CN112873238B - Fuel granularity or humidity robot detection platform - Google Patents
Fuel granularity or humidity robot detection platform Download PDFInfo
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- CN112873238B CN112873238B CN202110167913.2A CN202110167913A CN112873238B CN 112873238 B CN112873238 B CN 112873238B CN 202110167913 A CN202110167913 A CN 202110167913A CN 112873238 B CN112873238 B CN 112873238B
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- 238000001514 detection method Methods 0.000 title claims abstract description 84
- 239000000446 fuel Substances 0.000 title claims abstract description 31
- 238000012216 screening Methods 0.000 claims abstract description 136
- 238000001035 drying Methods 0.000 claims abstract description 128
- 238000005303 weighing Methods 0.000 claims abstract description 73
- 238000004891 communication Methods 0.000 claims abstract description 49
- 239000010410 layer Substances 0.000 claims description 55
- 238000007873 sieving Methods 0.000 claims description 49
- 238000010408 sweeping Methods 0.000 claims description 26
- 230000001360 synchronised effect Effects 0.000 claims description 18
- 239000000463 material Substances 0.000 claims description 17
- 230000003068 static effect Effects 0.000 claims description 13
- 230000005611 electricity Effects 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 9
- 230000001681 protective effect Effects 0.000 claims description 8
- 239000011229 interlayer Substances 0.000 claims description 7
- 238000007664 blowing Methods 0.000 claims description 4
- 230000002829 reductive effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000010453 quartz Substances 0.000 claims description 3
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 2
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- 238000000034 method Methods 0.000 description 21
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- 239000000203 mixture Substances 0.000 description 9
- 238000005070 sampling Methods 0.000 description 8
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
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- 229910000838 Al alloy Inorganic materials 0.000 description 2
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- 238000004064 recycling Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 239000010935 stainless steel Substances 0.000 description 2
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Drying Of Solid Materials (AREA)
Abstract
The invention provides a fuel granularity or humidity robot detection platform, which comprises a control system, wherein the control system comprises a control system; the robot is in communication connection with the control system; a jaw apparatus comprising a first drive apparatus 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 handle; a microwave drying tray detachably connected to the first handle; the receiving device comprises a first supporting frame and a metering module; the weighing device comprises a second supporting frame, a weighing sensor and a weighing bracket; the microwave drying device is in communication connection with the control system; and 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 collect samples, and detection steps such as weighing, drying and screening are performed, so that full-automatic detection is realized, and unmanned operation on a detection site is realized, so that detection data can be obtained.
Description
[ Field of technology ]
The invention relates to the technical field of granularity detection equipment for particulate matters or powder, in particular to a fuel granularity or humidity robot detection platform.
[ Background Art ]
In the prior art, parameters such as humidity, granularity and the like of solid or semi-solid materials are detected, manual on-site sampling is generally adopted, and then the materials are brought back to a laboratory for weighing, liquid nitrogen cooling solidification or drying, weighing, sieving, re-weighing and the like, and the granularity proportion and the humidity are calculated through computer assistance. It has the following drawbacks:
1. in the process, manual operation is usually adopted, so that the efficiency is low, the detection period is long, the detection data cannot be fed back to the production line in time, the manual operation has high requirements on the proficiency of operators, and the operation process is easy to make mistakes;
2. dust is easy to generate in the detection process, and people stay in the environment for a long time, so that adverse effects can be caused on the bodies of the people;
3. Some sampling points are on belt lines of a production line, and many belt lines like steel works are in high altitude, so that the sampling is needed to be carried out at high altitude during manual sampling, and certain safety risks exist for personnel operation;
4. The steel works are large in general, the manual sampling can reach the sampling point only by taking a long distance, and the labor intensity of sampling once is high, so that the sampling frequency is not likely to be too high.
[ Invention ]
The invention aims to solve the technical problem of providing a fuel granularity or humidity robot detection platform which can automatically detect parameters such as granularity duty ratio and humidity of fuel, is not easy to make mistakes and has higher efficiency.
The invention is realized in the following way: a fuel granularity or humidity robot detection platform comprises
A control system;
The robot is in communication connection with the control system;
A jaw apparatus comprising a first drive apparatus 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 handle; the first driving device is also in communication connection with the control system;
a microwave drying tray detachably connected to the first handle;
The receiving device comprises a first supporting frame and a metering module; a first blanking port is arranged on the first supporting frame; the metering module is connected to the first supporting 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 supporting frame, a weighing sensor and a weighing bracket; the weighing sensor is fixedly connected to the second supporting 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;
and the screening machine is in communication connection with the control system.
Further, the clamping jaw device further comprises
The connecting piece is fixedly connected to the robot;
Wherein the first driving device is fixedly connected to the connecting piece;
the first gripper comprises two first gripper plates, each first gripper plate is provided with a first positioning part, the two first gripper plates are symmetrically connected to the output end of the first driving device, the first positioning parts of the two first gripper plates are oppositely arranged, and the first driving device drives the two first gripper plates to synchronously open and close.
Further, the clamping jaw device further comprises
The first air gun is fixedly connected to the connecting piece and positioned below the first grab, and the outlet is obliquely downwards and inwards arranged;
the first electromagnetic valve is in communication connection with the control system, and the outlet is connected with the first air gun.
Further, the microwave drying tray includes
The first clamping head 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 matching parts, and the first positioning matching parts are in positioning matching with the first positioning matching parts;
The top end of the first shell is open, a first wave-transmitting hole is formed in the side surface of the first shell, and the first shell is fixedly connected with the first chuck;
the first tray body is arranged in the first shell;
the flexible interlayer is arranged between the first shell and the first disc body;
The annular pressing plate is fixedly connected to the top end of the first shell and presses the first disc body.
Further, the first disc body is a quartz disc body.
Further, a second positioning matching part is arranged at the bottom end of the first chuck;
the weighing bracket is provided with a second positioning part, and the second positioning part is matched with the second positioning matching part in a positioning way.
Further, a third positioning part is arranged on the second supporting frame and is also matched with the second positioning matching part in a positioning way.
Further, also comprises
The fourth positioning part is fixedly connected to the second supporting frame;
A hanging sweeping plate provided with a second chuck; the second chuck is provided with a third positioning matching part, and the third positioning matching part is matched with the first positioning part in a positioning way; the hanging and sweeping plate is also provided with a fourth positioning and 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;
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 supporting frame.
Further, a plurality of saw tooth grooves are formed in the bottom end of the hanging 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 with the first supporting frame, is in communication connection with the control system, and is connected with the fixed-volume pushing plate at the output end to drive the fixed-volume pushing plate to rotate;
The upper end and the lower end of the quantitative cup are open, are fixedly connected to the first support frame, are positioned below the fixed-volume push plate, and are opposite to the first blanking port;
the supporting plate is rotationally connected to the first supporting frame and is positioned at the bottom end of the quantitative cup, and the area of the supporting plate is larger than the cross section area of the inner cavity of the quantitative cup;
And the third driving device is fixedly connected with the first supporting frame, is in communication connection with the control system, and is connected with the supporting plate at the output end to drive the supporting plate to rotate.
Further, also comprises
The striker plate is fixedly connected to the first supporting frame and is enclosed and blocked on the outer sides of the quantitative cup and the fixed-volume pushing plate.
Further, the receiving device also comprises
The first hopper is fixedly connected to the first supporting frame, and the bottom outlet covers the first blanking port.
Further, the receiving device also comprises
The second air gun is fixedly connected to the first support frame and used for blowing the supporting plate;
and the second electromagnetic valve is in communication connection with the control system, and the outlet is connected with the second air gun.
Further, the receiving device also comprises
The fourth driving device is fixedly connected to the first supporting frame and is in communication connection with the control system;
And the brush is connected with 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 the projection of the supporting plate, the quantitative cup and the brush in the vertical direction is located in the top opening of the second funnel.
Further, the sieving machine comprises
A fixed frame;
The fifth driving device is fixedly connected with 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 component is connected to the fixed frame in a sliding way and is connected to the other end of the screening connecting rod.
Further, 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 to the first connecting hole;
One end of the screening connecting rod is rotationally connected to one of the second connecting holes.
Further, the screen assembly includes
The bottom plate is connected to the fixed frame through a sliding rail and a sliding block;
The telescopic frame comprises a plurality of layers of screening discs, and a third funnel is arranged right above the uppermost layer of screening discs; each screening disc is provided with an eighth positioning and matching part which is in positioning and matching with the first positioning part;
And the sixth driving device is in communication connection with the control system, fixedly connected with the bottom plate and connected with the telescopic frame at the output end.
Further, 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 longer than the maximum sliding travel of the bottom plate;
the limit protection piece stretches into the first groove.
Further, 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;
wherein, the aperture of screening hole of each layer screening dish is different, and each layer screening dish from the top down, the aperture in screening hole reduces in proper order.
Further, the expansion bracket comprises
The top plate is provided with a first avoiding opening in the middle and is fixedly connected above the bottom plate; the third funnel is positioned in the first avoidance opening;
The guide shafts are fixedly connected to the top plate and the bottom plate respectively and are vertically arranged;
The cover plate is connected to each guide shaft in a vertically sliding manner, 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 number of the laminates is equal to that of the screening discs, and a fifth positioning part is arranged, is connected with each guide shaft in an up-down sliding manner and is positioned between the cover plate and the bottom laminate;
the lifting pull rods are vertically arranged;
wherein:
the output end of the sixth driving device is connected with 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 layer plate is fixed on the layer plate of the upper layer, the bottom end of the layer plate is arranged on the layer plate of the lower layer in a penetrating manner in a sliding manner, and the layer plate of the lower layer is hung;
the laminate of the topmost layer with the apron is also directly equipped with a plurality of lift pull rod, just the mounting means of lift pull rod is: the top end is fixedly connected with the cover plate, the bottom end vertically and slidably penetrates through the layer plate at the topmost layer, and the layer plate at the topmost layer is hung;
the screening discs are arranged on the laminate in a one-to-one correspondence manner, are embedded into the screening disc accommodating holes, and are matched with the fifth positioning parts in a positioning manner;
When the telescopic frame is retracted to a preset position, the screening tray is covered by the layer plate or the cover plate of the upper layer.
Further, a screening disc accommodating hole is formed in the middle of each laminate;
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 accommodating hole of the screening disc, and the convex part is in clearance fit with the inner diameter of the accommodating hole of the screening disc;
The convex parts are embedded in the accommodating holes of the screening discs in a one-to-one correspondence mode.
Further, the sixth driving device comprises
The lifting motor is fixedly connected with 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 the synchronous belt pulley;
And the synchronous belt is connected with each synchronous belt wheel.
Further, 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 presses the synchronous belt outside;
the protective covers are provided with a plurality of protective covers which are the same or different in size and are respectively sleeved on the guide shaft and the screw rod, and when the telescopic frame is retracted to a preset position, the exposed parts of the screw rod and the guide shaft are covered by the protective cover.
Further, 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 with the material receiving tray;
A sixth positioning part which is matched with the sixth positioning matching part in a positioning way;
A seventh driving device fixedly connected to the robot and communicatively connected to the control system;
the second gripper comprises two second gripper sheets, each second gripper sheet is provided with a seventh positioning part, the two second gripper sheets are symmetrically connected to the output end of the seventh driving device, the seventh positioning parts are oppositely arranged, the second gripper sheets are positioned below the first gripper sheets, and the seventh driving device drives the two second gripper sheets to synchronously open and close; wherein the seventh positioning and matching part is in positioning and matching with the seventh positioning part;
And the second detection device is connected with the control system in a communication way 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 supporting frame.
Further, also comprises
The robot, the receiving device, the weighing device, the microwave drying device and the screening machine are positioned in the frame;
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 inlet door and an outlet door, is fixedly connected to the frame, 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 material receiving pipe is fixed on the safety protection cover, the bottom end opening is arranged right above the first blanking opening and is communicated with the first blanking opening, and the top end opening penetrates through the safety protection cover;
the exhaust hood is arranged above the screening machine;
the air pipe is fixed on the safety protection cover, one port is fixedly connected with the exhaust hood and communicated with the exhaust hood, and the other port penetrates through the safety protection cover.
Further, the device also comprises a static electricity eliminating 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 supporting frame.
The invention has the advantages that: the invention provides a fuel granularity or humidity robot detection platform, which comprises a control system, wherein the control system comprises a control system; the robot is in communication connection with the control system; a jaw apparatus comprising a first drive apparatus 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 handle; a microwave drying tray detachably connected to the first handle; the receiving device comprises a first supporting frame and a metering module; the weighing device comprises a second supporting frame, a weighing sensor and a weighing bracket; the microwave drying device is in communication connection with the control system; and 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 the sample, and the sample is weighed, dried, re-weighed, poured into the sieving machine to be sieved, and then 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 examples of embodiments with reference to the accompanying drawings.
Fig. 1 is a perspective view of a mixture particle size or humidity robot inspection platform according to the present invention.
Fig. 2 is a perspective view of a mixture particle size or humidity robot detection platform according to the present invention.
Fig. 3 is a schematic diagram of the internal structure of the detection platform of the mixture granularity or humidity robot according to the present invention.
Fig. 4 is a schematic diagram of the internal structure of the detection platform of the mixture granularity or humidity robot according to the present invention.
Fig. 5 is a schematic diagram of the internal structure of the detection platform of the mixture granularity or humidity robot according to the present invention.
Fig. 6 is a top view of the internal structure of the mix particle size or humidity robot inspection platform according to the present invention.
Fig. 7 is a perspective view of a receiving device according to the present invention.
Fig. 8 is an exploded view 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 perspective view of a metering module, brush, etc. according to the present invention.
Fig. 11 is a second perspective view of the metering module and brush of the present invention.
Fig. 12 is a plan view of a metering module, brush, and the like according to the present invention.
Fig. 13 is a sectional view A-A in fig. 12.
Fig. 14 is a B-B sectional view in fig. 12.
Fig. 15 is a perspective view of a screen machine according to the present invention.
Figure 16 is an exploded view of a screen of the present invention.
Fig. 17 is an exploded view of a screen according to the present invention.
Figure 18 is a side view of the screen of the present invention with the housing hidden.
Fig. 19 is a C-C cross-sectional view of fig. 18.
Fig. 20 is a top view of the screen machine according to the present invention with the housing hidden.
Fig. 21 is a D-D sectional view of fig. 20.
Fig. 22 is an E-E sectional view of fig. 20.
Fig. 23 is an exploded view of the screen of the present invention after the housing is hidden.
Fig. 24 is a second exploded view of the screen of the present invention with the housing hidden.
Fig. 25 is an exploded view of a deck and screen tray according to the present invention.
Fig. 26 is a partially enlarged schematic view of F in fig. 25.
Fig. 27 is an exploded view of a screening tray according to the present invention.
Fig. 28 is a perspective view of a sweep plate, microwave drying tray of the present invention placed on a weighing device.
Fig. 29 is an exploded view of a hanging broom plate, microwave drying tray according to the present invention placed 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 according to the present invention.
Fig. 32 is a perspective view of a microwave drying tray according to the present invention.
Fig. 33 is a second perspective view of the 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 perspective view of a hanging sweeping plate according to the present invention.
Fig. 36 is a second perspective view of the hanging sweeping plate according to the present invention.
Fig. 37 is an assembly view of the microwave drying tray, the receiving tray and the 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.
Fig. 39 is a perspective view of a jaw assembly according to the present invention.
Fig. 40 is a second perspective view of the jaw apparatus of the present invention.
Fig. 41 is an exploded view of a jaw assembly 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 of fig. 42.
FIG. 44 is a sectional view of the I-I of FIG. 42.
Fig. 45 is a plan view of a microwave drying apparatus according to the present invention.
Fig. 46 is a sectional view of J-J of fig. 45.
Fig. 47 is a schematic view showing a hidden structure of a door panel of the microwave drying apparatus according to the present invention.
Reference numerals illustrate:
a robot 1;
Jaw device 2, first drive device 21, jaw arm 211, first grip 22, first grip piece 221, first positioning portion 2211, connector 23, first air gun 24, seventh drive device 25, second grip 26, second grip piece 261, seventh positioning portion 2611, third air gun 27;
The microwave drying disc 3, the first clamping head 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 disc body 33, the annular pressing plate 34 and the flexible interlayer 35;
The device comprises a receiving device 4, a first supporting frame 41, a first blanking port 411, a metering module 42, a fixed-volume push plate 421, a vertical rotating shaft 4211, a bearing 4212, a vertical bearing sleeve 4213, a second driving device 422, a quantitative cup 423, a supporting plate 424, a third driving device 425, a material blocking 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 air extraction port 49;
The weighing device 5, the second supporting frame 51, the outer frame 511, the inner frame 512, the third positioning part 513, the third detecting device 514, the weighing sensor 52, the weighing bracket 53, the second positioning part 531, the fourth positioning part 54, the hanging sweeping plate 55, the second clamping head 551, the third positioning matching part 5511, the fourth positioning matching part 5512, the saw tooth slot 552 and the first detecting device 56;
The microwave drying apparatus 6, the turntable 61, the tenth positioning part 611, the driving motor 62, the decelerator 621, the door frame 63, the door panel 64, the first cylinder 65, the longitudinal connection plate 651, the transverse connection plate 652, the second cylinder 66, the microwave oven 67;
Screening machine 7, fixed frame 71, limit guard 711, fifth drive 72, eccentric 73, first connection aperture 731, second connection aperture 732, screening connecting rod 74, screening assembly 75, bottom plate 751, first recess 751, screening tray 752, eighth positioning engagement 7521, screening aperture 7512, fifth positioning engagement 7523, boss 7524, annular outer frame 7525, screen 7526, circular sheeting 7527, third hopper 753, sixth drive 754, lift motor 7541, screw 7542, nut 7543, timing pulley 7544, timing belt 7545, idler shaft 7546, idler 7547, shield 7548, top plate 755, first relief opening 7551, guide shaft 756, cover plate 757, second blanking aperture 7571, plate 758, fifth positioning portion 7581, screening tray receiving aperture 7582, lift pull rod 759;
An air pipe 8 and a fan 81;
A static electricity eliminating device 9;
a receiving tray 10, a third chuck 101, a sixth positioning engaging portion 1011, a seventh positioning engaging portion 1012, and a sixth positioning portion 1013;
a second detecting device 20;
A frame 30;
a display screen 40;
A safety shield 50, an access door 501;
A receiving tube 60;
A hood 70.
[ Detailed description ] of the invention
In the description of the present invention, it should be understood that the description of indicating the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of protection of the present invention.
In the description of the present invention, it should be noted that, unless explicitly stated and limited otherwise, 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; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The general concept of the invention is as follows:
(1) The control system (not shown) controls the clamping jaw device 2 to clamp the microwave drying disc 3 to take samples, weigh, dry, re-weigh and then pour the samples into the sieving machine 7 to be sieved, and after the completion, take the samples out to carry out weighing detection, so that full-automatic detection is realized, the efficiency is improved, and an operator does not need to be directly beside the detection equipment in the detection process, so that the influence of dust on a human body can be reduced.
(2) The screening machine 7 adopts the mode that the fifth driving device 72 drives the screening connecting rod 74 and the eccentric wheel 73 to rotate, so that the vibration amplitude can be increased, the screening connecting rod 74 and the eccentric wheel 73 are provided with a plurality of connecting positions, the vibration amplitude corresponding to different gears can be further adjusted according to the use requirement, and the screening effect is better.
(3) The sixth driving device 754 adopts a motor driving screw rod mode, and compared with an air cylinder or a hydraulic cylinder, the synchronism is better.
(4) The screening tray 752 is split type, detachable, easy to clean and replace the screen cloth, and high in precision and rigidity.
(5) Safety protection is achieved through the limiting protection piece 711 and the first groove 7511, and falling of the screening assembly is avoided.
(6) Fine particles falling off can be caught at the bottom 752 of the sieving plate through the receiving tray 10, so that the particles can be prevented from falling off to the ground directly, and the place can be kept clean conveniently.
(7) The collected sample can be scraped flat by the hanging and sweeping plate 55, so that the drying is more uniform.
(8) Through each location portion and the location cooperation of corresponding location cooperation portion for robot 1 is in the operation in-process, and the position is more accurate.
(9) The fifth positioning part 7581, the second positioning part 531, the sixth positioning part 1013 and the third positioning part 513 can be purged through the first air gun 24, so that the accumulation of contaminated dust in each positioning part is avoided, and the positioning matching is influenced.
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 to drive the brush 46 to rotate by the control system (not shown), so that each tray body 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 holes 7522 are smaller in diameter and are densely distributed together in a shape of a black sheet, so that for convenience of viewing, the screening tray 752 is only partially shown with some of the screening holes 7522, and in a specific implementation, the screening holes 7522 may be distributed on the bottom of the screening tray 752 or provided with a required number of screening holes 7522 as required; the aperture and shape of the sieving holes 7522 can be preset according to actual requirements, and correspond to different granularities.
Examples:
The invention relates to a fuel granularity or humidity robot detection platform, which comprises
A control system (not shown); existing control systems, PLCs, etc. may be employed, for example: the model of the PLC 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, robot 1 of model KR10-R1100 may be used, although in other embodiments, other configurations of robot 1 may be used.
A jaw device 2 comprising a first drive means 21 and a first grip 22; the first driving device 21 is fixedly connected to the robot 1, and an 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 use an actuator, for example, a cylinder, for example, a model number is: in an embodiment of the HDW-50 pneumatic mechanical gripper, only two first gripping tabs 221 need to be fixedly connected to two parallel gripper arms 211 of the pneumatic mechanical gripper.
The microwave drying disc 3 is detachably connected to the first grip 22, the first grip 22 grips the microwave drying disc 3 and moves along a preset track, the microwave drying disc 3 is used for receiving a detection sample, performing procedures before sieving such as weighing, drying and the like, and pouring the sample into the sieving machine 7 for sieving after the completion;
The receiving device 4 comprises a first supporting frame 41 and a metering module 42; a first blanking port 411 is arranged on the first supporting frame 41; the metering module 42 is connected to the first supporting 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); sample is conveyed from the first blanking port 411 and metered by the metering module 42;
A weighing device 5 comprising a second support frame 51, a weighing sensor 52 and a weighing bracket 53; the load cell 52 is fixedly connected to the second supporting frame 51 and is communicatively connected to 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 back the measured weight to a control system (not shown), and the control system (not shown) stores the received weight data; or transmitting to other devices such as a computer for storage; in a specific implementation, the second supporting frame 51 may be an embodiment shown in the drawings, and includes a split outer frame 511 and an inner frame 512, where a hanging sweeping plate 55, a microwave drying tray, etc. are fixed on the outer frame 511, and a weighing bracket 53 and a 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 integrally formed.
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 operate, and the sample is dried, so that the dried weight can be measured, and the humidity of the sample can be detected. 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, which only needs to be capable of realizing automatic control.
Or 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 on a turntable 61 for placing objects in the oven body, a 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 precision of the stepping motor is high, and the position of stopping before the turntable 61 works and the position of stopping after the work is finished can be adjusted to be the same, namely, when the turntable 61 rotates during drying, after the completion, the turntable 61 stops, and the position at the moment is consistent with the position before the drying, so that detection equipment such as a position detection sensor is not required, and the microwave drying disc 3 can be grabbed again in situ only by driving the first grabbing hand 22 through the robot 1 through a preset track.
And a tenth positioning part 611 can be additionally arranged on the turntable 61, and the tenth positioning part and the second positioning matching part 312 are in positioning matching, so that the limiting and positioning functions of the tenth positioning part and the second positioning matching part are realized, the microwave drying tray 3 is ensured not to deviate when the turntable rotates, and the position of the microwave drying tray 3 is ensured to be accurate.
While one embodiment of an 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 plate 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 plate 64 can be connected to the door frame 63 in an up-and-down 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 plate 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 passes 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 plate 64, so that the door plate is driven by the first air cylinder 65 to slide up and down, and automatic control is realized;
Four second air cylinders 66 are arranged in a rectangular shape and are fixed on the frame of the microwave oven, and piston rods are horizontally arranged and are fixedly connected to four corners of the door frame 63 in a one-to-one correspondence mode, so that the door frame 63 is hung on the microwave oven 67 through the four second air cylinders 66, the door frame 63 is driven to horizontally move through the second air cylinders 66, the door frame 63 can be attached to the frame of the microwave oven, and finally the door is closed.
In the embodiment, the microwave oven 67, the driving motor 62, the first cylinder 65, and the second cylinder 66 are connected to a control system (not shown) in communication, and may be controlled by the control system (not shown) in a unified manner.
Working principle: when drying, the control system (not shown) firstly controls the piston rod of the first air cylinder 65 to move downwards to drive the door plate 64 to slide downwards, so as to open the door plate 64;
Then, the robot 1 is controlled to move to a predetermined position on the turntable 61 with the microwave drying tray 3 in accordance with a predetermined trajectory, and the tenth positioning part 611 and the second positioning engaging part 312 are positioned and engaged;
then, the first driving device 21 is controlled to drive the first gripper 22 to loosen the microwave drying tray 3;
the robot 1 is controlled to withdraw from the microwave drying device 6 along a preset track and with the first gripper 22;
Then controlling four second air cylinders 66 to retract synchronously, and tensioning and sealing the door frame 63; the process can also control the piston rod of the first air cylinder 65 to reset at the same time, and drive the door plate 64 to slide upwards to cover the door frame 63; finally closing the door;
finally, the microwave oven 67 is controlled to operate according to a preset program to dry the sample in the microwave drying tray 3, and the driving motor 62 is controlled to operate during the drying process, so that the speed reducer 621 is driven to rotate, and the turntable is driven to rotate, thereby driving the microwave drying tray 3 to rotate, and further enabling drying to be more uniform.
After the drying is finished, the second air cylinder 66 is controlled to synchronously work, 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 controlling the robot 1 to work according to a preset track, moving the first gripper 22 to a preset position, and controlling the first driving device 21 to drive the first gripper 22 to clamp the microwave drying tray 3 again; finally, the robot 1 is controlled to move to carry out the next weighing procedure.
The sieving machine 7 is communicatively connected to the control system (not shown). The sieving machine 7 is controlled by a control system (not shown) to operate, so that the sample is sieved and the particle size can be detected.
The jaw arrangement 2 further comprises
A connecting member 23 fixedly connected to the robot 1; in a specific implementation, the device can be fixed on the robot through bolts; in a specific implementation, the connecting piece 23 may be 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 connection member 23 is a connection plate.
Wherein the first driving device 21 is fixedly connected to the connecting piece 23, and may be fixed by bolts or welding in a specific implementation;
The first gripper 22 includes two first gripping pieces 221, each first gripping piece 221 is provided with a first positioning portion 2211, the two first gripping pieces 221 are symmetrically connected to the output end of the first driving device 21, the first positioning portions 2211 of the two first gripping pieces 22 are arranged in opposite directions, and the first driving device 21 drives the two first gripping pieces 221 to synchronously open and close. In the specific implementation, each positioning part and each positioning matching part can adopt a pin hole matching mode, wherein one positioning part is a positioning pin, and the other positioning part is a positioning hole; and vice versa. By the positioning part and the positioning matching part being matched in a positioning way, the two first grabbing pieces 221 cannot deviate when grabbing the microwave drying tray 3 or the screening tray 752 for moving. In an implementation, the first catch 221 and the claw arm 211 of the first driving device may be fastened by screws.
The jaw arrangement 2 further comprises
The first air gun 24 is fixedly connected to the connecting piece 23 and positioned below the first hand grip, and the outlet is obliquely downwards and inwards arranged; because the sample is solid or semi-solid particles, dust is easy to generate in the detection process, and dust on the fifth positioning part 7581, the second positioning part 531, the sixth positioning part 1013 and the third positioning part 513 is purged through the first air gun 24, so that interference positioning fit caused by dust accumulation is avoided; namely, the positioning part for sweeping the tray body is used for placing each tray body, so that dust accumulation is avoided. When the first gripper 22 grips the corresponding tray body and places the tray body on the corresponding positioning part in operation, the first electromagnetic valve (not shown) is started, and the first air gun 24 blows air to the corresponding positioning part and sweeps dust;
A first solenoid valve (not shown) is communicatively connected to the control system (not shown) and an outlet is 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, only the air inlet of the first electromagnetic valve (not shown) is connected with the air source.
The microwave drying tray 3 comprises
The first chuck 31 is symmetrically provided with first positioning matching parts 311 on two sides, and the number of the first positioning matching parts 311 is the same as the number of the first positioning matching parts 2211, and the first positioning parts 2211 are matched with the first positioning matching parts 311 in a positioning way, so that when the first chuck 31 is grabbed by the first grabbing hand 22 to move, relative offset of the first positioning matching parts 311 and the first grabbing hand 22 is avoided, and inaccuracy of the position in the subsequent moving process is caused.
The first casing 32 has an open top and a side surface provided with a first wave-transmitting hole 321, and is fixedly connected with the first chuck 31, in a specific embodiment, a mounting hole may be formed at the front end of the first chuck 31, and the first casing is locked on the side surface of the first casing 32 through a screw passing 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 tray 3 is better, and the samples in the first tray body 33 are better dried by microwaves; in a specific implementation, the first housing 32 may be an integral type, or a split type, for example, in the embodiment shown in the drawings, a split type circular bottom plate 322 and an annular housing 323 are adopted, and the circular bottom plate 322 may be provided with first lightening holes 3221 and are uniformly arranged in a circumference. The first wave-transmitting holes 321 are formed on the side surface of the annular housing 323 and are uniformly circumferentially arranged; the circular bottom plate 322 and the annular shell 323 are locked and fixed through bolts; the first housing 32 may be fabricated from an aluminum alloy.
A first tray 33 disposed within the first housing 32; in a specific implementation, the shapes of the first disk 33 and the first housing may be designed in various shapes, such as a cylinder, a polygon, a special shape, etc.
A flexible interlayer 35 provided between the first housing 32 and the first disk 33; the flexible interlayer 35 can enable the first disc 33 and the first shell 32 to be embedded more tightly, so that the first disc 33 is prevented from being loosened and collapsed and collision between the first shell and the first shell is prevented from being damaged in the moving process; in particular implementations, the flexible interlayer 35 may be filled between the first housing 32 and the first disk 33 with a material that is soft and capable of being used in microwave heating, such as asbestos. In a specific embodiment, the flexible interlayer is annular.
An annular pressing plate 34 fixedly connected to the top end of the first housing 32 and pressing the first disk 33.
The first disk 33 is a quartz disk.
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 the support 53 that weighs, second location portion 531 and second location cooperation portion 312 location cooperation for the microwave drying dish 3 is placed at every turn and is weighed the support 53 when weighing, and the position keeps unanimous, and the robot 1 of being convenient for drives first chuck 31 of first tongs 22 snatch microwave drying dish 3, ensures the accuracy of position in the automatic control of being convenient for. The shape and structure of the weighing bracket 53 can be designed in a wide variety.
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 third positioning portion 513 can be used as a predetermined first position of the microwave drying tray 3, that is, a placement position when the sample in the microwave drying tray 3 is not used or needs to be scraped. The third positioning portion 513 is positioned and engaged with the second positioning engaging portion 312 to ensure the accuracy of the position. 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 configured to detect whether the third positioning portion 513 and the second positioning matching portion 312 complete positioning matching, so as to perform an error-proofing function, and find an abnormal error in time. The same applies to the first detection device 56 and the second detection device 20, and the three detection devices may all use sensors such as proximity sensors, although in other embodiments, the first detection device 56 and the second detection device 20 may not be required to be provided, and each position is preset, so that the embodiment cannot timely know an abnormal error and needs to be found manually.
And also comprises
A fourth positioning portion 54 fixedly connected to the second supporting frame 51; the robot 1 is fixed on the second supporting frame 51, so that the moving track of the robot 1 can be optimized, and the path can be shorter in the operation process, because after the sample is received, the sample can be scraped and then weighed, and the second supporting frame 51 is a part of the weighing device 5 and is closer to the weighing bracket 53; of course, in other embodiments, the device may also be fixed on the material receiving device 4, the microwave drying device 6, the rack 30, and other devices. In a specific implementation, the microwave drying tray 3 is placed on the second supporting frame 51 in two ways, that is, there are two ways of fixedly connecting the fourth positioning portion 54 to the second supporting frame 51: the fourth positioning part 54 is directly fixed on the top surface of the second supporting frame 51, the other microwave drying disc 3 is placed on a plurality of supporting pieces, the supporting pieces can be L-shaped, square-shaped, column-shaped or other supporting pieces, namely the embodiment shown in the attached drawings, at the moment, the fourth positioning part 54 is fixedly connected to one supporting piece, each supporting piece is fixedly connected to the second supporting frame 51, the difference between the first mode is that the contact surface of the second supporting frame 51 for supporting the microwave drying disc 3 is required to be processed, the processing area is larger, the second mode is that only the contact surface of each supporting piece and the microwave drying disc 3 is required to be processed, and the processing area is smaller than that of the first mode and more convenient to process.
A hanging sweeping plate 55 provided with a second clamping head 551; the second clamping head 551 is provided with a third positioning matching portion 5511, and the third positioning matching portion 5511 is in positioning matching with the first positioning portion 2211, so that the first gripper 22 is used for positioning matching when grabbing the second clamping head 551, and thereby grabbing the hanging and sweeping plate 55, and the situation that the second clamping head 551 and the first gripper 22 are relatively deviated in the moving process, so that the position is inaccurate in the subsequent operation process is avoided; the hanging and sweeping plate 55 is also provided with a fourth positioning matching part 5512; the hanging and sweeping plate 55 is arranged on the second supporting frame 51, and the fourth positioning part 54 is in positioning fit with the fourth positioning fit part 5512; the hanging 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.
The first detecting device 56 is communicatively connected to the control system (not shown), and is configured to detect whether the hanging and 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, although in other embodiments, other types of sensing devices, such as a touch sensor, a photoelectric sensor, etc., may be used.
A plurality of saw tooth grooves 552 are formed in the bottom end of the hanging and sweeping plate 55. Because the sample is of granularity, the saw tooth grooves 552 have an avoiding effect, so that the sample with larger particles passes through the saw tooth grooves 552, and the clamping during scraping is avoided.
The metering module 42 includes
A volumetric push plate 421 rotatably connected to the first support frame 41 and located below the first blanking port 411; the excess sample falling onto the metering cup 423 is pushed off by the volumetric push plate 421; in a specific embodiment, the volumetric 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 fixed on the first support frame 41, so that the volumetric push plate 421 is rotationally connected to the first support frame 41; the vertical shaft 4211 is further hinged to a piston rod of the second driving device 422. Similarly, the supporting plate 424 may be connected to the first supporting frame 41 by the same rotation structure.
The second driving device 422 is fixedly connected to the first supporting frame 41 and is in communication connection with the control system (not shown), and the output end of the second driving device is connected to the fixed-volume pushing plate 421 to drive the fixed-volume pushing plate 421 to rotate so as to push off the redundant sample on the fixed-volume pushing plate 423; in a specific embodiment, the second driving device 422 may use an actuator, such as a cylinder.
The quantitative cup 423 is opened at the upper end and the lower end, is fixedly connected to the first supporting frame 41, is positioned below the volumetric push plate 421, and is opposite to the first blanking port 411; the quantitative measuring device is used for quantitatively measuring the samples, so that the amounts of the samples detected each time are equal, and the subsequent analysis and comparison of the detection results are facilitated.
A supporting plate 424 rotatably connected to the first supporting frame 41 and located at the bottom end of the quantitative cup 423, wherein the area of the supporting plate 424 is larger than the cross-sectional area of the inner cavity of the quantitative cup 423; the supporting plate 424 is provided with a door at the bottom end of the quantifying cup 423, so that the sample can be held when the sample is quantitatively measured, the bottom funnel of the quantifying cup 423 is avoided, and the supporting plate 424 can be rotated to be opened when the microwave drying disc 3 is used for receiving the sample, so that the sample in the quantifying cup 423 falls into the microwave drying disc 3.
The third driving device 425 is fixedly connected to the first supporting frame 41 and is communicatively connected to the control system (not shown), and the output end of the third driving device is connected to the supporting plate 424 to drive the supporting plate 424 to rotate, so as to close or open the bottom end opening of the metering cup 423. In a specific embodiment, the third driving device 425 may employ an actuator, such as a cylinder.
And also comprises
The striker plate 426 is fixedly connected to the first supporting frame 41 and surrounds the outer sides of the quantitative cup 423 and the volumetric push plate 421. The fixed-volume pushing plate 421 is prevented from throwing the sample to the outside of the receiving device 4 and scattering everywhere when the excessive sample in the quantitative cup 423 is pushed off by rotation. The thrown sample is blocked by the baffle 426, so that the sample falls to the first funnel 43 below, then falls to the pipeline 48 from the second funnel 47, and the waste is guided out to the outside for collection. In a specific embodiment, the left, right and back sides of the receiving device 4 are wrapped by a shell, and the front side is provided with an inlet and an outlet of the microwave drying tray, so that the baffle 426 is only required to be arranged on one side of the quantifying cup close to the inlet and the outlet. In other embodiments, the sample can be prevented from splashing outside the receiving device 4, and other arrangements of the baffle 426 are also possible.
The receiving device 4 further comprises
The first funnel 43 is fixedly connected to the first supporting frame 41, and the bottom outlet covers the first blanking port 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 supporting frame 41 and is used for blowing the supporting plate 424 and blowing the supporting plate 424 clean;
A second solenoid valve (not shown) is communicatively coupled to the control system (not shown) and an outlet is coupled to the second air gun 44. The second electromagnetic 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, the air inlet of the second electromagnetic valve (not shown) may be connected to the air source.
The receiving device 4 further comprises
A fourth driving device 45 fixedly connected to the first supporting frame 41 and communicatively connected to the control system (not shown); in a specific embodiment, the fourth driving device 45 may employ a motor, and an output shaft thereof is disposed vertically downward;
A brush 46 connected to the output of the fourth driving means 45. The control system (not shown) controls the fourth driving device 45 to work so as to drive the brush 46 to act, and the microwave drying tray 3 or the sieving tray 752 can be cleaned, so that the influence of residues on the detection result is avoided. 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
The second funnel 47 is fixedly connected to the first support 41 and located below the brush 46 and the supporting plate 424, and the projections of the supporting plate 424, the quantitative cup 423 and the brush 46 in the vertical direction are located in the top opening of the second funnel 47, so that the samples falling from the quantitative cup 423 and the supporting plate 424 fall from the second funnel 47 to the pipeline 48 below, and the scattering is avoided everywhere;
In a specific embodiment, a pipeline 48 may be fixedly connected to the bottom outlet of the second funnel 47, and the pipeline 48 may pass through a safety protection cover 50, so as to guide the excessive sample falling from the quantitative cup 423 out of the apparatus for recycling and discarding the sample after detection. In practice, a receiving vessel, such as a bucket, may be placed at the bottom outlet of the conduit 48 to collect the reject.
The sieving 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 an implementation, the fifth driving device 72 may be a motor, or may be a motor+a decelerator.
An eccentric wheel 73 fixedly connected to 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 adjustable in advance, so that the swing amplitude can be larger, screening is facilitated, and the screening efficiency and the screening accuracy are improved.
A screening connecting rod 74, one end of which is connected to said eccentric 73;
screen assemblies 75 are slidably attached to the fixed frame 71 and attached to the other ends of the screen connecting rods 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 the second connecting holes 732 and the first connecting holes 731 are different, that is, the eccentricities of the second connecting holes 732 are different, so that when the screening connecting rod 74 is connected with the different second connecting holes 732, the swing amplitude of the screening assembly 75 is different, that is, the swing amplitude corresponding to different gears is different, and further, the swing amplitude of the screening assembly 75 can be adjusted to the required gears according to the use requirement;
wherein, the output end of the fifth driving device 72 is fixedly connected to the first connection hole 731;
One end of the sifting connecting rod 74 is rotatably connected to one of the second connecting holes 732.
The screen assembly 75 includes
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 funnel 753 is arranged right above the uppermost layer of screening discs 752; wherein, each sieving tray 752 is provided with an eighth positioning and matching part 7521, and the eighth positioning and matching part 7521 is in positioning and matching with the first positioning and matching part 2211, and in a specific embodiment, the eighth positioning and matching parts 7521 are located at two sides of the sieving tray 752 and are symmetrically arranged; the function of the telescopic frame is to shrink and seal each layer of screening disc 752 when screening, so as to prevent the sample from falling outside; when extended, it is convenient to grip or place the sifting tray 752.
The sixth driving device 754 is communicatively connected to the control system (not shown), and is fixedly connected to the bottom plate 751, and the output end is connected to the expansion bracket, and the control system (not shown) controls the sixth driving device 754 to drive the expansion bracket to expand and contract.
The fixed frame 71 is provided with a limit protecting member 711 in a protruding manner;
the bottom plate 751 is provided with a first groove 751, the length of the first groove 751 is larger than the maximum sliding travel of the bottom plate 751, and interference to swinging of the screening assembly 75 is avoided;
the limiting and protecting members 711 extend into the first grooves 7511, so that when accidents occur, the limiting and protecting members 711 limit and protect the bottom plate 751, and the bottom plate 751 and the screening modules 75 thereon are prevented from falling off the fixing frame 71.
The screening discs 752 are provided with a plurality of screening holes 7522, but the lowest screening disc 752 is not provided with 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 at the bottom of the screening frame, so that the screening net is easy to damage and rust, has relatively low precision and rigidity, and is difficult to detach, clean and replace in a riveting manner; in a specific embodiment, as shown in fig. 27, the sieving disc 752 includes an annular outer frame 7525, a screen 7526 and a circular pressing sheet 7527, the annular outer frame 7525 may be made of aluminum alloy, the screen 7526 may be made of stainless steel by etching, the circular pressing sheet 7527 may be made of iron sheet, the screen 7256 is located at the bottom of the annular outer frame 7525, then pressed by the circular pressing sheet 7527, and finally locked at the bottom of the annular outer frame 7525 after passing through the circular pressing sheet 7527 and the screen 7526 by screws (not shown), so that the sieving disc 752 of the present invention is in a detachable form, is easy to clean and is more screen, the screen is made of stainless steel by etching, and has high precision and rigidity. The lowermost screening tray 752 is not provided with said screening holes 7522 for holding a batch of samples of smallest particle size while avoiding that it falls onto the stationary frame 71.
Wherein the apertures of the sieving holes 7522 of the sieving plates 752 are different from each other, and the apertures of the sieving holes 7522 of the sieving plates 752 are sequentially reduced from top to bottom.
The expansion bracket comprises
A top plate 755, in which a first avoidance opening 751 is formed in the middle, for avoiding and accommodating the third funnel 753, and is fixedly connected above the bottom plate 751; the third funnel 753 is positioned in the first avoidance opening 7511; the top plate 755 is used to fix guide shafts 756, lead screws 7542, etc., and in particular implementations, may also be fixedly connected to the bottom plate 751 by vertical support bars to form a support frame for the screen assemblies 75.
Guide shafts 756, which are fixedly connected to the top plate 755 and the bottom plate 751, respectively, and are vertically arranged; the guide shaft 756 guides the respective laminates 758 to the left and right by sliding up and down;
The cover plate 757 is connected to each guide shaft 756 in a vertically sliding manner, in a specific embodiment, the cover plate 757 and the guide shafts 756 are connected through linear bearings, so as to realize 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 for covering the topmost screening tray 752, so that when screening, most of the area of the topmost screening tray 752 is covered and is communicated with the third funnel 753 only through the second blanking port 7571, and in a specific implementation, the size of the second blanking port 7571 and the size of the third funnel 753 can be controlled so that the sample in the screening process cannot be thrown out of the third funnel 753.
The number of the laminate 758 is equal to that of the sieving disks 752, and a fifth positioning portion 7581 is provided and connected to each of the guide shafts 756 in a sliding manner up and down and between the cover plate 757 and the bottom laminate 751;
the lifting pull rods 759 are vertically arranged; the lifting pull rod 759 serves as a transmission member, so that when the cover plate 757 is lifted, the lifting pull rod 759 is pulled, and then the laminate 758 and the screening tray 752 on the laminate 758 are pulled to lift. In a specific embodiment, for example, the lifting rod 759 is inverted T-shaped, the laminate 758 is supported below by the transverse end portion, the vertical portion passes through the laminate 758 and adopts clearance fit, and the vertical portion passes through the laminate 758 and is fixedly connected with the laminate 758 or the cover plate 757 of the upper layer.
Wherein:
An output end of the sixth driving device 754 is connected to the cover plate 757, and the cover plate 757 is driven to lift by the sixth driving device 754; when lowered, each lamina 758 and screening disc 752 are then pressed down, so that each screening disc 752 is covered by the lamina 758 or cover plate 757 of the upper layer, and said sixth driving means 754 are driven; when the lifting pull rod 759 is pulled by the cover plate 757 during lifting, the laminate 758 is further pulled up, so that the screening tray 752 and the laminate 758 are reset, and the screening tray 752 is conveniently placed in a preset position on the laminate 758 or taken out of the laminate 758;
The screening tray 752 is further provided with a fifth positioning and matching part 7523 for positioning and 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 lifting pull rods 759 are arranged in the following manner: the top end of the laminate 758 is fixed on the upper layer, the bottom end of the laminate 758 is arranged on the lower layer in a penetrating way in a sliding way, and the laminate 758 on the lower layer is hung;
The top layer of laminate 758 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 is fixedly connected with the cover plate 757, the bottom end is vertically and slidably penetrated through the top layer of the laminate 758, and the top layer of the laminate 758 is hung;
The screening disks 752 are arranged on the laminate 758 in a one-to-one correspondence and are embedded in the screening disk accommodating holes 7582, and the fifth positioning parts 7581 and the fifth positioning matching parts 7523 are in positioning matching;
When the telescoping rack is retracted to a predetermined position, the screen tray 752 is covered by the upper tier deck 758 or cover 757.
A screening disc accommodating hole 7582 is formed in the middle of each laminate 758; the tray receiving holes 7582 include two functions, one to locate the protrusions 7524 and the other to allow the sample to drop from the tray receiving holes 7582 onto the next layer of tray 752 when it is being screened.
The bottom end of the sieving plate 752 is further provided with a protrusion 7524, and the outer diameter of the protrusion 7524 is equal to the inner diameter of the sieving plate accommodating hole 7582 and is in clearance fit;
the protrusions 7524 are fitted into the screen tray accommodating 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;
The screw 7542 is rotatably connected with the bottom plate 751 and the top plate 755 and is vertically arranged; in the implementation, bearings can be respectively sleeved at the upper end and the lower end of the screw rod 7542, and the outer ring of the bearings is fixedly connected with the top plate 755 or the bottom plate 751.
A nut 7543 screwed to the screw 7542 and fixedly connected to the cover plate 757;
the output shaft of the lifting motor 7541 and the screw 7542 are respectively fixedly sleeved with a synchronous pulley 7544;
a timing belt 7545 connected to each of the timing pulleys 7544.
The lifting motor 7541 works, and drives the screw rod 7542 to rotate through a synchronous pulley 7544-synchronous belt 7545 transmission mechanism, so as to drive the nut 7543 to move up and down, and finally drive the cover plate 757 to move up and down, so that the expansion of the expansion bracket is realized.
In other embodiments, the sixth driving device 754 may further use a cylinder or a hydraulic cylinder to connect the piston rod thereof with the cover plate 757; or other driving devices may be employed.
And also comprises
An idler shaft 7546 fixedly connected to the fixed frame 71 and parallel to the screw 7542;
An idler 7547, wherein the idler 7547 is rotationally sleeved on the idler shaft 7546 and presses the synchronous belt 7545 outside; the idler pulley 7547 is used for compressing the synchronous belt 7545 outside the synchronous belt 7545, so that the wrap angle between the synchronous belt 7545 and the synchronous pulley 7544 is increased, and slipping between the synchronous belt 7545 and the synchronous pulley 7544 is not easy. In a specific embodiment, the idler 7547 is nested with a bearing, and the bearing is sleeved on the idler shaft 7546.
And a plurality of protective covers 7548, which are the same or different in size, are respectively sleeved on the guide shaft 756 and the screw 7542, and when the telescopic frame is retracted to a preset position, the exposed parts of the screw 7542 and the guide shaft 756 are covered by the protective covers 7548. In a specific implementation, the protection cover 7548 may adopt an organ protection cover, and is used for covering the exposed parts of the guide shaft 756, the screw 7542 and the like when the telescopic frame is retracted to screen, so that dust is not easy to adhere to the exposed parts of the guide shaft 756 or the screw 7542 and the like.
And also comprises
A receiving tray 10; the receiving tray 10 is used for receiving the particles falling from the sieving tray 752 below the microwave drying tray 3 or the sieving tray 752, so as to avoid the influence on the cleanliness of the ground or the frame 30.
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 engaging portion 1011 is located at the bottom surface of the third chuck 101, and the seventh positioning engaging portions 1012 are located at two sides of the third chuck 101 and are symmetrically arranged;
A sixth positioning unit 1013 that is positioned and engaged with the sixth positioning engaging unit 1011 as a predetermined placement position of the receiving tray 10 when not in use; in a specific implementation, the sixth positioning matching part 1011 may be separately disposed on the support object; can also be arranged on the first support 41, the second support 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 gripper 26 includes two second gripping sheets 261, each second gripping sheet 261 is provided with a seventh positioning portion 2611, the two second gripping sheets 261 are symmetrically connected to the output end of the seventh driving device 25, the seventh positioning portions 2611 are arranged in opposite directions, the second gripping sheet 261 is located below the first gripping sheet 221, and the seventh driving device 25 drives the two second gripping sheets 261 to synchronously open and close; the seventh positioning matching portion 1012 and the seventh positioning portion 2611 are in positioning matching, so that when the second gripper 26 grips the third chuck 101 to drive the receiving tray 10 to move, no relative offset occurs between the second gripper 26 and the third chuck 101; in a specific implementation, a third air gun 27 may be further added, which is fixed on the connecting piece 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 source via a solenoid valve, which in turn is communicatively connected to a control system (not shown); the opening or closing of the electromagnetic valve is controlled by a control system (not shown) to control whether the third air gun 27 blows or not. In an embodiment, the seventh driving device 25 may also use an actuator, such as a cylinder, for example, a pneumatic mechanical clamp of the type HDW-40, to connect the two second gripping tabs 261 to the two gripper arms 211 of the pneumatic mechanical clamp.
The second detecting device 20 is communicatively connected to the control system (not shown), and is configured to detect whether the sixth positioning unit 1013 and the sixth positioning engaging unit 1011 are engaged in place, thereby functioning as an error protection device.
The sixth positioning engaging portion 1011 is provided on the first supporting frame 41.
And also comprises
The machine frame 30, wherein the robot 1, the receiving device 4, the weighing device 5, the microwave drying device 6 and the sieving machine 7 are positioned in the machine frame 30; further, 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 fixed to the frame 30 respectively; the placing positions among the robot 1, the receiving device 4, the weighing device 5, the microwave drying device 6 and the sieving machine 7 are not particularly required, and the robot 1 can drive the clamping jaw device 2 to execute corresponding actions within the moving range of the robot 1 without interference.
A host computer (not shown) in communication 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 according to the requirement.
A display screen 40 fixedly connected to the frame 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 mixture granularity robot 1, for example, in a specific implementation, the alarm device (not shown) can adopt a tri-color lamp, and the states corresponding to different colors of the tri-color lamp can be preset according to the use requirement. The installation position of the alarm device (not shown) can be arranged at will according to the use requirement, and the alarm device is convenient for the staff to observe. For example, may be fixedly attached to the housing 30, or may be installed in a control room or elsewhere.
The safety protection cover 50 is provided with an inlet and outlet door 501, is fixedly connected to the rack 30, and is arranged outside the robot 1, the material receiving device 4, the weighing device 5, the microwave drying device 6 and the sieving machine 7 in a surrounding manner; it is the safety shield 50 that encloses the various detection devices to avoid accidents during use, while creating a safe impact on the external environment or personnel.
The material receiving pipe 60 is fixed on the safety protection cover 50, the bottom end opening is arranged right above the first blanking opening 411 and is communicated with the first blanking opening 411, and the top end opening penetrates through the safety protection cover 50; the receiving pipe 60 is used for being in butt joint with external sample conveying equipment, so that samples are conveyed to the first funnel 43 through the receiving pipe 60 and fall into the metering cup 423 through the first blanking port 411.
A hood 70 disposed above the sieving machine 7;
The air pipe 8 is fixed on the safety protection cover 50, one port is fixedly connected with the exhaust hood 70 and communicated with the exhaust hood, and the other port penetrates through the safety protection cover 50. In a specific implementation, the air duct 8 may be in butt joint with an external air suction device to perform dust collection inside the safety protection cover 50, or an embodiment shown in the drawings may be adopted, in which a fan 81 is installed at another port of the air duct 8, and the air duct 8 is directly sucked by the fan 81, so as to suck the exhaust cover, and perform dust collection operation. Of course, in other embodiments, the air duct 8 may also be provided with a plurality of air inlets for performing dust collection operation in the safety shield 50. If the fan 81 is installed on the air duct 8, it may be electrically connected to a control system (not shown), and it is sufficient to control the fan 81 to operate at the same time when the detection is started by the control system.
In a specific embodiment, the side surface of the first support frame 41 is provided with a first air extraction opening 49, and the first air extraction opening 49 is connected with a port 82 of the air duct 8 by a connecting pipe (not shown), so that the fan 81 can also extract air and remove dust from the interior of the first support frame.
Further included is a static eliminator 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 dust explosion.
The static eliminator 9 is fixedly connected to the first support 41, in a specific embodiment, the ion wind outlet thereof faces the brush 46, and when the brush 46 cleans the microwave drying tray 3 and the sieving tray 752, the ion wind is blown out to perform static dust removal on each tray body, and static electricity is eliminated.
The using mode is as follows:
and presetting a detection program.
The control system (not shown) is connected to the upper computer (not shown), and the detected data is finally uploaded to the upper computer (not shown) through the control system (not shown), and calculation processing is performed according to preset conditions, so that a required detection result is obtained.
The material receiving pipe 60 is in butt joint with the sample conveying device, and the sample is conveyed to the first funnel 43 through the material receiving pipe 60 and falls into the quantitative cup 423 through the first blanking port 411. And the amount of sample to be delivered at each test is preset to ensure that the sample that falls into the dosing cup 423 can fill the dosing cup 423 entirely. For example, assuming a 1L volume of the metering cup 423, the sample may be 1.5L, 1.6L, 2L, etc., to ensure that the metering cup 423 is fully filled with sample, and that the excess sample is stacked above the metering cup 423, waiting for the metering push plate 421 to push off, drop into the second hopper 47 below, and drop from the second hopper 47 into the conduit 48 for recycling.
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 may all use positioning pins, and the cross section of the positioning pins may 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 corresponding positioning pins, and the positioning holes and the corresponding positioning pins are in clearance fit; while the number of the positioning pins and the positioning holes can be arranged according to the shape thereof, 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; if square is adopted, only one or one group is needed, and the square can be selected according to the requirement.
Of course, in other embodiments, each positioning portion may employ a positioning hole, and the positioning mating portion may also employ a positioning pin. Or other structural positioning methods can be adopted.
The receiving tray 10 is pre-placed on the first supporting frame 41, 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 disc can be directly placed on each supporting frame; the supporting blocks can be arranged on the corresponding supporting frames to support, the supporting blocks can be designed into L-shaped, cuboid, cylindrical or other shapes, the supporting blocks are adopted to support, the processing is convenient, only the surfaces, which are in contact with the supporting blocks and the corresponding discs, are required to be processed, and if each disc is directly placed on the corresponding supporting frame, the whole contact surface on the supporting frame is required to be processed, and the manufacturing difficulty and the manufacturing cost are correspondingly higher.
The microwave drying tray 3 is previously placed on the second supporting frame 51, and the second positioning engaging portion 312 and the third positioning portion 513 are positioned and engaged;
The granularity detection mode is as follows: the specific detection steps are as follows:
Step S1, clamping a microwave drying disc 3: a control system (not shown) controls the first driving device 21 to operate according to a preset program, so as to drive the two first gripping sheets 221 to open synchronously; and controls the robot 1 to move to a predetermined position such that the first chuck 31 is positioned between the two first gripping pieces 221 and the first positioning portion 2211 and the first positioning mating portion 311 are opposite; then, the first driving device 21 is controlled to work, and the two first gripping sheets 221 are driven to be synchronously closed to a preset position, so that the first positioning part 2211 and the first positioning matching part 311 complete positioning matching, and the first gripper 22 is completed to grip the microwave drying tray 3;
step S2, brushing a microwave drying disc 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 for cleaning according to a preset track, and controls the robot 1 to work according to a preset program to drive the microwave drying tray 3 to move; the purpose of the step is to clean the microwave drying disc 3, so that residues are prevented from influencing the detection result; if the microwave drying tray 3 has been cleaned up in advance, this step may not be necessary; in 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 disc 3 to eliminate static electricity;
Step S3, material receiving: the sample is firstly conveyed to the first funnel 43 through the material receiving pipe 60 and falls into the quantitative cup 423 through the first blanking port 411; during receiving, 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 end opening of the quantitative cup 423, pushes off excessive samples on the quantitative cup 423, drops into the second hopper 47 below, and then drops onto the pipeline 48 to convey the dropped samples away; after the completion, the second driving device 422 is controlled to drive the fixed-volume push plate 421 to rotate and reset;
After the reset is completed, a control system (not shown) controls the robot 1 to move according to a predetermined track, so that the microwave drying tray 3 is positioned below the quantitative cup 423; a control system (not shown) controls the third driving device 425 to work to drive the tray to rotate and open so that the sample in the quantitative cup 423 falls into the microwave drying disc 3; waiting for a number of times, which can be set first, to ensure that the sample is all dropped into the microwave drying tray 3;
Step S4, weighing the total weight m Total (S) of the sample:
Firstly, strickling: a control system (not shown) controls the robot 1 to move according to a preset track, the microwave drying tray 3 is placed on the second supporting frame 51, the third positioning part 513 and the second positioning matching part 312 complete positioning matching, the third positioning matching part is detected by the third detection device 514, a feedback signal is sent to the control system (not shown), the control system (not shown) controls the first driving device 21 to work again, and the two first grabbing pieces 221 are driven to be synchronously opened, so that the microwave drying tray 3 is loosened;
Then, a control system (not shown) controls the robot 1 to move to a predetermined position so that the second chuck 551 is positioned between the two first gripping sheets 221, and the first positioning portion 2211 and the third positioning mating portion 5511 are opposite; then, the first driving device 21 is controlled to drive the two first grabbing pieces 221 to be closed synchronously, and the first positioning part 2211 and the third positioning matching part 5511 complete positioning matching to clamp the hanging and sweeping plate 55;
Then, a control system (not shown) controls the robot 1 to move according to a preset track, so that the hanging sweeping plate 55 moves on the microwave drying disc 3, the samples on the microwave drying disc 3 are scraped to be flat, the samples are distributed more uniformly in the microwave drying disc 3, and subsequent drying is facilitated;
After the scraping is finished, the robot 1 is controlled to move, the hanging and sweeping plate 55 is put back into the original position, the fourth positioning and matching part 5512 and the fourth positioning part 54 complete positioning and matching, a first detection device 56 senses a feedback signal to a control system (not shown), the control system (not shown) controls the robot 1 and the first driving device 21 to work, the robot 1 and the first driving device move according to a preset track, and the first gripper 22 clamps the microwave drying disc 3 again;
weighing: after the first gripper 22 grabs 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 part 531 and the second positioning matching part 312 complete positioning matching; after the completion, the control system (not shown) controls the first driving device 21 to work, drives the first gripper 22 to loosen the microwave drying disc 3, then controls the weighing sensor 52 to weigh, the weighing sensor 52 feeds back measured weight data 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 completed, a 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; the door of the microwave drying device 6 is controlled to be automatically opened, the robot 1 is controlled to move according to a preset program, the microwave drying disc 3 is placed in a preset position in the microwave drying device 6, the first driving device 21 is controlled to work, the first gripper 22 is driven to loosen the microwave drying disc 3, and then the robot 1 is controlled to move, so that the first gripper 22 and the robot 1 exit 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 reached to indicate that the drying is completed, and the time can be preset;
The dried sample was then weighed m 1: after the drying is finished, 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 a door thereof, then the robot 1 and the first driving device 21 are controlled to work according to a preset program, so that the first gripper 22 grips the microwave drying disc 3 again, the microwave drying disc 3 is placed on the weighing bracket 53, the microwave drying disc 3 is loosened for weighing, the weighing sensor 52 feeds back measured weight data to the control system (not shown), and the control system (not shown) uploads the weight data to the upper computer (not shown) for storage and recording;
Step S6, screening: after the re-weighing 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 picks up 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 funnel 753 of the sieving machine 7, then controls the robot 1 to move to rotate the microwave drying tray 3 downwards, and enables samples to fall into the third funnel 753 and fall into a sieving tray 752 below from the third funnel 753; after the completion, the robot 1 is controlled to move, the microwave drying tray 3 is replaced on the second supporting frame 51, and the second positioning matching part 312 and the third positioning part 513 complete positioning matching; or the microwave drying disc 3 can be moved to the brush 46, cleaned and then put back on the second supporting frame 51;
on the other hand, a control system (not shown) controls the operation of the sieving 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 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 layer plate 758 or the cover plate 757 on the upper layer, and samples are prevented from being thrown out of the screening disc 752 in the screening process;
then, the fifth driving device 72 is controlled to work, the eccentric wheel 73 is driven to rotate, the sieving connecting rod 74 is driven to reciprocate, and finally the sieving component 75 is driven to reciprocate, so that the sample is sieved; the operating time of the fifth drive means 72 may be preset and when a predetermined time is reached, this indicates that screening is complete;
after screening is completed, a control system (not shown) controls the lifting motor 7541 to work, drives the telescopic frame to reset and lift, and releases the screening disc 752;
Step S7, weighing the screened objects in each screening tray 752:
Firstly, clamping and taking a receiving tray 10: a control system (not shown) controls the seventh driving device 25 to operate according to a predetermined program, so as to drive the two second gripping sheets 261 to open synchronously; and controlling the robot 1 to move to a preset position, so that the third chuck 101 is positioned between the two second gripping sheets 261, and the seventh positioning part 2611 and the seventh positioning matching part 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 complete positioning matching, and the receiving tray 10 is gripped;
screening tray 752 is then clamped: a control system (not shown) controls the robot 1 to move according to a predetermined track, so that the clamping heads of the screening tray 752 are positioned 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 grabbing pieces 221 to be synchronously closed, one of the screening discs 752 is clamped, and the eighth positioning matching part 7521 is in positioning matching with the first positioning part 2211;
The robot 1 is controlled to move, and the screening tray 752 is placed at a preset position on the weighing bracket 53 for weighing, wherein the fifth positioning matching part 7523 and the third positioning part 513 are in positioning matching; then controlling the first driving device 21 to drive the first grip 22 to loosen the sieving plate 752; the weighing sensor 52 is controlled to weigh, the weighing sensor 52 feeds back the measured weight to a control system (not shown), and the control system (not shown) uploads the measured weight to an upper computer (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 sieving tray 752 again, then controls the robot 1 to move, pours samples in the sieving tray 752 into the second hopper 47, controls the robot 1 to move, moves the sieving tray 752 to the brush 46 for cleaning, finally controls the robot 1 to move, resets the sieving tray 752 on the sieving machine 7, and completes positioning cooperation with the fifth positioning part 7523 and the fifth positioning part 7581;
Similarly, a sequential control system (not shown) controls the robot 1 and the first driving device 21 to work, and the rest screening tray 752 is sequentially taken out for weighing, discarding, cleaning and resetting;
In a specific implementation, the sieving discs 752 can be preset to be sequentially taken out from top to bottom or from bottom to top, and the sieving discs 752 are numbered, so that an upper computer (not shown) can record and store the weights of the sieving objects corresponding to the sieving discs 752, and the weights correspond to the granularity of the sieving discs 752 one by one;
finally, the robot 1 is controlled to move according to a preset track, and the receiving tray 10 is put back to the original position;
And S8, obtaining a detection report: the upper computer (not shown) divides the weight of the received screening objects of each screening disc 752 by the weight m 1 of the dried sample, so as to obtain the ratio of the screening objects with the granularity corresponding to each screening disc 752; thus, the ratio of the particles with different sizes in the sample and the particle sizes can be known.
Humidity detection mode:
In the above detection method, after step S5 is completed, the upper computer (not shown) first obtains a weight difference Δm=m Total (S) -m1 I.e. according to a formula; and then obtaining the humidity according to the formula humidity= delta m/m Total (S) . And after the completion, the detection report is produced according to a preset format.
After the granularity or humidity detection is completed, the upper computer (not shown) may also send the detection result to the control system (not shown), and the control system (not shown) may send the detection result to the display screen 40, and display the detection result on the display screen 40. The method is suitable for an upper computer (not shown) to be installed in other places, such as a remote control room, so that detection results can be obtained remotely, and the detection results can be directly checked on site. If the upper computer (not shown) is installed on the detection platform of the mixture granularity or humidity robot 1, the mixture granularity or humidity robot can be directly displayed by the upper computer (not shown) without the display screen 40.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that the specific embodiments described are illustrative only and not intended to limit the scope of the invention, and that equivalent modifications and variations of the invention in light of the spirit of the invention will be covered by the claims of the present invention.
Claims (22)
1. A fuel granularity or humidity robot testing platform, its characterized in that: comprising
A control system;
The robot is in communication connection with the control system;
A jaw apparatus comprising a first drive apparatus 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 handle; the first driving device is also in communication connection with the control system;
a microwave drying tray detachably connected to the first handle;
The receiving device comprises a first supporting frame and a metering module; a first blanking port is arranged on the first supporting frame; the metering module is connected to the first supporting 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 supporting frame, a weighing sensor and a weighing bracket; the weighing sensor is fixedly connected to the second supporting 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;
The jaw apparatus further comprises:
the connecting piece is fixedly connected to the robot;
Wherein the first driving device is fixedly connected to the connecting piece;
The first gripper comprises two first gripper sheets, each first gripper sheet is provided with a first positioning part, the two first gripper sheets are symmetrically connected to the output end of the first driving device, the first positioning parts of the two first gripper sheets are arranged in opposite directions, and the first driving device drives the two first gripper sheets to synchronously open and close;
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 with the first supporting frame, is in communication connection with the control system, and is connected with the fixed-volume pushing plate at the output end to drive the fixed-volume pushing plate to rotate;
The upper end and the lower end of the quantitative cup are open, are fixedly connected to the first support frame, are positioned below the fixed-volume push plate, and are opposite to the first blanking port;
the supporting plate is rotationally connected to the first supporting frame and is positioned at the bottom end of the quantitative cup, and the area of the supporting plate is larger than the cross section area of the inner cavity of the quantitative cup;
the third driving device is fixedly connected to the first supporting frame, is in communication connection with the control system, and is connected with the supporting plate at the output end to drive the supporting plate to rotate;
The sieving machine includes:
A fixed frame;
The fifth driving device is fixedly connected with 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;
the screening component is connected to the fixed frame in a sliding way and is connected to the other end of the screening connecting rod;
the center of the eccentric wheel is provided with a first connecting hole;
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 to the first connecting hole;
one end of the screening connecting rod is rotationally connected with one of the second connecting holes;
the screen assembly includes:
the bottom plate is connected to the fixed frame through a sliding rail and a sliding block;
The telescopic frame comprises a plurality of layers of screening discs, and a third funnel is arranged right above the uppermost layer of screening discs; each screening disc is provided with an eighth positioning and matching part which is in positioning and matching with the first positioning part;
The sixth driving device is in communication connection with the control system, fixedly connected with the bottom plate and connected with the expansion bracket at the output end;
the screening disc is provided with a plurality of screening holes, but the screening disc at the bottommost layer is not provided with screening holes;
Wherein the apertures of the screening holes of the screening discs of each layer are different, and the apertures of the screening holes of the screening discs of each layer are sequentially reduced from top to bottom;
The expansion bracket comprises
The top plate is provided with a first avoiding opening in the middle and is fixedly connected above the bottom plate; the third funnel is positioned in the first avoidance opening;
The guide shafts are fixedly connected to the top plate and the bottom plate respectively and are vertically arranged;
The cover plate is connected to each guide shaft in a vertically sliding manner, 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 number of the laminates is equal to that of the screening discs, and a fifth positioning part is arranged, is connected with each guide shaft in an up-down sliding manner and is positioned between the cover plate and the bottom laminate;
the lifting pull rods are vertically arranged;
wherein:
the output end of the sixth driving device is connected with 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 layer plate is fixed on the layer plate of the upper layer, the bottom end of the layer plate is arranged on the layer plate of the lower layer in a penetrating manner in a sliding manner, and the layer plate of the lower layer is hung;
the laminate of the topmost layer with the apron is also directly equipped with a plurality of lift pull rod, just the mounting means of lift pull rod is: the top end is fixedly connected with the cover plate, the bottom end vertically and slidably penetrates through the layer plate at the topmost layer, and the layer plate at the topmost layer is hung;
the screening discs are arranged on the laminate in a one-to-one correspondence manner, are embedded into the screening disc accommodating holes, and are matched with the fifth positioning parts in a positioning manner;
When the telescopic frame is retracted to a preset position, the screening tray is covered by the layer plate or the cover plate of the upper layer.
2. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: the clamping jaw device also comprises
The first air gun is fixedly connected to the connecting piece and positioned below the first grab, and the outlet is obliquely downwards and inwards arranged;
the first electromagnetic valve is in communication connection with the control system, and the outlet is connected with the first air gun.
3. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: the microwave drying tray comprises
The first clamping head 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 matching parts, and the first positioning matching parts are in positioning matching with the first positioning matching parts;
The top end of the first shell is open, a first wave-transmitting hole is formed in the side surface of the first shell, and the first shell is fixedly connected with the first chuck;
the first tray body is arranged in the first shell;
the flexible interlayer is arranged between the first shell and the first disc body;
The annular pressing plate is fixedly connected to the top end of the first shell and presses the first disc body.
4. A fuel granularity or humidity robot detection platform as claimed in claim 3 wherein: the first disc body is a quartz disc body.
5. A fuel granularity or humidity robot detection platform as claimed in claim 3 wherein: the bottom end of the first chuck is provided with a second positioning matching part;
the weighing bracket is provided with a second positioning part, and the second positioning part is matched with the second positioning matching part in a positioning way.
6. A fuel granularity or humidity robot detection platform as claimed in claim 5 wherein: the second support frame is provided with a third positioning part which is also matched with the second positioning matching part in a positioning way.
7. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: and also comprises
The fourth positioning part is fixedly connected to the second supporting frame;
A hanging sweeping plate provided with a second chuck; the second chuck is provided with a third positioning matching part, and the third positioning matching part is matched with the first positioning part in a positioning way; the hanging and sweeping plate is also provided with a fourth positioning and 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;
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 supporting frame.
8. A fuel granularity or humidity robot detection platform as claimed in claim 7 wherein: a plurality of saw tooth grooves are formed in the bottom end of the hanging sweeping plate.
9. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: and also comprises
The striker plate is fixedly connected to the first supporting frame and is enclosed and blocked on the outer sides of the quantitative cup and the fixed-volume pushing plate.
10. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: the receiving device also comprises
The first hopper is fixedly connected to the first supporting frame, and the bottom outlet covers the first blanking port.
11. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: the receiving device also comprises
The second air gun is fixedly connected to the first support frame and used for blowing the supporting plate;
and the second electromagnetic valve is in communication connection with the control system, and the outlet is connected with the second air gun.
12. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: the receiving device also comprises
The fourth driving device is fixedly connected to the first supporting frame and is in communication connection with the control system;
And the brush is connected with the output end of the fourth driving device.
13. A fuel granularity or humidity robot detection platform as claimed in claim 12 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 the projection of the supporting plate, the quantitative cup and the brush in the vertical direction is located in the top opening of the second funnel.
14. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: the fixed frame is convexly provided with a limit protection piece;
the bottom plate is provided with a first groove, and the length of the first groove is longer than the maximum sliding travel of the bottom plate;
the limit protection piece stretches into the first groove.
15. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: a screening disc accommodating hole is further formed in the middle of each laminate;
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 accommodating hole of the screening disc, and the convex part is in clearance fit with the inner diameter of the accommodating hole of the screening disc;
The convex parts are embedded in the accommodating holes of the screening discs in a one-to-one correspondence mode.
16. A fuel granularity or humidity robot detection platform as claimed in claim 15 wherein: the sixth driving device comprises
The lifting motor is fixedly connected with 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 the synchronous belt pulley;
And the synchronous belt is connected with each synchronous belt wheel.
17. A fuel granularity or humidity robot detection platform as claimed in claim 16 wherein: and 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 presses the synchronous belt outside;
the protective covers are provided with a plurality of protective covers which are the same or different in size and are respectively sleeved on the guide shaft and the screw rod, and when the telescopic frame is retracted to a preset position, the exposed parts of the screw rod and the guide shaft are covered by the protective cover.
18. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: and 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 with the material receiving tray;
A sixth positioning part which is matched with the sixth positioning matching part in a positioning way;
A seventh driving device fixedly connected to the robot and communicatively connected to the control system;
the second gripper comprises two second gripper sheets, each second gripper sheet is provided with a seventh positioning part, the two second gripper sheets are symmetrically connected to the output end of the seventh driving device, the seventh positioning parts are oppositely arranged, the second gripper sheets are positioned below the first gripper sheets, and the seventh driving device drives the two second gripper sheets to synchronously open and close; wherein the seventh positioning and matching part is in positioning and matching with the seventh positioning part;
And the second detection device is connected with the control system in a communication way and is used for detecting whether the sixth positioning part and the sixth positioning matching part are matched in place or not.
19. A fuel granularity or humidity robot detection platform as claimed in claim 18 wherein: the sixth positioning matching part is arranged on the first supporting frame.
20. A fuel granularity or humidity robot detection platform as claimed in claim 1 wherein: and also comprises
The robot, the receiving device, the weighing device, the microwave drying device and the screening machine are positioned in the frame;
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 inlet door and an outlet door, is fixedly connected to the frame, 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 material receiving pipe is fixed on the safety protection cover, the bottom end opening is arranged right above the first blanking opening and is communicated with the first blanking opening, and the top end opening penetrates through the safety protection cover;
the exhaust hood is arranged above the screening machine;
the air pipe is fixed on the safety protection cover, one port is fixedly connected with the exhaust hood and communicated with the exhaust hood, and the other port penetrates through the safety protection cover.
21. A fuel granularity or humidity robot detection platform as claimed in claim 20 wherein: the static electricity eliminating device is arranged in the safety protection cover and is in communication connection with the control system.
22. A fuel granularity or humidity robot detection platform as claimed in claim 21 wherein: the static electricity eliminating device is fixedly connected to the first supporting frame.
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| CN202110167913.2A CN112873238B (en) | 2021-02-07 | 2021-02-07 | Fuel granularity or humidity robot detection platform |
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| AT174787B (en) * | 1949-06-29 | 1953-05-11 | Aptila App Und Geraetefabrik F | Method and device for determining the moisture content of grain and other granular material |
| JP3609934B2 (en) * | 1998-02-12 | 2005-01-12 | 花王株式会社 | Measuring method of particle size |
| CN109142628B (en) * | 2018-08-02 | 2021-06-11 | 湖北省农业科学院农业质量标准与检测技术研究所 | Automatic detection control method, device and system for dark tea pile fermentation |
| CN110333162B (en) * | 2019-07-12 | 2022-04-12 | 中冶长天国际工程有限责任公司 | Method and system for detecting moisture and particle size composition of sintering mixture |
| CN112179817A (en) * | 2020-10-29 | 2021-01-05 | 福建亚亨机械股份有限公司 | Ore pulp fineness measuring equipment |
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