CN117705539A - Breaking and disassembling table, sample processing system and sample processing method thereof - Google Patents

Abstract

The invention discloses a breaking and disassembling table, a sample processing system and a sample processing method thereof, which belong to the technical field of metallurgical equipment and comprise a clamping device, a low-frequency mechanical hammer, a V-shaped seat, a cooling device and a screening vibration disk, wherein the clamping device is used for clamping a sample rod, the sample end of the sample rod is positioned between the low-frequency mechanical hammer and the V-shaped seat, the low-frequency mechanical hammer is connected with a lifting structure, the low-frequency mechanical hammer can contact a sample at a lower part and can leave a turnover space of the V-shaped seat at a higher part, the cooling device is arranged in the turnover direction of the V-shaped seat, the screening vibration disk is arranged in the turnover direction of the cooling device, and the sample and a sample shell separated by the sample rod enter the cooling device from the V-shaped seat and enter the screening vibration disk from the cooling device. According to the invention, the sample is separated by using the low-frequency mechanical hammer, the sample is cooled by the cooling device, and the sample shell covered on the surface of the sample is removed by the screening vibration disc, so that the mechanical breaking, disassembling and sorting of the sample in the sample rod can be realized, and the harm to human body caused by manual operation is reduced.

Description

Breaking and disassembling table, sample processing system and sample processing method thereof

Technical Field

The invention relates to the technical field of metallurgical equipment, in particular to a breaking and disassembling table, a sample processing system and a sample processing method thereof.

Background

In the existing steel smelting process, the chemical components of the steel are required to be mastered in real time, the components are continuously adjusted before the required indexes of the product are not reached, and qualified steel water is finally delivered for downstream deep processing. Therefore, the temperature measurement and sampling are carried out at the time required in the production process so as to grasp the change of chemical components.

At present, in the steel smelting process, manual operation is basically adopted for sample sampling and sample treatment after sampling, the sampling quantity is large, and the problems of high manual labor intensity, high operating field working environment temperature, molten steel splashing during sampling, high Wen Suixie splashing during cake sample breaking and disassembling and the like are caused to harm human bodies. Especially the important links of breaking and sorting, there is no clearly practical scheme.

Therefore, how to change the series of problems caused by manual breaking and sorting in the existing steel smelting production is a technical problem to be solved urgently by the technicians in the field.

Disclosure of Invention

The invention aims to provide a breaking and disassembling table, a sample processing system and a sample processing method thereof, which are used for solving the problems in the prior art, separating samples by utilizing low-frequency vibration of a low-frequency mechanical hammer, cooling the samples by a cooling device, and removing sample shells covered on the surfaces of the samples by vibration of a screening vibration disc, so that the mechanical breaking and disassembling and sorting of the samples in a sample rod can be realized, and the harm to human bodies caused by manual operation is reduced.

In order to achieve the above object, the present invention provides the following solutions:

the invention provides a breaking and dismantling table which comprises a clamping device, a low-frequency mechanical hammer, a V-shaped seat, a cooling device and a screening vibration disc, wherein the clamping device is used for clamping a sample rod, a sample end of the sample rod is positioned between the low-frequency mechanical hammer and the V-shaped seat, the low-frequency mechanical hammer is connected with a lifting structure, the low-frequency mechanical hammer can contact with a sample at a low position and can leave a turnover space of the V-shaped seat at a high position, the cooling device is arranged in the turnover direction of the V-shaped seat, the screening vibration disc is arranged in the turnover direction of the cooling device, and a sample shell separated by the sample rod enter the cooling device from the V-shaped seat and enter the screening vibration disc from the cooling device.

Preferably, the cooling device comprises a draining basket and a water tank, the draining basket is immersed in cooling water in the water tank, a rotating shaft is connected to one side, close to the screening vibration plate, of the draining basket, and the draining basket is turned upside down to the screening vibration plate through the water tank through a turning driving structure.

Preferably, the screening vibration plate comprises a bottom plate and side walls surrounding the periphery of the bottom plate, the bottom plate comprises vibration plates connected in a blocking mode, the vibration plates are connected with air cylinders, one side, connected with the vibration plates, of each vibration plate can be opened to form a falling channel, and a waste box is arranged below the falling channel.

The invention provides a sample processing system, which comprises a robot, wherein the breaking and disassembling platform, a cup loading unit and an air conveying system are arranged in the working range of the robot, the executing end of the robot is provided with a paw, an electromagnetic sorter and a high-speed camera, the paw is used for grabbing and moving a sample rod, a sample and a sample cup, the electromagnetic sorter is used for magnetically attracting and moving the sample, and the high-speed camera is used for identifying the sample through visual software.

Preferably, the breaking and dismantling platform is provided with a gesture correcting guide seat, the gesture correcting guide seat is provided with a funnel-shaped opening, the funnel-shaped opening comprises a horn mouth with an upward opening and a gesture correcting hole which is vertically arranged, the gesture correcting hole is perpendicular to the ground, a tail handle of the sample is inserted into the gesture correcting hole, and the diameter of the gesture correcting hole is larger than that of the tail handle by 1-1.5 mm.

Preferably, the tail cutting device comprises a hole with the diameter larger than that of the tail handle, a cutter is arranged in the hole, and the tail handle is inserted into the hole to be cut off by the cutter.

Preferably, the cup filling unit comprises a cover opening and closing device, the cover opening and closing device comprises a servo screwing motor and a clamping air claw connected with the servo screwing motor, the clamping air claw is used for pneumatically clamping the cup cover, and the servo screwing motor is used for driving the cup cover to rotate through the clamping air claw.

Preferably, the cup filling unit comprises a throwing device, the throwing device comprises a printing device, a supporting device and a moving device, the printing device and the supporting device are located in the working range of the moving device, the moving device comprises a transverse moving track and a lifting track which are connected with each other, a controllable sucking disc is arranged at the bottom end of the lifting track, and the supporting device is used for placing a sample cup.

The invention provides a sample processing method, which uses the breaking platform as described above and comprises the following steps:

placing a sample rod on the breaking and disassembling table, placing a sample end of the sample rod on a V-shaped seat, placing a sample rod on a clamping device, and clamping and positioning the sample rod by using the clamping device;

the low-frequency mechanical hammer descends to contact with the sample end and vibrates at low frequency, so that quartz sand wrapped outside the sample is crushed by vibration, and the sample shell is separated;

turning over the V-shaped seat, pouring quartz sand, a sample shell and a sample into a cooling device, turning over the cooling device after cooling is finished, and pouring the cooled quartz sand, sample shell and sample into a screening vibration disc;

and (5) picking up the sample after vibration separation.

Preferably, the robot comprises a robot, wherein an electromagnetic sorter and a high-speed camera are arranged at the execution end of the robot;

shooting the sample in the screening vibration disc by using the high-speed camera, if the sample shell is pressed and overlapped with the sample, sending a signal, otherwise vibrating the screening vibration disc to separate the sample shell from the sample, shooting again, if the sample shell is still pressed and overlapped with the sample, continuing vibrating until the sample shell is not pressed and overlapped with the sample any more;

selecting samples from the crushed quartz sand and sample shells, picking the samples out by using the electromagnetic sorter, horizontally placing the samples on a gesture correcting platform, identifying the direction of a tail handle of the samples from the gesture correcting platform by using the high-speed camera, giving an angle, guiding the robot to drive a paw to be parallel to the tail handle, grabbing the samples and placing the tail handle into a gesture correcting hole;

the screening vibration plate is turned downwards to discharge the waste into a waste box.

Compared with the prior art, the invention has the following technical effects:

according to the invention, the sample rod can be clamped and positioned by the clamping device, the sample end is supported by the V-shaped seat, the sample is separated onto the turnover V-shaped seat under the low-frequency vibration of the low-frequency mechanical hammer, the separated sample and the like enter the cooling device, the sample and the like are cooled by the cooling device, the cooled sample is turned by the cooling device and enters the screening vibration disc, the sample shell covered on the surface of the sample is removed by the vibration of the screening vibration disc, and finally the mechanized breaking, dismantling and sorting of the sample in the sample rod can be realized, and the harm to human body caused by manual operation is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic top view of a sample processing system of the present invention;

FIG. 2 is a schematic view of a breaking station according to the present invention;

FIG. 3 is a view of the rollover condition of the V-shaped seat of the present invention;

FIG. 4 is a diagram showing the drain basket of the present invention in an inverted position;

FIG. 5 is a state diagram of the automatic label placement of the sample cup according to the present invention;

FIG. 6 is a state diagram of the present invention for placing labels;

FIG. 7 is a view showing the state of the gripper grabbing a sample cup according to the present invention;

FIG. 8 is a state diagram of a gripper grabbing bar according to the present invention;

FIG. 9 is a view showing a state of picking up a sample by the electromagnetic sorter of the present invention;

FIG. 10 is a sample flat gripper grabbing state diagram of the present invention;

FIG. 11 is a view showing a sample vertical gripper grabbing state according to the present invention;

wherein, 1, breaking the platform; 2. a robot; 3. a paw; 4. a vision system; 41. integrating vision algorithm software into a computer; 42. a high-speed camera; 5. an electromagnetic sorter; 6. tail cutting device; 7. a delivery device; 71. a traversing rail; 72. lifting rails; 73. a suction cup; 74. a printing device; 75. a label; 8. a cover opening and closing device; 81. a servo tightening motor; 82. a speed reducer; 83. clamping the air claw; 84. a cup cover; 85. a sample cup; 9. an air delivery system; 10. a sample bar; 11. a clamping device; 12. a low frequency mechanical hammer; 13. a V-shaped seat; 14. a cooling device; 141. a draining basket; 142. a water tank; 15. screening a vibration disc; 151. a vibration plate; 16. a waste bin; 17. a posture correcting guide seat; 18. and (3) a sample.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

The invention aims to provide a breaking and disassembling table, a sample processing system and a sample processing method thereof, which are used for solving the problems in the prior art, separating samples by utilizing low-frequency vibration of a low-frequency mechanical hammer, cooling the samples by a cooling device, and removing sample shells covered on the surfaces of the samples by vibration of a screening vibration disc, so that the mechanical breaking and disassembling and sorting of the samples in a sample rod can be realized, and the harm to human bodies caused by manual operation is reduced.

In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.

As shown in fig. 1 to 4, the present invention provides a breaking and disassembling station, which comprises a clamping device 11, a low-frequency mechanical hammer 12, a V-shaped seat 13, a cooling device 14 and a screening vibration disk 15, wherein the above devices can be directly or indirectly installed on a frame body to realize positioning and corresponding functions. The clamping device 11 is used for clamping the sample rod 10, the sample rod 10 is of a rod-shaped structure, the sample rod is provided with a sample end and a sample rod connected with the sample end, a sample 18 is wrapped in the sample end, the sample rod can be clamped on the clamping device 11, the clamping device 11 is at least arranged at two positions in the length direction of the sample rod, the V-shaped bottom of the V-shaped seat 13 and the center of the clamping device 11 are installed in a three-point one-line mode, and the position of the sample rod 10 after being placed in is guaranteed to be accurate. The sample end of the sample rod 10 is positioned between the low-frequency mechanical hammer 12 and the V-shaped seat 13, the low-frequency mechanical hammer 12 can perform low-frequency mechanical vibration, the breaking vibration frequency is 10-70 Hz, the V-shaped seat 13 is provided with a V-shaped accommodating space, and the sample 18, the broken sample shell and the like can be conveniently collected. The low-frequency mechanical hammer 12 can be connected with a hydraulic drive lifting structure, the lifting structure can be arranged at the top end of the portal frame, the low-frequency mechanical hammer 12 is driven to lift by using an air cylinder or an oil cylinder, the low-frequency mechanical hammer 12 can contact with the sample 18 when being positioned at a low position, the sample 18 can be mechanically vibrated, the overturning space of the V-shaped seat 13 can be reserved at a high position, and interference influence on overturning of the V-shaped seat 13 is avoided. The V-shaped seat 13 can be turned over by the cylinder with a turning angle of 0-100 °, and the cooling device 14 is disposed in the turning direction, and the cooling device 14 can cool the separated sample 18 and the sample shell thereof, and can also be turned over. The cooling device 14 is provided with a screening vibration plate 15 in the turning direction, and the cooled sample 18, a sample shell thereof and the like can be introduced into the screening vibration plate 15 through the cooling device 14. The screening vibration plate 15 is capable of vibrating to remove the sample shell covering the surface of the sample 18, facilitating the picking up of the sample 18. In summary, the sample 18 and the sample shell separated from the sample rod 10 enter the cooling device 14 from the V-shaped seat 13, enter the screening vibration disc 15 from the cooling device 14, and finally finish the breaking and sorting of the sample 18.

According to the breaking and disassembling table 1 disclosed by the invention, the sample rod 10 can be clamped and positioned by the clamping device 11, the sample end is supported by the V-shaped seat 13, the sample 18 is separated onto the turnover V-shaped seat 13 under the low-frequency vibration of the low-frequency mechanical hammer 12, the separated sample 18 and the like enter the cooling device 14, the sample 18 and the like are cooled by the cooling device 14, the cooled sample 18 is turned by the cooling device 14 and enters the screening vibration disc 15, the sample shell covered on the surface of the sample 18 is removed by the vibration of the screening vibration disc 15, and finally the mechanized breaking and disassembling and sorting of the sample 18 in the sample rod 10 can be realized, and the harm to human bodies caused by manual operation is reduced.

The cooling device 14 may include a draining basket 141 and a water tank 142, wherein the v-shaped seat 13 is used for allowing the separated sample 18 and its sample shell to enter the draining basket 141, the draining basket 141 has a hollow hole, and the hollow hole is convenient for cooling water to enter the draining basket 141 and to flow out of the draining basket 141. The depth of the water tank 142 is greater than the height of the draining basket 141, the draining basket 141 is immersed in the cooling water in the water tank 142, the immersion depth can be 80-100 mm, and the sample 18 contained in the draining basket 141 can be cooled. One side of the draining basket 141, which is close to the screening vibration plate 15, is connected with a rotating shaft, when the draining basket 141 is driven to rotate by the overturning driving structure, the draining basket 141 can rotate along the rotating shaft, and then the draining basket 141 is overturned and reversely buckled to the screening vibration plate 15 by the water tank 142, the overturning angle range of the draining basket 141 is 0-180 degrees, a sample 18 and a sample shell in the draining basket 141 smoothly enter the screening vibration plate 15, and cooling water flows back to the water tank 142 through the hollowed-out holes.

The screening vibration tray 15 may include a bottom plate and side walls surrounding the bottom plate, and the bottom plate and side walls house the sample 18 and the sample case when screening vibration is performed. The bottom plate includes the vibrations board 151 that the piecemeal meets, and vibrations board 151 is connected with the cylinder, and the cylinder can drive vibrations board 151 and shake. Meanwhile, under the telescopic action of the air cylinder, one side of the vibration plate 151 connected with the vibration plate can be opened, the opening angle is 0-60 degrees, a falling channel is formed, when the sample 18 above the bottom plate is taken away, the falling channel can be opened, and the waste materials such as sample shells and the like fall to the waste material box 16 arranged below the sample shells through the falling channel.

As shown in fig. 1 to 11, the present invention provides a sample processing system, which includes a robot 2, wherein the robot 2 can move in a plurality of degrees of freedom, has a flexible moving execution end, for example, a six-axis robot 2 can be adopted, a breaking and disassembling table 1 as described above is arranged in the working range of the robot 2, a cup filling unit and a wind conveying system 9 are also arranged, and the devices can be arranged around the periphery of the robot 2, so that the robot 2 can work conveniently. The executing end of the robot 2 is provided with a paw 3, an electromagnetic sorter 5 and a high-speed camera 42, wherein the high-speed camera 42 is used as a part of a vision system 4, a vision algorithm software integrated computer 41 is connected with the high-speed camera, and the vision algorithm software integrated computer 41 is placed in an operation cabinet and used for analyzing and processing shot information. The gripper 3 is used for grabbing and moving the sample rod 10, the sample 18 and the sample cup 85; an electromagnetic coil is arranged in the electromagnetic sorter 5, and generates a magnetic field when the electromagnetic sorter is electrified, and the magnetic field disappears when the electromagnetic sorter is powered off, so as to magnetically attract and move the sample 18; the high speed camera 42 is used to identify the sample 18 by visual software. During operation, the gripper 3 of the robot 2 can clamp the sample rod 10 to the breaking and disassembling platform 1, the clamping device 11 of the breaking and disassembling platform 1 clamps and fixes the sample rod 10, the broken and disassembled sample 18 is picked up by the electromagnetic sorter 5 connected with the robot 2 under the action of the low-frequency mechanical hammer 12, the position and surface information of the sample 18 are identified by the high-speed camera 42, the sample 18 is sent to the cup filling unit by the gripper 3 to be filled in the sample cup 85, the sample cup 85 is finally sent to the air-conveying system 9 by the gripper 3, and the air-conveying system 9 sends the sample cup 85 to the designated position of the quality laboratory by the air pressure. After the sample cup 85 is placed into the air conveying system 9, when a sample conveying signal is sent, the air duct valve is opened to convey the sample cup 85 to a testing room, and the testing room can also convey the sample cup 85 back.

The breaking and dismantling table 1 is provided with a gesture correcting guide seat 17, the gesture correcting guide seat 17 can be arranged on one side of the screening vibration disc 15, gesture correcting operation is convenient to carry out, the gesture correcting guide seat 17 is provided with a funnel-shaped opening, the periphery of the funnel-shaped opening serves as a gesture correcting platform, the funnel-shaped opening comprises a horn mouth with an upward opening and a gesture correcting hole which is vertically arranged, the gesture correcting hole is perpendicular to the ground, and a tail handle of a sample 18 can be inserted into the gesture correcting hole by utilizing the paw 3 of the robot 2 to correct the gesture of the sample 18. The diameter of the gesture correcting hole can be 1-1.5 mm larger than that of the tail handle, so that the tail handle can be conveniently and smoothly inserted.

A tail shearing device 6 may be included, with the sample 18 having a pie-shaped configuration and a tail attached to the pie-shaped configuration, the tail being sheared off for easy cup filling. The tail shearing device 6 can comprise a hole with the diameter larger than that of the tail handle, a cutter is arranged in the hole, and the tail handle is inserted into the hole and sheared by the cutter.

The cup-loading unit comprises a cover opening and closing device 8, wherein the cover opening and closing device 8 is used for screwing the cup cover 84 on the sample cup 85 or unscrewing the cup cover 84 from the sample cup 85. Specifically, the cover opening and closing device 8 comprises a servo tightening motor 81 and a clamping air claw 83 connected with the servo tightening motor 81, a speed reducer 82 can be further arranged between the servo tightening motor 81 and the clamping air claw 83, and the speed reducer 82 is utilized for reducing the speed, so that the clamping air claw 83 is convenient to tighten the cup cover 84. The clamping air claw 83 is connected with a pneumatic device, and can clamp and loosen under the action of the pneumatic device, so that pneumatic clamping and loosening of the cup cover 84 are realized. Under the action of the servo tightening motor 81, the clamping air claw 83 is driven to rotate, and then the cup cover 84 is driven to rotate through the clamping air claw 83. In addition, the cover opening and closing device 8 can be integrally lifted to enable the cover 84 to be buckled on the sample cup 85 or enable the cover 84 to be moved upwards from the sample cup 85.

The cup filling unit may further comprise a dispensing device 7, wherein the dispensing device 7 comprises a printing device 74, a holding device and a moving device, wherein the printing device 74 and the holding device are located in the working range of the moving device, that is, the moving device can place the label 75 printed by the printing device 74 in the sample cup 85 placed on the holding device. Specifically, the moving device comprises a traversing rail 71 and a lifting rail 72 which are connected with each other, a controllable sucking disc 73 is arranged at the bottom end of the lifting rail 72, and the tag 75 can be sucked and placed by the controllable sucking disc 73. The traversing rail 71 has two ends stopped, one end of which is stopped with the controllable suction cup 73 facing the sample cup 85 of the support device, and the other end of which is stopped with the controllable suction cup 73 facing the center of the label 75.

As shown in fig. 1 to 11, the present invention provides a sample processing method, which uses the breaking table 1 as described above, comprising the following steps:

placing a sample rod 10 on the breaking and disassembling table 1, placing a sample end of the sample rod 10 on the V-shaped seat 13, placing a sample rod on the clamping device 11, and clamping and positioning the sample rod by using the clamping device 11;

the low-frequency mechanical hammer 12 descends to contact with the sample end and vibrates at low frequency, so that quartz sand wrapped outside the sample 18 is crushed and sample shells are separated;

the V-shaped seat 13 is used for pouring quartz sand, a sample shell and a sample 18 into the cooling device 14, turning over the cooling device 14 after cooling is finished, and pouring the cooled quartz sand, sample shell and sample 18 into the screening vibration disc 15;

the sample 18 after shaking separation is picked up.

Further, the robot comprises a robot 2, an electromagnetic sorter 5 and a high-speed camera 42 are arranged at the execution end of the robot 2, the high-speed camera 42 photographs samples in a screening vibration disc 15, if a sample shell is pressed and overlapped with the samples 18, signals are sent out to further screen the vibration disc 15 to vibrate so as to separate the sample shell from the samples 18, photographing again, if the sample shell is still pressed and overlapped with the samples 18, continuing vibrating until the sample shell is not pressed and overlapped again, confirming after photographing, giving out the coordinate position of the samples 18 if the position is normal, selecting the samples from the crushed quartz sand and the sample shell, picking the samples 18 out by the electromagnetic sorter 5 according to the coordinate position of the robot 2, horizontally placing the samples on a gesture correcting platform, recognizing the direction of a tail handle of the samples 18 from the gesture correcting platform by using the high-speed camera 42, giving an angle, guiding the robot 2 to drive the hand claw 3 to be parallel with the tail handle, grabbing the samples 18 and putting the tail handle into a gesture correcting hole; the sifting vibration tray 15 is turned down to discharge the waste material into a waste bin 16.

The whole working flow of the invention is as follows:

the robot 2 is flange mounted with a gripper 3, an electromagnetic sorter 5 and a high speed camera 42. The empty sample cup 85 returns to the air conveying system 9, the hand-carrying claw 3 of the robot 2 takes out the sample cup 85 and moves the sample cup 85 to the cover opening and closing device 8, the clamping air claw 83 clamps, the servo tightening motor 81 starts to drive the speed reducer 82 to rotate anticlockwise, and the cup cover 84 is separated from the sample cup 85. The robot 2 places the uncovered sample cup 85 in a fixed position in the dispensing device 7.

The robot 2 places the sample rod 10 on the breaking platform 1 through the paw 3, the sample end of the sample rod 10 is placed on the V-shaped seat 13, and the sample rod is placed on the clamping device 11. The clamping device 11 clamps and positions the sample rod 10 to prevent the movement. The low-frequency mechanical hammer 12 is driven by hydraulic pressure to descend to contact with the sample end of the sample rod 10 and vibrate at low frequency, so that quartz sand wrapped outside the sample 18 is crushed and the sample shell is separated. The clamping device 11 is released, and the robot 2 takes the sample rod away and places it in the waste bin 16.

The V-shaped seat 13 is tilted to pour the crushed quartz sand, the separated sample shells and the samples 18 into the draining basket 141, and the cooled draining basket 141 is turned over to pour the cooled crushed quartz sand, the separated sample shells and the samples 18 into the screening vibration disc 15.

Robot 2 reaches the photographing position, and high-speed camera 42 photographs, through vision software, recognizes the coordinate position of sample 18 relative to the datum point and the angle of the tail handle relative to the datum, whether surface one is qualified or not, and calculates: if the sample shell is overlapped with the sample 18, a signal is sent to screen the vibration plate 15 to vibrate and separate the sample shell from the sample 18, photographing is carried out again, the position of the sample 18 is calculated and coordinates are given and angles of the tail handles are given at the same time when the position is normal, the robot 2 picks up the sample 18 by using the electromagnetic sorter 5 according to the coordinate positions given by visual software, and the vibration plate 151 of the screening vibration plate 15 is turned downwards to discharge waste into the waste bin 16.

The robot 2 carries the electromagnetic sorter 5 to put the tail handle downwards into the gesture correcting guide 17 according to the coordinates given by the vision system 4 and the angles of the tail handle, and shoots again to identify whether the second surface is qualified or not. The robot 2 grabs the sample 18 with the gripper 3 and feeds the sample into the tail shearing device 6 to shear off the tail handles.

The robot 2 puts the cut sample 18 into the sample cup 85, the throwing device 7 is started, the printing device 74 throws out the label 75, the lifting rail 72 descends, the controllable sucking disc 73 sucks the label 75, the lifting rail 72 ascends, the traversing rail 71 moves away from the printing device 74, the lifting rail 72 descends, and the controllable sucking disc 73 exhales to put the label 75 into the sample cup 85.

The hand-carrying claw 3 of the robot 2 moves the sample cup 85 to the cover opening and closing device 8, the servo tightening motor 81 is started to drive the speed reducer 82 to rotate clockwise, the cup cover 84 is screwed on the sample cup 85, and the clamping air claw 83 is loosened.

The robot 2 carries the gripper 3 and places the capped sample cup 85 into the air-handling system 9.

The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.

Claims (10)

1. The utility model provides a broken platform of tearing open which characterized in that: including clamping device, low frequency mechanical hammer, V type seat, cooling device and screening vibrations dish, clamping device is used for pressing from both sides tight appearance stick, the sample end of appearance stick is located low frequency mechanical hammer with between the V type seat, low frequency mechanical hammer is connected with elevation structure, low frequency mechanical hammer can contact in the low department the sample can let out in the eminence the upset space of V type seat, the upset direction of V type seat is provided with cooling device, cooling device's upset direction is provided with screening vibrations dish, sample and appearance shell that the appearance stick separated by V type seat gets into cooling device, by cooling device gets into screening vibrations dish.

2. The demolition station of claim 1, wherein: the cooling device comprises a draining basket and a water tank, wherein the draining basket is immersed in cooling water in the water tank, one side, close to the screening vibration disc, of the draining basket is connected with a rotating shaft, and the draining basket is turned upside down to the screening vibration disc through a turning driving structure by the water tank.

3. The demolition station of claim 1, wherein: the screening vibration plate comprises a bottom plate and side walls surrounding the periphery of the bottom plate, the bottom plate comprises vibration plates connected in a blocking mode, the vibration plates are connected with air cylinders, one side, connected with the vibration plates, of each vibration plate can be opened to form a falling channel, and a waste bin is arranged below the falling channel.

4. A sample processing system, characterized by: the device comprises a robot, wherein the breaking and disassembling platform, the cup loading unit and the pneumatic conveying system are arranged in the working range of the robot, the executing end of the robot is provided with a paw, an electromagnetic sorter and a high-speed camera, the paw is used for grabbing and moving a sample rod, a sample and a sample cup, the electromagnetic sorter is used for magnetically attracting and moving the sample, and the high-speed camera is used for identifying the sample through visual software.

5. The sample processing system of claim 4, wherein: the utility model discloses a sample, including broken platform, the platform of tearing open is provided with the appearance guide seat of rectifying, the appearance guide seat of rectifying is provided with the funneled trompil, the funneled trompil includes horn mouth and the vertical appearance hole of rectifying of setting up of opening, the appearance hole of rectifying is perpendicular to ground, the tail handle of sample inserts in the appearance hole of rectifying, the diameter of appearance hole of rectifying is greater than the diameter of tail handle is 1 ~ 1.5mm.

6. The sample processing system of claim 5, wherein: the tail cutting device comprises a hole with the diameter larger than that of the tail handle, a cutter is arranged in the hole, and the tail handle is inserted into the hole to be cut off by the cutter.

7. The sample processing system of claim 4, wherein: the cup filling unit comprises a cover opening and closing device, the cover opening and closing device comprises a servo screwing motor and a clamping air claw connected with the servo screwing motor, the clamping air claw is used for pneumatically clamping the cup cover, and the servo screwing motor is used for driving the cup cover to rotate through the clamping air claw.

8. The sample processing system of claim 7, wherein: the cup filling unit comprises a throwing device, the throwing device comprises a printing device, a supporting device and a moving device, the printing device and the supporting device are located in the working range of the moving device, the moving device comprises a transverse moving track and a lifting track which are connected with each other, a controllable sucking disc is arranged at the bottom end of the lifting track, and the supporting device is used for placing a sample cup.

9. A sample processing method using the demolition stage of any one of claims 1-3, comprising the following:

placing a sample rod on the breaking and disassembling table, placing a sample end of the sample rod on a V-shaped seat, placing a sample rod on a clamping device, and clamping and positioning the sample rod by using the clamping device;

the low-frequency mechanical hammer descends to contact with the sample end and vibrates at low frequency, so that quartz sand wrapped outside the sample is crushed by vibration, and the sample shell is separated;

turning over the V-shaped seat, pouring quartz sand, a sample shell and a sample into a cooling device, turning over the cooling device after cooling is finished, and pouring the cooled quartz sand, sample shell and sample into a screening vibration disc;

and (5) picking up the sample after vibration separation.

10. The sample processing method according to claim 9, wherein: the robot comprises a robot, wherein an electromagnetic sorter and a high-speed camera are arranged at the execution end of the robot;

shooting the sample in the screening vibration disc by using the high-speed camera, if the sample shell is pressed and overlapped with the sample, sending a signal, otherwise vibrating the screening vibration disc to separate the sample shell from the sample, shooting again, if the sample shell is still pressed and overlapped with the sample, continuing vibrating until the sample shell is not pressed and overlapped with the sample any more;

selecting samples from the crushed quartz sand and sample shells, picking the samples out by using the electromagnetic sorter, horizontally placing the samples on a gesture correcting platform, identifying the direction of a tail handle of the samples from the gesture correcting platform by using the high-speed camera, giving an angle, guiding the robot to drive a paw to be parallel to the tail handle, grabbing the samples and placing the tail handle into a gesture correcting hole;

the screening vibration plate is turned downwards to discharge the waste into a waste box.