CN210154888U

CN210154888U - Robot system appearance system

Info

Publication number: CN210154888U
Application number: CN201920474281.2U
Authority: CN
Inventors: 龚伟业; 张仲焘; 陶贤树
Original assignee: Hunan Sundy Science and Technology Co Ltd
Current assignee: Hunan Sundy Science and Technology Co Ltd
Priority date: 2019-04-09
Filing date: 2019-04-09
Publication date: 2020-03-17
Anticipated expiration: 2029-04-09

Abstract

The utility model discloses a robot sample preparation system, which comprises a control module, a robot module, a feeding module, more than one crushing module and more than one division module; the feeding module is used for feeding a sample; each crushing module is used for carrying out step-by-step crushing operation on the samples so as to reduce the granularity of the samples; each division module is used for carrying out step-by-step division operation on the sample and dividing the sample into a plurality of parts so as to reduce the sample amount; the control module is used for controlling the robot module to circulate the samples among the feeding module, the crushing module and the division module. The utility model discloses a robot system appearance system has advantages such as simple structure, degree of automation height, system appearance flexibility, flexibility configuration.

Description

Robot system appearance system

Technical Field

The utility model relates to a sample preparation technical field refers in particular to a robot system appearance system.

Background

At present, in the preparation process of a coal sample, the coal sample is generally manually fed from a feeding port, and the coal sample meeting the national standard requirement is prepared through a series of steps of crushing, division, drying, milling, weighing, packaging and the like. The crushing, division, drying, milling, weighing and packaging steps correspond to corresponding devices, and the devices are butted through inherent conveying devices. The above sample preparation system has the following problems: (1) manual feeding is performed, so that the labor intensity is high; (2) the risk of artificial cheating cannot be avoided in the sample preparation process; (3) a series of devices in the processes of crushing, division, drying and the like are fixedly connected through inherent conveying devices, the relative connection relationship is fixed, the increase and decrease of the devices or the personalized layout and the like cannot be realized, and the personalized adaptability is poor; (4) the modularization degree is not high; (5) the sample preparation process is solidified, and cannot meet the individual requirements; (6) the site adaptability is poor.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model lies in: to the technical problem that prior art exists, the utility model provides a simple structure, robot system appearance system that degree of automation is high.

In order to solve the technical problem, the utility model provides a technical scheme does:

a robot sample preparation system comprises a control module, a robot module, a feeding module, more than one crushing module and more than one division module; the feeding module is used for feeding a sample; each crushing module is used for carrying out step-by-step crushing operation on the samples so as to reduce the granularity of the samples; each division module is used for carrying out step-by-step division operation on the sample and dividing the sample into a plurality of parts so as to reduce the sample amount; the control module is used for controlling the robot module to circulate the samples among the feeding module, the crushing module and the division module.

As a further improvement of the above technical solution:

the system also comprises one or more of a sample pretreatment module, a sample drying module, a sample weighing module, a sample packaging module, a sample management module, a butt joint module, a container cleaning module, a container storage module or an online full water measuring module; each module is connected with the control module, the control module performs configuration combination of each module according to a preset sample preparation flow, and controls the robot module to transfer samples among the modules in the configuration combination according to the preset sample preparation flow; the sample drying module is used for drying the sample before division or/and crushing; the sample weighing module is used for weighing a sample; the sample packaging module is used for packaging a sample; the sample management module is used for storing and managing the packaged sample; the docking module is used for conveying the packaged sample to a target area; the container cleaning module is used for cleaning a container containing a sample; the container storage module is used for storing and managing the container; and the online total water measuring module is used for performing online total water measurement on the sample.

The sample preprocessing module comprises a sample pre-stage drying unit, a sample storage unit and a butt joint unit, wherein the sample pre-stage drying unit is used for performing pre-stage drying processing on a sample before feeding; the sample storage unit is used for storing samples before and after drying; the butt joint unit is used for realizing butt joint operation between the sample pre-stage drying unit and the sample storage unit and between the adjacent modules.

The sample pretreatment module also comprises a sample flattening unit and a sample disc cleaning unit; the sample flattening unit is used for flattening the samples in the sample plate; and the sample disc cleaning unit is used for cleaning the sample disc.

Each unit or each module is located on the periphery of the robot module and has a linear, L-shaped, or annular shape.

The feeding module comprises a manual feeding unit and an automatic feeding unit.

Each of the fractionating modules divides the sample into multiple portions to form one or more of a whole water sample, a prepared sample, a stored sample, an analyzed sample, or a washed sample.

The robot module comprises a manipulator and a control system for controlling the action of the manipulator.

Compared with the prior art, the utility model has the advantages of:

the robot sample preparation system of the utility model carries out the feeding operation through the feeding module, and then carries out the step-by-step division and the step-by-step crushing operation on the sample through each crushing module and the division module to form a final analysis sample; sample circulation among the feeding module, the crushing module and the division module is automatically completed through the robot module, and the automatic feeding device is simple in overall structure and high in automation degree.

The utility model discloses a robot system appearance system, system appearance flow is more nimble, can be different according to the demand of sample (like coal sample) preparation in-process preparation sample, conveniently satisfies individualized demand under the condition that does not increase any equipment and cost. For example, for a certain coal sample preparation system, a full water sample, a sample for storage and check and an analysis sample need to be reserved and a corresponding preparation module is arranged correspondingly; when the preparation system is applied to prepare another coal sample, only the full water sample and the analysis sample need to be reserved, and at the moment, in the sample preparation circulation process, only the module corresponding to the preparation and storage sample needs not to be started, and the sample can be obtained by grabbing the sample through a robot and bypassing the module for preparing and storage sample.

The robot sample preparation system of the utility model has stronger sample (such as coal sample) preparation adaptability; firstly, one-stage or multi-stage reduction or/crushing operation can be selected according to the sample amount of a sample, and if the sample amount is a conventional amount, the sample preparation can be completed through one-stage reduction or/crushing operation; if the sample amount is larger than the conventional amount, the sample preparation can be completed through multi-stage reduction or/crushing operation. In addition, for coal samples with different particle sizes (raw coal, 13mm coal sample and 6mm coal sample), different modules can be selected according to requirements to prepare preparation samples (such as full water samples, storage samples and analysis samples) with different particle sizes and different types.

The utility model discloses a robot system appearance system, place adaptability is higher. Due to the high flexibility configuration, the equipment can be flexibly arranged according to the field condition. If the arrangement form can be an L form, a mirror image form, a linear form or other forms; each module/unit is provided with an independent module which can complete a certain function, so that flexible configuration can be conveniently realized; in addition, the configuration scheme can also be modified: and an expansion module is added on the basis of the basic configuration scheme to perfect the configuration function.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a structural layout diagram of a first embodiment of the present invention.

Fig. 3 is a structural layout diagram of a second embodiment of the present invention.

Fig. 4 is a structural layout diagram of a third embodiment of the present invention.

Fig. 5 is a structural layout diagram of a fourth embodiment of the present invention.

Fig. 6 is a structural layout diagram of a fifth embodiment of the present invention.

Fig. 7 is a structural layout diagram of a sixth embodiment of the present invention.

Fig. 8 is a structural layout diagram of a seventh embodiment of the present invention.

Fig. 9 is a structural layout diagram of an eighth embodiment of the present invention.

Fig. 10 is a structural layout diagram of the ninth embodiment of the present invention.

Fig. 11 is a structural layout diagram of the tenth embodiment of the present invention.

Fig. 12 is a structural layout diagram of an eleventh embodiment of the present invention.

The reference numbers in the figures denote: 1. a control module; 2. an online full water measuring module; 3. a sample drying module; 4. a container storage module; 5. a feeding module; 501. an automatic feeding unit; 502. a manual feeding unit; 6. a crushing module; 7. a division module; 8. a sample storage and check preparation module; 9. an analysis sample preparation module; 10. a sample encapsulation module; 11. a sample management module; 12. a sample pre-processing module; 1201. a docking unit; 1202. a dried sample storage unit; 1203. a preprocessing control unit; 1204. a sample storage unit before drying; 13. a docking module; 14. a robot module; 15. a container cleaning module; 16. a sample weighing module; 17. and a sample flattening unit.

Detailed Description

The invention is further described with reference to the drawings and the specific embodiments.

As shown in fig. 1, the robot sample preparation system of the present embodiment includes a control module 1, a robot module 14, a feeding module 5, more than one crushing module 6 and more than one division module 7; the feeding module 5 is used for feeding the sample; each crushing module 6 is used for performing step-by-step crushing operation on the sample so as to reduce the granularity of the sample; each division module 7 is used for carrying out division operation on the sample step by step to divide the sample into a plurality of parts so as to reduce the sample amount; the control module 1 is used for controlling the robot module 14 to move so as to circulate the samples among the feeding module 5, the crushing module 6 and the dividing module 7. The robot sample preparation system of the utility model carries out the feeding operation through the feeding module 5, and then carries out the step-by-step division and crushing operation on the sample through each crushing module 6 and the division module 7, thereby forming the final analysis sample; sample circulation among the feeding module 5, the crushing module 6 and the division module 7 is automatically completed through the robot module 14, and the whole structure is simple, and the automation degree is high.

In this embodiment, the system further comprises one or more of a sample pre-processing module 12, a sample drying module 3, a sample weighing module 16, a sample packaging module 10, a sample management module 11, a docking module 13, a container cleaning module 15, a container storage module 4 or an online full water measuring module 2; the sample pretreatment module 12 is used for performing pretreatment operations (such as but not limited to drying operations) on the sample before feeding; the sample drying module 3 is used for drying the sample before division or/and crushing; the sample weighing module 16 is used for weighing the sample; the sample packaging module 10 is used for carrying out packaging operation on a sample; the sample management module 11 is used for storing and managing the packaged samples; a docking module 13 for transporting the encapsulated sample to a target area; a container cleaning module 15, which is used for cleaning the container for carrying the sample; the container storage module 4 is used for storing and managing the containers; and the online full water measurement module 2 is used for performing online full water measurement on the sample. All the modules are connected with the control module 1, the control module 1 performs configuration combination of all the modules according to a preset sample preparation flow, and the robot module 14 is controlled to transfer samples among all the modules after the configuration combination according to the preset sample preparation flow, so that flexible configuration of a sample preparation system is realized. Specifically, the control module 1 can customize a configuration file according to an actually required sample preparation process; the configuration file may define a start point, a process node, an end point (in principle each unit/module may be defined as a start point/process node/end point) to form a flexible configuration of each module. Associating the sample preparation scheme (i.e. the required result: for example, 1 part of 6mm full water sample, 1 part of 3mm sample for storage and retrieval, and 2 parts of 0.2mm analysis sample) with the process, namely associating different sample preparation schemes with different sample preparation processes to form different configuration files; the control module 1 issues the sample preparation process to the robot module 14, and instructs the robot module 14 to execute corresponding actions. Further, the customer can also customize the process according to special requirements (for example, visual dragging configuration can be performed on the operation interface, that is, the corresponding function module is dragged to the process route, and then the process can be associated to the sample preparation process, and the sample preparation process is stored and updated in the control module 1, and then the sample preparation process is selected). Examples are as follows: defining the serial numbers of each unit/module in advance, such as 1# (feeding module 5), 2# (sample drying module 3), 3# (crushing module 6), 4# (division module 7), 5# (sample packaging module 10) and 6# (robot module 14) … …; scheme 1: 6# → 1# → 2# → 3# → 5 #; and (2) a flow scheme: 6# → 1# → 3# → 4# → 3# → 5 #; and (3) a flow path: 6# → 1# → 3# → 4# → a plurality of juxtaposed 3# → 5 #. The customer can select the configured flow, and can also configure the flow with different functions through the combination of different modules.

In this embodiment, the sample pre-processing module 12 includes a sample pre-processing control unit 1203, a sample pre-stage drying unit, a sample storage unit, and a docking unit 1201, where the sample pre-stage drying unit is configured to perform pre-stage drying processing on a sample before being fed, and may adopt an independent drying device or adopt an original sample drying module 3 in a sample preparation system; the sample storage unit is used for storing samples before and after drying, and specifically comprises a sample storage unit 1204 before drying and a sample storage unit 1202 after drying, so that the samples before and after drying are stored in different regions; the docking unit 1201 is used for realizing docking operation between the sample pre-stage drying unit and the sample storage unit and between adjacent modules, and the sample preprocessing control unit 1203 realizes cooperative operation between the modules. Further, the sample pre-processing module 12 further includes a sample flattening unit 17 and a sample plate cleaning unit (not shown in the figure); the sample flattening unit 17 is used for flattening the samples in the sample plate; and the sample tray cleaning unit is used for cleaning the sample tray.

In the present embodiment, each unit or each module is located on the peripheral side of the robot module 14, and is linear, L-shaped, or annular; of course, the specific arrangement shape is not limited thereto. In other embodiments, the arrangement can be made according to the number of modules configured, the field and the like.

In this embodiment, the feeding module 5 includes a manual feeding unit 502 or/and an automatic feeding unit 501, which is compatible with manual and automatic feeding. Each of the fractionating modules 7 divides the sample into a plurality of portions to form one or more of a whole water sample, a prepared sample, a stored sample, an analyzed sample, or a washed sample. The robot module 14 includes a robot arm (e.g., a six-axis robot arm) and a control system that controls the motion of the robot arm. It should be noted that specific structures of the above units/modules are not limited herein, and functions implemented by the units/modules themselves are all conventional functions in the field of sample preparation at present.

In the robot sample preparation system, each unit/module is an independent module which can realize the function of the module, and the modularization degree is high; each module can be conveniently configured in a personalized mode (combination mode among different modules) according to actual requirements, and efficiency/benefit maximization is achieved. Such as: increasing the number of certain modules (the modules are links for restricting sample preparation efficiency in sample preparation) to improve the sample preparation efficiency of the whole system; or in the personalized requirement, if a certain sample (such as a sample to be checked) does not need to be prepared, the module for preparing the sample to be checked can be reduced in the system, so that the cost is reduced.

The utility model discloses a system appearance system of robot, system appearance flow is more nimble. According to different requirements for preparing samples (such as coal samples) in the preparation process, the personalized requirements can be conveniently met without increasing any equipment and cost. For example, for a certain coal sample preparation system, a full water sample, a sample for storage and check and an analysis sample need to be reserved and a corresponding preparation module is arranged correspondingly; and for the preparation of another coal sample, only the whole water sample and the analysis sample need to be reserved, at the moment, in the sample preparation circulation process, only the module corresponding to the preparation and storage sample needs not to be started, and the sample can be obtained by grabbing the sample through a robot and bypassing the module for preparing and storage sample.

The utility model discloses a system appearance system of robot, coal sample preparation adaptability is stronger. Such as large sample size adaptability: usually, 13mm/6mm full-water samples can be reserved and taken out after primary crushing/primary splitting during coal sample preparation, and when a large sample amount (the sample amount exceeds the conventional amount) is prepared, the full-water samples cannot be obtained through primary splitting within the splitting range required by the national standard, and at the moment, the full-water samples can be obtained through primary splitting after primary coal sample splitting, and the split coal samples are fed into the splitting module 7 again and then split again; such as multiple leave-on adaptations: for different coal samples (raw coal, 13mm coal sample and 6mm coal sample), the preparation of different preparation samples with different reserves can be met according to the requirements. For example, the coal sample is a 13mm coal sample, and a 13mm full water sample needs to be reserved, only the full water sample required by regulation needs to be contracted and separated according to the coal amount and the national standard requirement through the contraction and separation module 7, and when a 6mm full water sample needs to be reserved, the full water sample needs to be reserved after passing through the crushing module 6 and then passing through the contraction and separation module 7. Or the coal sample is an original coal sample larger than 13mm, and a 13mm/6mm full-water sample, a sample to be stored and analyzed needs to be reserved, the original coal sample firstly enters a 13mm crushing cavity/6 mm crushing cavity of the crushing module 6, then the 13mm/6mm full-water sample is reserved after passing through the division module 7, the sample to be stored and searched is reserved after passing through the division module 7, and the sample to be analyzed is reserved after being subjected to division and pulverization again.

The sample preparation system of the present invention is further described below with reference to the combination of various modules:

in the following embodiments, the dividing module 7 and the crushing module 6 are combined to form a stored sample preparation module 8 and an analysis sample preparation module 9, respectively, that is, the stored sample preparation module 8 is used for extracting the stored sample after crushing and dividing the sample; and the analysis sample preparation module 9 is used for reserving an analysis sample after the sample is subjected to division and crushing. In addition, the overall layout (including the overall layout shape and the docking sequence between modules) of the sample preparation system in the following embodiments is optimized to meet the requirements of short sample preparation time and high sample preparation efficiency.

The first embodiment is as follows:

as shown in fig. 2, in the present embodiment, the sample preparation system is configured with a feeding module 5, a crushing module 6, a division module 7, a sample preparation module for storing and checking 8, an analysis sample preparation module 9 and a sample encapsulation module 10 according to a sample preparation process; the feeding module 5, the crushing module 6, the division module 7, the sample storing and checking preparation module 8, the analysis sample preparation module 9 and the sample packaging module 10 are sequentially butted to form an L-shaped layout mode, wherein the control module 1 is arranged on one side of the feeding module 5.

Example two:

as shown in fig. 3, the configuration combination of the modules in this embodiment is the same as that in the first embodiment, except that the arrangement is different, and the specific layout form is also L-shaped, which is a mirror image of that in the first embodiment.

Example three:

as shown in fig. 4, the configuration combination of the modules in this embodiment is the same as that in the first embodiment, except that: the specific layout form in the present embodiment is a straight line.

Example four:

as shown in fig. 5, the configuration combination of the modules in this embodiment is added with a manual feeding unit 502 on the basis of the first embodiment, so as to be compatible with manual feeding and automatic feeding. The manual feeding unit 502 is disposed at one side of the control module 1.

Example five:

as shown in fig. 6, the configuration combination of the modules in this embodiment is added with the sample drying module 3 and the sample flattening unit 17 on the basis of the fourth embodiment, wherein the sample drying module 3 dries the coal sample. When the coal sample to be prepared is wet, the drying is carried out before the primary feeding or the secondary feeding of the coal sample, so that the processes of running, division, crushing and the like in the sample preparation process are smoother (the conditions of blockage and the like cannot occur). In a specific embodiment, the sample drying module 3 is in an air-permeable type, and the sample flattening unit 17 is added to flatten the coal sample in the material receiving process, so that the flattened coal sample is dried more uniformly. In addition, each module in the embodiment forms a ring-shaped arrangement mode with one side opened, and the other side opened can be provided with a fence and the like, so that the whole sample preparation system forms a closed layout, and the reliability and the safety of sample preparation work are improved.

Example six:

as shown in fig. 7, the configuration combination of the modules in this embodiment is added with an online total water measurement module 2 on the basis of the fifth embodiment, so as to perform online total water measurement on a sample. Specifically, the on-line water-testing module 2 is positioned between the division module 7 and the sample storing and checking preparation module 8.

Example seven:

as shown in fig. 8, in the present embodiment, based on the sixth embodiment, the container storage module 4 is combined to replace the sample flattening unit 17, and the container storage module 4 is used to realize storage and management of containers (such as sample bottles, sample trays, and the like) for holding samples, including management of sample trays for holding coal samples before/after drying, such as management of coal sample information, which kind of coal samples, whether the coal samples are dried, and management of storage positions.

Example eight:

as shown in fig. 9, the configuration combination of the modules in this embodiment is based on the sixth embodiment, and a docking module 13 is added and located at one side of the sample encapsulation module 10; the docking module 13 is a pneumatic/checking docking module, one end of which is docked with the rear-end pneumatic transmission system, and is used for transmitting the prepared and packaged sample to a laboratory or other rear-end storage areas (such as a rear-end checking sample cabinet) for temporary storage and management through the pneumatic transmission system.

Example nine:

as shown in fig. 10, in the present embodiment, based on the fourth embodiment, a container cleaning module 15 is added and located between the division module 7 and the sample preparation module 8 to clean residues attached to the wall surfaces of containers such as sample trays, sample bottles, sample barrels, and turnover barrels that hold samples, so as to avoid cross contamination of samples before and after loading; the running process of the container cleaning module 15 can be independent of the system sample preparation process, and the container cleaning process is executed in the idle time of sample preparation.

Example ten:

as shown in fig. 11, in the present embodiment, based on the ninth embodiment, a sample weighing module 16 is added, located between the container cleaning module 15 and the sample preparation module 8 for weighing and managing the weight before and after sample preparation, sample collection and transfer in each link during the sample preparation process; the 'coming and going pulse' in the sample circulation process is mastered, and the conditions of adhesion, residue, loss and the like in each link are known.

Example eleven:

as shown in fig. 12, the configuration combination of the modules in this embodiment is based on the eighth embodiment, and a sample pre-processing module 12 is added (the sample pre-processing module 12 includes a sample pre-stage drying unit, a sample storage unit 1204 before drying, a sample storage unit 1202 after drying, and a docking unit 1201, in a specific embodiment, the sample pre-stage drying unit may adopt an independent drying module, or may adopt an original sample drying module 3 in a sample preparation system), and is used for performing drying pre-processing on a sample before sample preparation, so as to improve the overall processing capacity and efficiency of the system, and the specific arrangement manner is as shown in fig. 12, the pre-processing module is arranged in a separate ring shape and then docked with the original ring shape layout; wherein, the butt joint with the original sample preparation system is realized through the butt joint unit 1201, and the sample weighing module 16 is shared, the weighing data before and after drying in the pretreatment process is stored, and the water removal amount/water removal rate in the pretreatment process is calculated.

Above only the utility model discloses an it is preferred embodiment, the utility model discloses a scope of protection not only limits in above-mentioned embodiment, and the all belongs to the utility model discloses a technical scheme under the thinking all belongs to the utility model discloses a scope of protection. It should be noted that, for those skilled in the art, a plurality of modifications and decorations without departing from the principle of the present invention should be considered as the protection scope of the present invention.

Claims

1. A robot sample preparation system is characterized by comprising a control module (1), a robot module (14), a feeding module (5), more than one crushing module (6) and more than one division module (7); the feeding module (5) is used for feeding a sample; each crushing module (6) is used for performing step-by-step crushing operation on the sample so as to reduce the granularity of the sample; each division module (7) is used for carrying out division operation on the sample step by step to divide the sample into a plurality of parts so as to reduce the sample amount; the control module (1) is used for controlling the robot module (14) to circulate the samples among the feeding module (5), the crushing module (6) and the division module (7).

2. The robotic sample preparation system according to claim 1, further comprising one or more of a sample pre-processing module (12), a sample drying module (3), a sample weighing module (16), a sample packaging module (10), a sample management module (11), a docking module (13), a container cleaning module (15), a container storage module (4), or an on-line water-all module (2); each module is connected with the control module (1), the control module (1) performs configuration combination of each module according to a preset sample preparation flow, and controls the robot module (14) to circulate samples among the modules in the configuration combination according to the preset sample preparation flow; the sample drying module (3) is used for drying the sample before division or/and crushing; the sample weighing module (16) is used for weighing a sample; the sample packaging module (10) is used for packaging a sample; the sample management module (11) is used for storing and managing the packaged samples; the docking module (13) is used for conveying the packaged sample to a target area; the container cleaning module (15) is used for cleaning a container containing a sample; the container storage module (4) is used for storing and managing the containers; the online total water measuring module (2) is used for performing online total water measurement on a sample.

3. The robotic sample preparation system as claimed in claim 2, wherein said sample pre-processing module (12) comprises a sample pre-drying unit for pre-drying a sample prior to being fed, a sample storage unit and a docking unit (1201); the sample storage unit is used for storing samples before and after drying; the docking unit (1201) is used for realizing docking operation between the sample pre-stage drying unit and the sample storage unit and the adjacent modules.

4. The robotic sample preparation system according to claim 3, wherein said sample pre-processing module (12) further comprises a sample flattening unit (17) and a sample tray washing unit; the sample flattening unit (17) is used for flattening the samples in the sample plate; and the sample disc cleaning unit is used for cleaning the sample disc.

5. Robot sample preparation system according to any of claims 1-4, characterized in that each cell or each module is located on the periphery of the robot module (14) in a straight line, L-shape or ring shape.

6. The robotic sample preparation system according to any of claims 1 to 4, wherein said feeding module (5) comprises a manual feeding unit (502) and an automatic feeding unit (501).

7. The robotic sample preparation system according to any of claims 1 to 4, wherein each of said fractionating modules (7) divides a sample into multiple portions to form one or more of a whole water sample, a prepared sample, a stored sample, an analyzed sample or a washed sample.

8. Robot sample preparation system according to any of the claims 1-4, characterized in that the robot module (14) comprises a manipulator and a control system controlling the manipulator's actions.