranged in a mode, and the eccentricity is pre-adjustable, so that the swinging amplitude can be larger, screening is facilitated, and the screening efficiency and the accuracy are improved.

A sieving connecting rod 74 having one end connected to the eccentric wheel 73;

and a screen assembly 75 slidably coupled to the fixed frame 71 and coupled to the other end of the screen connecting rod 74.

A first connecting hole 731 is formed in the center of the eccentric wheel 73;

the eccentric wheel 73 is further provided with a plurality of second connecting holes 732, and the distances between each second connecting hole 732 and the first connecting hole 731 are different, that is, the eccentricity of each second connecting hole 732 is different, so that when the screening connecting rod 74 is connected to different second connecting holes 732, the swing amplitudes of the screening assemblies 75 are different, that is, the swing amplitudes correspond to different gears, and the swing amplitudes of the screening assemblies 75 can be adjusted to required gears according to use requirements;

wherein, the output end of the fifth driving device 72 is fixedly connected to the first connection hole 731;

one end of the sieving connecting rod 74 is rotatably connected to one of the second connection holes 732.

The screen assemblies 75 include

A bottom plate 751 connected to the fixed frame 71 by a slide rail and a slider;

the telescopic frame comprises a plurality of layers of screening discs 752, and a third hopper 753 is further arranged right above the uppermost layer of screening discs 752; each screening tray 752 is provided with an eighth positioning matching portion 7521, the eighth positioning matching portion 7521 is matched with the first positioning portion 2211 in a positioning manner, and in a specific embodiment, the eighth positioning matching portions 7521 are located on two sides of the screening tray 752 and are symmetrically arranged; the telescopic frame is used for shrinking to seal each layer of screening discs 752 during screening so as to prevent samples from falling outside; when extended, it is convenient to grip or place the screening plate 752.

And a sixth driving device 754, which is communicatively connected to the control system (not shown), and is fixedly connected to the bottom plate 751, and an output end of the sixth driving device 754 is connected to the telescopic frame, and the control system (not shown) controls the sixth driving device 754 to drive the telescopic frame to extend and retract.

The fixed frame 71 is convexly provided with a limit protection member 711;

the bottom plate 751 is provided with a first groove 7511, the length of the first groove 7511 is larger than the maximum sliding stroke of the bottom plate 751, and interference on the swinging of the screen assembly 75 is avoided;

the limit guard 711 extends into the first groove 7511, so that in case of an accident, the bottom plate 751 is limited and protected by the limit guard 711, and the bottom plate 751 and the screening assemblies 75 thereon are prevented from falling off the fixed frame 71.

The screening plate 752 is provided with a plurality of screening holes 7522, but the screening plate 752 at the bottommost layer is not provided with the screening holes 7522; compared with the screening net in the prior art, the screening net in the prior art is usually woven by iron wires or steel wires, and then the screening net is riveted to the bottom of the screening frame, so that the screening net is easy to damage and rust, relatively low in precision and rigidity, and not easy to disassemble, clean and replace in a riveting mode; in a specific embodiment, as shown in fig. 27, the screening tray 752 includes an annular outer frame 7525, a screen 7526 and a circular pressing plate 7527, the annular outer frame 7525 may be made of aluminum alloy, the screen 7526 may be etched by using a stainless steel circular disc, the circular pressing plate 7527 may be made of an iron plate, the screen 7256 is located at the bottom of the annular outer frame 7525 and then pressed by the circular pressing plate 7527, and finally, the circular pressing plate 7527 and the screen 7526 are locked at the bottom of the annular outer frame 7525 by using screws (not shown), so that the screening tray 752 of the present invention is in a detachable form, is easy to clean and screen, is etched by using stainless steel, has high precision and rigidity, and in a specific embodiment, the screening holes 7522 may be etched. The bottommost screening tray 752 is not provided with the screening holes 7522, which are used to hold a batch of samples of the smallest size while avoiding falling onto the fixed frame 71.

The aperture of the screening holes 7522 of each layer of the screening disks 752 is different, and the aperture of the screening holes 7522 of each layer of the screening disks 752 decreases from top to bottom.

The telescopic frame comprises

The top plate 755 is provided with a first avoiding opening 7551 in the middle, is used for avoiding and accommodating the third funnel 753 and is fixedly connected above the bottom plate 751; the third funnel 753 being positioned within the first bypass opening 7551; the top plate 755 is used to hold guide shafts 756, lead screws 7542, and in one embodiment, may be fixedly attached to the bottom plate 751 by vertical support bars to form a support frame for the screen assemblies 75.

A plurality of guide shafts 756 having a plurality of shapes, fixedly connected to the top plate 755 and the bottom plate 751, respectively, and vertically arranged; the guide shafts 756 are used for guiding the up-and-down sliding of each laminate 758 to the left and right;

a cover plate 757 connected to each of the guide shafts 756 in a vertically sliding manner, in a specific embodiment, the cover plate 757 and the guide shafts 756 are connected by a linear bearing, so as to achieve vertical sliding, a second blanking port 7571 is formed in the middle, and the third funnel 753 is fixedly connected to the cover plate 757 and is communicated with the second blanking port 7571; the cover plate 757 is used to cover the topmost screening tray 752, so that when screening, most of the area of the topmost screening tray 752 is covered, and only the second material drop opening 7571 and the third funnel 753 are communicated, and in an implementation, the size of the second material drop opening 7571 and the size of the third funnel 753 are controlled, so that a sample is not thrown out of the third funnel 753 during screening.

The number of the layered plates 758 is equal to that of the screening disks 752, fifth positioning parts 7581 are provided, and the layered plates are connected to each guide shaft 756 in a vertically sliding manner and positioned between the cover plate 757 and the bottom plate 751;

a plurality of lifting pull rods 759 are vertically arranged; the lifting pull rod 759 is used as a transmission member, so that when the cover plate 757 is lifted, the lifting pull rod 759 is pulled, and the layer plate 758 and the screening disc 752 on the layer plate 758 are pulled to be lifted. In one embodiment, for example, the lifter 759 is an inverted T-shape that holds the ply 758 below with a transverse end, and the upright passes through the ply 758 with a clearance fit and is fixedly attached to the ply 758 or the cover 757 on the top after passing through the ply 758.

Wherein:

the output end of the sixth driving device 754 is connected to the cover plate 757, and the cover plate 757 is driven to move up and down by the sixth driving device 754; when descending, each layer 758 and each screening disc 752 are pressed downwards, so that each screening disc 752 is covered by the layer 758 or the cover plate 757 on the upper layer, and the sixth driving device 754 drives the screening discs; when the laminated board 758 ascends, the lifting pull rod 759 is pulled through the cover plate 757, so that the laminated board 758 is pulled up, the screening disc 752 and the laminated board 758 are reset, and the screening disc 752 is conveniently placed into a preset position on the laminated board 758 or taken out of the laminated board 758;

the screening tray 752 is further provided with a fifth positioning matching part 7523 for positioning matching with the fifth positioning part 7581, so that the position is more accurate;

a plurality of lifting pull rods 759 are respectively arranged between the adjacent laminates 758 and 758, and the mounting mode of the lifting pull rods 759 is as follows: the top end of the laminate 758 fixed on the upper layer, and the bottom end of the laminate 758 slidably penetrates through the laminate 758 on the lower layer up and down, and the laminate 758 on the lower layer is hung;

the plywood 758 at the topmost layer and the cover plate 757 are also directly provided with a plurality of lifting pull rods 759, and the mounting mode of the lifting pull rods 759 is as follows: the top end of the cover plate 757 is fixedly connected, and the bottom end of the cover plate is vertically slidably arranged on the top layer of the laminate 758, and the top layer of the laminate 758 is hung;

the screening discs 752 are correspondingly arranged on the laminates 758 one by one and are embedded into the screening disc accommodating holes 7582, and the fifth positioning parts 7581 are in positioning fit with the fifth positioning matching parts 7523;

when the telescoping tower is retracted to a predetermined position, the sifting tray 752 is covered by the previous layer of laminate 758 or cover 757.

A screening disc accommodating hole 7582 is formed in the middle of each laminate 758; the screening disk receiving apertures 7582 include two functions, one to locate with the projections 7524 and the other to allow sample to fall from the screening disk receiving apertures 7582 onto the next level of screening disk 752 for screening.

A convex part 7524 is further arranged at the bottom end of the screening disc 752, and the outer diameter of the convex part 7524 is equal to the inner diameter of the screening disc accommodating hole 7582 and is in clearance fit;

the projections 7524 are fitted into the screen disc receiving holes 7582 in a one-to-one correspondence.

The sixth driving device 754 includes

A lifting motor 7541 fixedly connected to the bottom plate 751;

a screw 7542 rotatably connected to the bottom plate 751 and the top plate 755 and vertically arranged; in a specific implementation, bearings can be respectively sleeved at the upper end and the lower end of the screw 7542, and the outer ring of the bearing is fixedly connected with the top plate 755 or the bottom plate 751.

A nut 7543 which is screwed on the screw 7542 and is fixedly connected to the cover plate 757;

the output shaft of the lifting motor 7541 and the screw 7542 are respectively fixedly sleeved with the synchronous belt pulley 7544;

and a timing belt 7545 connected to each of the timing pulleys 7544.

The lifting motor 7541 works, and drives the screw 7542 to rotate through a synchronous belt pulley 7544-synchronous belt 7545 transmission mechanism, so as to drive the nut 7543 to move up and down, and finally drives the cover plate 757 to move up and down, so that the telescopic frame is stretched.

In other embodiments, the sixth driving device 754 may also employ an air cylinder or a hydraulic cylinder, and a piston rod thereof is connected to the cover plate 757; or other drive devices may be used.

Also comprises

An idler shaft 7546 fixedly connected to the fixed frame 71 and parallel to the screw 7542;

an idler pulley 7547, the idler pulley 7547 rotatably fitted over the idler shaft 7546, and pressing the timing belt 7545 on the outside; the idler pulley 7547 presses the timing belt 7545 outside the timing belt 7545, thereby increasing a wrap angle between the timing belt 7545 and the timing pulley 7544, and preventing slippage between the timing belt 7545 and the timing pulley 7544. In a specific embodiment, a bearing is nested in the idler 7547, and an inner race of the bearing is nested on the idler shaft 7546.

A plurality of protective covers 7548, which have the same or different sizes, are respectively sleeved on the guide shaft 756 and the lead screw 7542, and when the telescopic frame is retracted to a predetermined position, the exposed parts of the lead screw 7542 and the guide shaft 756 are covered by the protective covers 7548. In a specific implementation, the protective cover 7548 may be an organ-type protective cover, and functions to cover the exposed portions of the guide shaft 756 and the lead screw 7542 when the telescopic frame is retracted for screening, so that dust is not easily attached to the exposed portions of the guide shaft 756 and the lead screw 7542.

Also comprises

A receiving tray 10; the receiving tray 10 is used for receiving the particles falling from the screening disc 752 below the microwave drying disc 3 or the screening disc 752, and the influence on cleanness caused by the particles falling directly on the ground or on the rack 30 is avoided.

The third chuck 101 is provided with a sixth positioning matching part 1011 and a seventh positioning matching part 1012, and is fixedly connected to the receiving tray 10; in a specific embodiment, the sixth positioning matching parts 1011 are located on the bottom surface of the third chuck 101, and the seventh positioning matching parts 1012 are located on two sides of the third chuck 101 and are symmetrically arranged;

a sixth positioning part 1013 which is positioned and matched with the sixth positioning and matching part 1011 to be a predetermined placing position of the receiving tray 10 when not in use; in a specific implementation, the sixth positioning matching part 1011 can be separately arranged on a supporting object; the microwave drying device can also be arranged on the first support frame 41, the second support frame 51 or the microwave drying device 6, so that the occupied area can be reduced;

a seventh driving device 25 fixedly connected to the robot 1 and communicatively connected to the control system (not shown);

the second hand grip 26 comprises two second gripping pieces 261, each second gripping piece 261 is provided with a seventh positioning portion 2611, the two second gripping pieces 261 are symmetrically connected to the output end of the seventh driving device 25, the seventh positioning portions 2611 are oppositely arranged, the second gripping pieces 261 are positioned below the first gripping pieces 221, and the seventh driving device 25 drives the two second gripping pieces 261 to synchronously open and close; the seventh positioning matching part 1012 and the seventh positioning part 2611 are matched in a positioning manner, so that when the second hand grip 26 grips the third chuck 101 to drive the receiving tray 10 to move, the second hand grip 26 and the third chuck 101 do not shift relatively; in a specific implementation, a third air gun 27 may be further added, which is fixed on the connecting member 23 and faces the seventh positioning portion 2611 for purging the seventh positioning portion 2611; the third air gun 27 may be connected to an air supply via a solenoid valve which is in turn communicatively connected to a control system (not shown); the control system (not shown) controls the opening or closing of the electromagnetic valve to control whether the third air gun 27 blows air or not. In a specific implementation, the seventh driving device 25 may also use an actuator, such as an air cylinder, for example, a pneumatic mechanical gripper of the type HDW-40, to connect the two second gripping tabs 261 to the two claw arms 211 of the pneumatic mechanical gripper.

The second detecting device 20 is communicatively connected to the control system (not shown), and is used for detecting whether the sixth positioning portion 1013 and the sixth positioning engaging portion 1011 are engaged in place, so as to prevent errors.

The sixth positioning matching part 1011 is disposed on the first support frame 41.

Also comprises

The robot comprises a rack 30, wherein the robot 1, a material receiving device 4, a weighing device 5, a microwave drying device 6 and a screening machine 7 are positioned in the rack 30; furthermore, in a specific implementation, the robot 1, the material receiving device 4, the weighing device 5, the microwave drying device 6, and the sieving machine 7 may be respectively fixed to the rack 30; the placing positions among the robot 1, the material receiving device 4, the weighing device 5, the microwave drying device 6 and the sieving machine 7 have no special requirements, and the robot 1 only needs to drive the clamping jaw device 2 to execute corresponding actions within the moving range of the robot 1 without interference.

An upper computer (not shown) which is in communication connection with the control system (not shown); the control system (not shown) uploads each detection data to the upper computer (not shown), and the upper computer (not shown) processes the detection data according to preset conditions to obtain a detection report. The installation position of the upper computer (not shown) can be arranged as required.

A display screen 40 fixedly connected to the rack 30 and communicatively connected to the control system (not shown);

an alarm device (not shown) communicatively connected to the control system (not shown); the alarm device (not shown) can visually display the state of the detection platform of the mixed material particle size robot 1, for example, in specific implementation, the alarm device (not shown) can adopt a three-color lamp, and the states corresponding to different colors of the three-color lamp can be preset according to use requirements. The installation position of the alarm device (not shown) can be randomly arranged according to the use requirement, and the observation of workers is facilitated. For example, may be fixedly attached to the housing 30, may be mounted in a control room, or may be mounted elsewhere.

The safety protection cover 50 is provided with an access door 501, is fixedly connected to the rack 30, and is arranged around the robot 1, the material receiving device 4, the weighing device 5, the microwave drying device 6 and the screening machine 7; the safety shield 50 can enclose each detection device to prevent accidents from occurring during use, thereby having a safety effect on the external environment or people.

The material receiving pipe 60 is fixed to the safety protection cover 50, a bottom port of the material receiving pipe is arranged right above the first blanking port 411 and is communicated with the first blanking port 411, and a top port of the material receiving pipe penetrates through the safety protection cover 50; the material receiving pipe 60 is used for interfacing with an external sample conveying device, so that the sample is conveyed to the first hopper 43 through the material receiving pipe 60 and falls into the quantifying cup 423 through the first blanking port 411.

An exhaust hood 70 disposed above the sieving machine 7;

the air pipe 8 is fixed on the safety protection cover 50, and a port is fixedly connected with the exhaust hood 70, the two are communicated, and the other port penetrates through the safety protection cover 50. In specific implementation, the air duct 8 may be butted with an external air suction device to suck dust inside the safety protection hood 50, or the embodiment shown in the drawings may be adopted, where a blower 81 is installed at another port of the air duct 8, and the blower 81 is used to directly suck the air duct 8, so as to suck the exhaust hood and perform dust suction operation. Of course, in other embodiments, the air duct 8 may also be provided with a plurality of air inlets for performing dust suction operation inside the safety protection cover 50. If the blower 81 is mounted on the duct 8, it can be electrically connected to a control system (not shown) and controlled by the control system, and the blower 81 can be controlled to operate at the same time when the detection is started.

In a specific embodiment, a first air suction opening 49 is formed on a side surface of the first support frame 41, and the first air suction opening 49 is connected to a port 82 of the air duct 8 by a connecting pipe (not shown), so that the blower 81 can also perform air suction and dust removal on the inside of the first support frame.

Also included is a static elimination apparatus 9 disposed within the safety shield 50 and communicatively coupled to the control system (not shown). The static electricity eliminating device 9 is used for eliminating static electricity, improving safety and avoiding sending dust explosion.

The static eliminator 9 is fixedly connected to the first support frame 41, and in a specific embodiment, an ion wind outlet of the static eliminator faces the brush 46, so that when the brush 46 cleans the microwave drying tray 3 and the screening tray 752, ion wind is blown out to perform static dust removal on each tray body, thereby eliminating static.

The use method comprises the following steps:

and presetting a detection program.

And connecting the control system (not shown) to an upper computer (not shown), uploading the detected data to the upper computer (not shown) through the control system (not shown), and performing calculation processing according to preset conditions to obtain a required detection result.

The material receiving pipe 60 is butted with a sample conveying device, and the sample is conveyed to the first hopper 43 through the material receiving pipe 60 and falls into the quantifying cup 423 through the first blanking port 411. And the amount of the sample to be transferred at each test is preset to ensure that the sample dropped into the measuring cup 423 fills the measuring cup 423 completely. For example, assuming that the volume of the measuring cup 423 is 1L, the amount of the sample to be transferred may be 1.5L, 1.6L, 2L, etc., so as to ensure that the measuring cup 423 is filled with the sample, and the excess sample is stacked above the measuring cup 423, waits for the volume-fixing push plate 421 to be pushed off, falls to the lower second hopper 47, and falls from the second hopper 47 to the pipeline 48 for recycling.

Positioning pins can be used for the first positioning portion 2211, the second positioning portion 531, the third positioning portion 513, the fourth positioning portion 54, the fifth positioning portion 7581, the sixth positioning portion 1013, and the seventh positioning portion 2611, and the cross section of the positioning pins can be circular, directional, or other shapes;

the first positioning matching part 311, the second positioning matching part 312, the third positioning matching part 5511, the fourth positioning matching part 5512, the fifth positioning matching part 7523, the sixth positioning matching part 1011 and the seventh positioning matching part 1012 can adopt positioning holes, the shapes of the positioning holes are the same as those of the corresponding positioning pins, and the positioning holes and the corresponding positioning pins are in clearance fit; the number of the positioning pins and the positioning holes can be arranged according to the shape, for example, in the embodiment shown in the drawings, the cross sections of the positioning pins and the positioning holes are circular, and each positioning part has two groups or 2 groups; if square is adopted, only one or one group is needed, and the groups can be selected as required.

Of course, in other embodiments, the positioning holes may be used for the positioning portions, and the positioning matching portions may also be used as positioning pins. Or other structural positioning means may be used.

The receiving tray 10 is placed on the first support frame 41 in advance, and the sixth positioning matching part 1011 and the sixth positioning part 1013 are in positioning matching, that is, the sixth positioning part 1013 is inserted into the sixth positioning matching part 1011, and the following other positioning matching is the same;

each tray can be directly placed on each support frame; the supporting blocks can be arranged on the corresponding supporting frames for supporting, the supporting blocks can be designed into an L shape, a cuboid, a cylinder shape or other shapes, the supporting blocks are adopted for supporting, the processing is convenient, the surfaces of the supporting blocks and the corresponding discs are only required to be processed according to requirements, and if each disc is directly placed on the corresponding supporting frame, the whole contact surface on the supporting frame needs to be processed, and the manufacturing difficulty and the manufacturing cost are correspondingly higher.

The microwave drying tray 3 is placed on the second supporting frame 51 in advance, and the second positioning matching part 312 is matched with the third positioning part 513 in a positioning way;

the particle size detection mode is as follows: the specific detection steps are as follows:

step S1, gripping the microwave drying tray 3: a control system (not shown) controls the first driving device 21 to work according to a preset program, and drives the two first grabbing pieces 221 to open synchronously; and controlling the robot 1 to move to a predetermined position, so that the first chuck 31 is located between the two first grasping pieces 221, and the first positioning portion 2211 and the first positioning matching portion 311 are opposite; then, the first driving device 21 is controlled to work, and the two first grasping pieces 221 are driven to be synchronously closed to a predetermined position, so that the first positioning portion 2211 and the first positioning matching portion 311 complete positioning matching, and the first grasping hand 22 grasps the microwave drying disk 3;

step S2, brushing the microwave drying tray 3: the control system (not shown) controls the fourth driving device 45 to work, drives the brush 46 to rotate, controls the robot 1 to move to the brush 46 according to a preset track for cleaning, and controls the cleaning process control system (not shown) to control the robot 1 to work according to a preset program and drive the microwave drying disc 3 to move; the purpose of this step is to clean the microwave drying plate 3, avoid the residue to influence the testing result; this step may not be necessary if the microwave drying tray 3 has been cleaned up in advance; during the cleaning process, the control system (not shown) also controls the static electricity eliminating device 9 to blow ion wind to the brush 46 and the microwave drying disk 3 to eliminate static electricity;

step S3, receiving: the sample is firstly conveyed to the first hopper 43 through the material receiving pipe 60 and falls into the quantitative cup 423 through the first blanking port 411; when receiving materials, the control system (not shown) firstly controls the second driving device 422 to work according to a preset program, drives the fixed-volume push plate 421 to rotate at the top port of the quantitative cup 423, pushes away redundant samples on the quantitative cup 423, drops the samples into the second hopper 47 below, and then drops the samples onto the pipeline 48 to convey the dropped samples away; after the operation is finished, controlling a second driving device 422 to drive the fixed-volume push plate 421 to rotate and reset;

after the resetting is completed, the control system (not shown) controls the robot 1 to move according to a predetermined track, so that the microwave drying plate 3 is positioned below the quantifying cup 423; after the sample is put in place, a control system (not shown) controls a third driving device 425 to work, and drives the tray to rotate and open, so that the sample in the quantitative cup 423 falls into the microwave drying tray 3; waiting for a period of time to ensure that the sample falls completely into the microwave drying tray 3, which may be set first;

step S4, weighing the total weight m of the sample_{General assembly}：

Firstly, strickling: the control system (not shown) controls the robot 1 to move according to a predetermined track, the microwave drying tray 3 is placed on the second support frame 51, the third positioning portion 513 and the second positioning matching portion 312 complete positioning matching and are detected by the third detection device 514, a signal is fed back to the control system (not shown), the control system (not shown) controls the first driving device 21 to work again, the two first grabbing pieces 221 are driven to be opened synchronously, and the microwave drying tray 3 is loosened;

then, the control system (not shown) controls the robot 1 to move to a predetermined position, so that the second chuck 551 is located between the two first grasping pieces 221, and the first positioning portion 2211 and the third positioning engagement portion 5511 are opposite; the first driving device 21 is controlled to drive the two first grabbing pieces 221 to close synchronously, the first positioning portion 2211 and the third positioning matching portion 5511 complete positioning matching, and the hanging and sweeping plate 55 is grabbed;

then, the control system (not shown) controls the robot 1 to move according to a predetermined track, so that the hanging and sweeping plate 55 moves on the microwave drying tray 3, and the sample on the microwave drying tray 3 is scraped, so that the sample is more uniformly distributed in the microwave drying tray 3, and the subsequent drying is facilitated;

after the scraping is finished, the robot 1 is controlled to move, the hanging and sweeping plate 55 is placed back to the original position, the fourth positioning matching part 5512 and the fourth positioning part 54 complete positioning matching, the first detection device 56 senses the positioning matching, a signal is fed back to a control system (not shown), the robot 1 and the first driving device 21 are controlled by a rear control system (not shown) to work, the robot 1 and the first driving device 21 move according to a preset track, and the first gripper 22 clamps the microwave drying plate 3 again;

weighing: after the first gripper 22 picks up the microwave drying tray 3 again, the control system (not shown) controls the robot 1 to move according to a predetermined track, and places the microwave drying tray 3 at a predetermined position on the weighing bracket 53, wherein the second positioning portion 531 and the second positioning matching portion 312 complete positioning matching; after the microwave drying is finished, the control system (not shown) controls the first driving device 21 to work, drives the first hand grip 22 to release the microwave drying tray 3, then controls the weighing sensor 52 to weigh, the weighing sensor 52 feeds measured weight data back to the control system (not shown), and the control system (not shown) transmits the data to the upper computer (not shown);

step S5, drying: after the weighing is finished, the control system (not shown) controls the first driving device 21 to drive the first gripper 22 to pick up the microwave drying tray 3 again according to a preset program; controlling the door of the microwave drying device 6 to be automatically opened, then controlling the robot 1 to move according to a preset program, putting the microwave drying disc 3 into a preset position in the microwave drying device 6, then controlling the first driving device 21 to work, driving the first gripper 22 to loosen the microwave drying disc 3, and then controlling the robot 1 to move, so that the first gripper 22 and the robot 1 are withdrawn from the microwave drying device 6; finally, controlling the microwave drying device 6 to close the door, and then controlling the microwave drying device 6 to work according to a preset program to dry the sample for a certain time, wherein the time is the completion of the drying and can be preset;

weigh the dried samplem₁: after drying, the microwave drying device 6 feeds back a signal to a control system (not shown), the control system (not shown) controls the microwave drying device 6 to open the door of the microwave drying device 6, then the robot 1 and the first driving device 21 are controlled to work according to a preset program, the first gripper 22 is enabled to grip the microwave drying disc 3 again, then the microwave drying disc 3 is placed on the weighing bracket 53, the microwave drying disc 3 is loosened to be weighed, the weighing sensor 52 feeds back measured weight data to the control system (not shown), and the control system (not shown) uploads the measured weight data to an upper computer (not shown) to be stored and recorded;

step S6, screening: after the reweighing is completed, the control system (not shown) controls the robot 1 and the first driving device 21 to work according to a preset program, so that the first gripper 22 grips the microwave drying tray 3 again, then controls the robot 1 to work according to the preset program, moves the microwave drying tray 3 to be right above a third hopper 753 of the screening machine 7, and then controls the robot 1 to move to rotate the microwave drying tray 3 downwards, so that the sample falls into the third hopper 753 and falls into a screening tray 752 below from the third hopper 753; after the completion, the robot 1 is controlled to move, the microwave drying tray 3 is placed back on the second supporting frame 51 again, and the second positioning matching part 312 and the third positioning part 513 complete positioning matching; or the microwave drying tray 3 may be moved to the brush 46 first, cleaned first, and then placed back on the second supporting frame 51;

on the other hand, a control system (not shown) controls the operation of the screening machine 7 according to a predetermined program:

firstly, controlling a lifting motor 7541 to work, driving a screw rod 7542 to rotate through a synchronous belt pulley 7544-synchronous belt 7545 transmission mechanism, further driving a nut 7543 to move up and down, and finally driving a cover plate 757 to move down, so that the telescopic frame is retracted, each screening disc 752 is covered by a layer of laminate 758 or cover plate 757 on the upper layer, and samples are prevented from being thrown out of the screening discs 752 in the screening process;

then, controlling the fifth driving device 72 to work, driving the eccentric wheel 73 to rotate, further driving the screening connecting rod 74 to reciprocate, and finally driving the screening assembly 75 to reciprocate, so as to screen the sample; the working time of the fifth driving device 72 can be preset, and when the preset time is reached, the sieving is finished;

after screening is finished, a control system (not shown) controls the lifting motor 7541 to work, the expansion bracket is driven to reset and lift, and the screening disc 752 is loosened;

step S7, weighing of the sifted material in each sifting pan 752:

clamping the receiving tray 10 first: a control system (not shown) controls the seventh driving device 25 to work according to a predetermined program, so as to drive the two second grasping pieces 261 to open synchronously; and controlling the robot 1 to move to a predetermined position, so that the third chuck 101 is located between the two second gripping sheets 261, and the seventh positioning portion 2611 and the seventh positioning matching portion 1012 on the second gripping sheets 261 are opposite; then, the seventh driving device 25 is controlled to work, and the two second gripping sheets 261 are driven to be synchronously closed to a preset position, so that the seventh positioning portion 2611 and the seventh positioning matching portion 1012 finish positioning matching, and the receiving tray 10 is clamped;

then the gripping screening plate 752: the control system (not shown) controls the robot 1 to move according to a predetermined track, so that the chuck of the screening tray 752 is located between the two first grabbing pieces 221, and the eighth positioning matching part 7521 is opposite to the first positioning part 2211; then, the first driving device 21 is controlled to work to drive the two first gripping sheets 221 to close synchronously, one of the screening trays 752 is gripped, and the eighth positioning matching part 7521 is matched with the first positioning part 2211 in a positioning manner;

then controlling the robot 1 to move, placing the screening tray 752 on the weighing bracket 53 at a predetermined position for weighing, wherein the fifth positioning matching part 7523 is matched with the third positioning part 513 in a positioning manner; then the first driving device 21 is controlled to drive the first gripper 22 to release the screening disk 752; then controlling the weighing sensor 52 to weigh, feeding the measured weight back to a control system (not shown) by the weighing sensor 52, and uploading the weight to an upper computer (not shown) by the control system (not shown);

after weighing, the control system (not shown) controls the first driving device 21 to work, drives the first gripper 22 to pick up the screening tray 752 again, controls the robot 1 to move, pours the samples in the screening tray 752 into the second hopper 47, controls the robot 1 to move, moves the screening tray 752 to the brush 46 to clean, controls the robot 1 to move, resets the screening tray 752 to be placed back on the screening machine 7, and completes positioning matching between the fifth positioning matching part 7523 and the fifth positioning part 7581;

by analogy, the robot 1 and the first driving device 21 are controlled to work by a sequential control system (not shown), and the rest screening trays 752 are taken out in sequence for weighing, material abandoning, cleaning and resetting;

in a specific implementation, it is preset that the screening disks 752 are sequentially taken out from top to bottom or from bottom to top, and each screening disk 752 is numbered, so that an upper computer (not shown) can conveniently record and store the weight of the screened objects corresponding to each screening disk 752, and the weights correspond to the granularity corresponding to the screening disks 752 one by one;

finally, controlling the robot 1 to move according to a preset track, and putting the receiving tray 10 back to the original position;

arranging S8, obtaining a detection report: the upper computer (not shown) divides the weight of the received screen material on each of the screening disks 752 by the weight m of the dried sample₁The proportion of the screened materials with the granularity corresponding to each screening tray 752 can be obtained; the proportion of the particles with different sizes in the sample and the particle size contained in the sample can be known.

Humidity detection mode:

in the above detection method, after step S5 is completed, the upper computer (not shown) first obtains the weight difference Δ m ═ m according to the formula_{General assembly}-m_{1 namely}(ii) a Then according to the formula humidity is ═ delta m/m_{General assembly}The humidity can be obtained. And producing a detection report according to a preset format after the completion.

After the granularity or humidity detection is completed, the upper computer (not shown) can also send the detection result to the control system (not shown), and the control system (not shown) sends the detection result to the display screen 40 and displays the detection result on the display screen 40. The method is suitable for installing an upper computer (not shown) at other places, such as a remote control room, so that the detection result can be obtained remotely or can be directly checked on site. And if the upper computer (not shown) is arranged on the detection platform of the mixed material granularity or humidity robot 1, the upper computer (not shown) can directly display the mixed material granularity or humidity without the display screen 40.

Although specific embodiments of the invention have been described above, it will be understood by those skilled in the art that the specific embodiments described are illustrative only and are not limiting upon the scope of the invention, and that equivalent modifications and variations can be made by those skilled in the art without departing from the spirit of the invention, which is to be limited only by the appended claims.

Claims (29)

1. A kind of fuel granularity or humidity detection platform of robot, characterized by that: comprises that

A control system;

the robot is in communication connection with the control system;

the clamping jaw device comprises a first driving device and a first gripper; the first driving device is fixedly connected to the robot, and the output end of the first driving device is connected to the first gripper; the first driving device is also in communication connection with the control system;

a microwave drying tray detachably connected to the first gripper;

the receiving device comprises a first support frame and a metering module; a first blanking port is formed in the first support frame; the metering module is connected to the first support frame, is positioned below the first blanking port and is communicated with the first blanking port; the metering module is also in communication connection with the control system;

the weighing device comprises a second support frame, a weighing sensor and a weighing support; the weighing sensor is fixedly connected to the second support frame and is in communication connection with the control system; the weighing bracket is fixedly connected to the weighing sensor;

the microwave drying device is in communication connection with the control system;

the screening machine is in communication connection with the control system.

2. The robotic fuel particle size or humidity testing platform of claim 1, wherein: the clamping jaw device also comprises

The connecting piece is fixedly connected to the robot;

the first driving device is fixedly connected to the connecting piece;

the first gripper comprises two first gripping pieces, each first gripping piece is provided with a first positioning part, the two first gripping pieces are symmetrically connected to the output end of the first driving device, the first positioning parts of the two first gripping pieces are arranged oppositely, and the first driving device drives the two first gripping pieces to synchronously open and close.

3. A fuel particle size or humidity robotic test platform as claimed in claim 2 wherein: the clamping jaw device also comprises

The first air gun is fixedly connected to the connecting piece and positioned below the first gripper, and an outlet of the first air gun is obliquely arranged downwards and inwards;

and the first electromagnetic valve is in communication connection with the control system, and an outlet of the first electromagnetic valve is connected with the first air gun.

4. A fuel particle size or humidity robotic test platform as claimed in claim 2 wherein: the microwave drying tray comprises

The first chuck is symmetrically provided with first positioning matching parts at two sides, the number of the first positioning matching parts is the same as that of the first positioning parts, and the first positioning parts are matched with the first positioning matching parts in a positioning way;

the top end of the first shell is open, the side surface of the first shell is provided with a first wave-transmitting hole, and the first shell is fixedly connected with the first chuck;

the first disc body is arranged in the first shell;

the flexible interlayer is arranged between the first shell and the first disc body;

and the annular pressing plate is fixedly connected to the top end of the first shell and presses the first disc body.

5. The robotic fuel particle size or humidity testing platform of claim 4, wherein: the first tray body is a quartz tray body.

6. The robotic fuel particle size or humidity testing platform of claim 4, wherein: the bottom end of the first chuck is provided with a second positioning matching part;

and a second positioning part is arranged on the weighing bracket and is in positioning fit with the second positioning fit part.

7. The robotic fuel particle size or humidity testing platform of claim 6, wherein: and a third positioning part is arranged on the second support frame and is also in positioning fit with the second positioning fit part.

8. The robotic fuel particle size or humidity testing platform of claim 1, wherein: also comprises

The fourth positioning part is fixedly connected to the second supporting frame;

the hanging and sweeping plate is provided with a second chuck; the second chuck is provided with a third positioning matching part which is matched with the first positioning part in a positioning way; the hanging and sweeping plate is also provided with a fourth positioning matching part; the hanging and sweeping plate is arranged on the second supporting frame, and the fourth positioning part is matched with the fourth positioning matching part in a positioning way;

and the first detection device is in communication connection with the control system and is used for detecting whether the hanging and sweeping plate is placed at a preset position on the second support frame.

9. The robotic fuel particle size or humidity testing platform of claim 8, wherein: the bottom end of the hanging and sweeping plate is provided with a plurality of sawtooth grooves.

10. A fuel particle size or humidity robotic testing platform as claimed in claim 1 or 2 wherein: the metering module comprises

The fixed-volume push plate is rotationally connected to the first support frame and is positioned below the first blanking port;

the second driving device is fixedly connected to the first support frame, is in communication connection with the control system, and has an output end connected to the fixed-volume push plate to drive the fixed-volume push plate to rotate;

the quantitative cup is provided with openings at the upper end and the lower end, is fixedly connected to the first support frame, is positioned below the fixed-volume push plate and is right opposite to the first blanking port;

the supporting plate is rotatably connected to the first supporting frame and is positioned at the bottom end of the quantifying cup, and the area of the supporting plate is larger than the cross-sectional area of the inner cavity of the quantifying cup;

and the third driving device is fixedly connected to the first support frame, is in communication connection with the control system, and has an output end connected to the supporting plate to drive the supporting plate to rotate.

11. A fuel particle size or humidity robotic test platform as claimed in claim 10 wherein: also comprises

And the material baffle is fixedly connected with the first support frame and encloses and blocks the outer sides of the quantitative cup and the quantitative push plate.

12. A fuel particle size or humidity robotic test platform as claimed in claim 10 wherein: the receiving device also comprises

The first hopper is fixedly connected to the first support frame, and the outlet at the bottom end of the first hopper covers the first blanking port.

13. A fuel particle size or humidity robotic test platform as claimed in claim 10 wherein: the receiving device also comprises

The second air gun is fixedly connected to the first supporting frame and used for blowing the supporting plate;

and the second electromagnetic valve is in communication connection with the control system, and an outlet of the second electromagnetic valve is connected with the second air gun.

14. A fuel particle size or humidity robotic test platform as claimed in claim 10 wherein: the receiving device also comprises

The fourth driving device is fixedly connected to the first support frame and is in communication connection with the control system;

and the brush is connected to the output end of the fourth driving device.

15. A fuel particle size or humidity robotic test platform as claimed in claim 14 wherein: the receiving device also comprises

The second funnel is fixedly connected to the first support frame and located below the brush and the supporting plate, and projections of the supporting plate, the quantifying cup and the brush in the vertical direction are located in an open port at the top end of the second funnel.

16. A fuel particle size or humidity robotic test platform as claimed in claim 2 wherein: the screening machine comprises

A fixed frame;

the fifth driving device is fixedly connected to the fixed frame and is in communication connection with the control system;

the eccentric wheel is fixedly connected with the output end of the fifth driving device;

one end of the screening connecting rod is connected with the eccentric wheel;

and the screening assembly is connected to the fixed frame in a sliding mode and is connected to the other end of the screening connecting rod.

17. A fuel particle size or humidity robotic test platform as claimed in claim 16 wherein: a first connecting hole is formed in the center of the eccentric wheel;

the eccentric wheel is also provided with a plurality of second connecting holes, and the distances between the second connecting holes and the first connecting holes are different;

the output end of the fifth driving device is fixedly connected with the first connecting hole;

one end of the screening connecting rod is rotatably connected to one of the second connecting holes.

18. A fuel particle size or humidity robotic test platform as claimed in claim 16 wherein: the screen assembly includes

The bottom plate is connected to the fixed frame through a slide rail and a slide block;

the telescopic frame comprises a plurality of layers of screening discs, and a third hopper is arranged right above the uppermost screening disc; each screening disc is provided with an eighth positioning matching part, and the eighth positioning matching part is in positioning matching with the first positioning part;

and the sixth driving device is in communication connection with the control system, is fixedly connected with the bottom plate, and has an output end connected with the telescopic frame.

19. A fuel particle size or humidity robotic test platform as claimed in claim 18 wherein: the fixed frame is convexly provided with a limiting protection piece;

the bottom plate is provided with a first groove, and the length of the first groove is greater than the maximum sliding stroke of the bottom plate;

the limiting protection piece extends into the first groove.

20. A fuel particle size or humidity robotic test platform as claimed in claim 18 wherein: the screening plate is provided with a plurality of screening holes, but the screening plate at the bottommost layer is not provided with the screening holes;

the pore diameters of the screening holes of the screening disks in each layer are different, and the pore diameters of the screening holes are sequentially reduced from top to bottom.

21. A fuel particle size or humidity robotic test platform as claimed in claim 18 wherein: the telescopic frame comprises

The middle of the top plate is provided with a first avoidance opening and is fixedly connected above the bottom plate; the third funnel is located within the first avoidance opening;

the guide shafts are provided with a plurality of guide shafts, are respectively fixedly connected to the top plate and the bottom plate and are vertically arranged;

the cover plate is connected to each guide shaft in a vertically sliding mode, a second blanking port is formed in the middle of the cover plate, and the third funnel is fixedly connected to the cover plate and communicated with the second blanking port;

the laminated plates are equal to the screening plates in number, provided with fifth positioning parts, connected to each guide shaft in a vertically sliding manner and positioned between the cover plate and the bottom laminated plate;

a plurality of lifting pull rods are vertically arranged;

wherein:

the output end of the sixth driving device is connected to the cover plate;

the screening disc is also provided with a fifth positioning matching part; the fifth positioning matching part is matched with the third positioning part in a positioning way;

a plurality of lifting pull rods are respectively arranged between the adjacent laminates, and the mounting mode of the lifting pull rods is as follows: the top end of the laminated plate is fixed on the upper layer, and the bottom end of the laminated plate is vertically slidably arranged on the lower layer in a penetrating manner and is used for hoisting the laminated plate on the lower layer;

the plywood of top layer with the apron is direct also to be equipped with a plurality of lifting pull rod, just lifting pull rod's mounting means does: the top end of the top plate is fixedly connected with the cover plate, and the bottom end of the top plate is vertically slidably arranged on the topmost layer in a penetrating manner and used for hoisting the topmost layer;

the screening discs are correspondingly arranged on the laminate one by one and are embedded into the screening disc accommodating holes, and the fifth positioning parts are in positioning fit with the fifth positioning matching parts;

when the telescopic frame is retracted to a preset position, the screening disc is covered by the layer plate or the cover plate on the upper layer.

22. A fuel particle size or humidity robotic test platform as claimed in claim 21 wherein: a screening disc accommodating hole is formed in the middle of each layer plate;

the bottom end of the screening disc is also provided with a convex part, the outer diameter of the convex part is equal to the inner diameter of the containing hole of the screening disc, and the convex part is in clearance fit with the containing hole of the screening disc;

the convex parts are embedded into the accommodating holes of the screening disc in a one-to-one correspondence mode.

23. A fuel particle size or humidity robotic test platform as claimed in claim 22 wherein: the sixth driving means comprises

The lifting motor is fixedly connected to the bottom plate;

the screw rod is rotationally connected with the bottom plate and the top plate and is vertically arranged;

the nut is in threaded connection with the screw rod and is fixedly connected with the cover plate;

the output shaft of the lifting motor and the screw rod are respectively fixedly sleeved with one synchronous belt wheel;

and the synchronous belts are connected to the synchronous pulleys.

24. A fuel particle size or humidity robotic test platform as claimed in claim 23 wherein: also comprises

The idler shaft is fixedly connected to the fixed frame and is parallel to the screw rod;

the idler wheel is rotationally sleeved on the idler wheel shaft, and the synchronous belt is pressed on the outer side;

the protective covers are provided with a plurality of same or different sizes, are respectively sleeved on the guide shaft and the screw rod, and cover the exposed parts of the screw rod and the guide shaft when the telescopic frame is retracted to a preset position.

25. The robotic fuel particle size or humidity testing platform of claim 1, wherein: also comprises

A receiving tray;

the third chuck is provided with a sixth positioning matching part and a seventh positioning matching part and is fixedly connected to the receiving tray;

the sixth positioning part is matched with the sixth positioning matching part in a positioning way;

the seventh driving device is fixedly connected to the robot and is in communication connection with the control system;

the second gripper comprises two second gripping pieces, each second gripping piece is provided with a seventh positioning part, the two second gripping pieces are symmetrically connected to the output end of the seventh driving device, the seventh positioning parts are arranged oppositely, the second gripping pieces are positioned below the first gripping pieces, and the seventh driving device drives the two second gripping pieces to synchronously open and close; the seventh positioning matching part is matched with the seventh positioning part in a positioning way;

and the second detection device is in communication connection with the control system and is used for detecting whether the sixth positioning part and the sixth positioning matching part are matched in place or not.

26. A fuel particle size or humidity robotic test platform as claimed in claim 25 wherein: the sixth positioning matching part is arranged on the first support frame.

27. The robotic fuel particle size or humidity testing platform of claim 1, wherein: also comprises

The robot, the material receiving device, the weighing device, the microwave drying device and the screening machine are positioned in the rack;

the upper computer is in communication connection with the control system;

the display screen is fixedly connected to the rack and is in communication connection with the control system;

the alarm device is in communication connection with the control system and is fixedly connected with the rack;

the safety protection cover is provided with an access door, is fixedly connected to the rack, and is arranged outside the robot, the material receiving device, the weighing device, the microwave drying device and the screening machine in a surrounding manner;

the receiving pipe is fixed on the safety protection cover, a bottom port is arranged right above the first blanking port and communicated with the first blanking port, and a top port penetrates through the safety protection cover;

the exhaust hood is arranged above the sieving machine;

the tuber pipe is fixed in safety protection casing, and a port fixed connection in exhaust hood, and both intercommunications, another port pierces through safety protection casing.

28. A fuel particle size or humidity robotic test platform as claimed in claim 27 wherein: the static eliminating device is arranged in the safety protection cover and is in communication connection with the control system.

29. A fuel particle size or humidity robotic test platform as claimed in claim 28 wherein: the static electricity eliminating device is fixedly connected to the first support frame.

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