CN216484096U - Automatic sampling flaw detection system - Google Patents

Abstract

The utility model provides an automatic sampling flaw detection system.A sampling bomb clamping and rotating device can clamp the handle part of a sampling bomb and drive the sampling bomb to rotate; the telescopic driving piece drives the pneumatic vibrator and the crushing claw to be close to or far away from the position of the sampling elastic sample piece; the pneumatic vibrator drives the crushing claw to vibrate; the sliding end of the sliding assembly drives the sliding support and the sliding gas claw to be close to or far away from the position of the sampling elastic sample piece; and the sample piece switching mechanical arm clamps the sample piece on the sliding gas claw, drives the sample piece to move to the position of the cooling water tank, and places the sample piece into the cooling water tank for cooling. The scald injury caused by manual contact with the high-temperature sample piece and knocking of the high-temperature outer covering object is avoided, and meanwhile, the damage of dust generated when the outer covering object is knocked manually to a human body is avoided, so that the safety is improved; the cooling and flaw detection are completed in a full-automatic assembly line, the working efficiency is improved, and the error in judging the quality of the sample taken out by the personal skill of an operator is eliminated.

Description

Automatic sampling flaw detection system

Technical Field

The utility model relates to the field of mechanical automation, in particular to an automatic sampling flaw detection system.

Background

In the steelmaking process, molten steel sampling and sample piece inspection are necessary procedures in the steelmaking process, the traditional sampling is carried out by manual operation, after the sample piece is taken out by a sampling bullet, the bullet is broken by a small hammer worn by a person with high temperature gloves, and then the sample piece is taken out, so that potential safety hazards exist when workers are in a high temperature environment in the sampling process, and whether the sampling is smooth or not completely depends on the skills of the workers and the proficiency of operation.

In addition, the processes of breaking, sampling, cooling and flaw detection are multiple, the whole process is troublesome and labor-consuming, and the efficiency is very low.

SUMMERY OF THE UTILITY MODEL

The utility model provides an automatic sampling flaw detection system which can automatically break the head of a sampling bullet and take out a sample piece, avoid scalding accidents caused by manual contact with a high-temperature sample piece and knocking of a high-temperature outer covering object, and simultaneously avoid the damage of dust generated when the outer covering object is knocked manually to a human body, thereby improving the safety; the cooling and flaw detection are completed in a full-automatic assembly line, so that the working efficiency is improved, and the error in judging the quality of the sample taken out by the personal skill of an operator is eliminated; to overcome the disadvantages of the prior art.

The utility model provides an automatic sampling flaw detection system, which comprises: the breaking and sampling device 10, the sample piece switching mechanical arm 40 and the cooling water tank 20; the knock-out sampling apparatus 10 includes: the elastic handle clamping and rotating device 11, two sets of pneumatic vibration assemblies 12 and a clamping and rotating mechanism 13; the elastic handle clamping and rotating device 11 can clamp the handle part of the sampling elastic and drive the sampling elastic to rotate; two sets of pneumatic vibration subassembly 12 symmetry sets up, and every set of pneumatic vibration subassembly 12 includes: a telescopic drive 121, a pneumatic vibrator 123 and crushing claws 124; the pneumatic vibrator 123 is fixed on the telescopic driving member 121; the crushing claw 124 is fixed on the pneumatic vibrator 123; the telescopic driving piece 121 drives the pneumatic vibrator 123 and the crushing claw 124 to be close to and far away from the position of the sampling elastic sample piece; the pneumatic vibrator 123 drives the crushing claw 124 to vibrate; the sample clamping and rotating mechanism 13 includes: a slide assembly 131, a slide bracket 133, and a slide gas claw 134; the sliding bracket 133 is connected with the sliding end of the sliding assembly 131; a sliding gas claw 134 is installed at the upper end of the sliding bracket 133; the sliding end of the sliding assembly 131 drives the sliding bracket 133 and the sliding gas claw 134 to be close to or far away from the position of the sampling elastic piece; the sliding gas claw 134 clamps the sample piece; the sample transfer robot 40 grips the sample on the sliding gas claw 134, and the sample transfer robot 40 further drives the sample to move to the position of the cooling water tank 20 and places the sample in the cooling water tank 20 for cooling.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: also includes a flaw detection assembly 30; the inspection assembly 30 includes: the flaw detection device comprises a flaw detection base support 301, a flaw detection horizontal moving assembly 302, a flaw detection cantilever beam 303, a vertical driving piece 304 and a flaw detection head 306; the fixed end of the flaw detection horizontal moving component 302 is fixed on the flaw detection base bracket 301; the bottom of the flaw detection cantilever beam 303 is fixed at the horizontal moving end of the flaw detection horizontal moving component 302; the fixed end of the vertical driving piece 304 is fixed at the end part of the flaw detection cantilever beam 303; the flaw detection head 306 is fixed at the telescopic end of the vertical driving piece 304; the flaw detection base support 301 is arranged on one side of the cooling water tank 20, and the flaw detection horizontal moving assembly 302 drives the flaw detection cantilever beam 303 to be close to and far away from the cooling water tank 20; the vertical driving element 304 drives the flaw detection head 306 to descend and ascend;

the sample transfer robot 40 moves the sample in a predetermined area.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: the sample piece changeover robot 40 includes: the manipulator comprises a manipulator base 44, a four-axis arm or a six-axis arm 800, a clamping jaw fixing plate 41, a clamping driving part 42 and two sample clamping jaws 43; one end of the six-axis arm 800 is rotatably connected with the manipulator base 44; the clamping jaw fixing plate 41 is fixed at the tail end of the six-axis arm 800; the fixed end of the clamping driving piece 42 is fixed on the clamping jaw fixing plate 41; the two sample clamping jaws 43 are symmetrically arranged and respectively fixed on the moving ends connected with the clamping driving piece 42; the clamping driving piece 42 drives the sample clamping jaw 43 to approach and separate; the six-axis arm 800 brings the two sample holding jaws 43 close to the sliding gas claw 134 of the clamping and rotating mechanism 13, and the two sample holding jaws 43 clamp the sample from the sliding gas claw 134.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: further comprises a sampling elastic switching manipulator 60; the sampling bullet switching manipulator 60 clamps the sampling bullets and transfers the sampling bullets to the bullet handle clamping and rotating device 11 of the breaking sampling device 10.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: the elastic grip clamping rotation device 11 includes: a steering cylinder 111, a rotating assembly and a clamping hand assembly; the rotating assembly is arranged at the rotating end of the steering cylinder 111, and the steering cylinder 111 drives the whole rotating assembly to rotate forwards and backwards by 90 degrees; the clamping hand assembly is arranged on the rotating assembly, and the rotating assembly drives the clamping hand assembly to rotate; the rotation center of the steering cylinder 111 is perpendicular to the rotation center of the rotating assembly; the sampling bullet transfer manipulator 60 vertically puts the sampling bullet into the gripper assembly; after the clamping hand assembly clamps the sampling bomb, the steering cylinder 111 rotates by 90 degrees, and the sampling bomb is arranged in a horizontal state.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: the sliding bracket 133 of the sample clamping and rotating mechanism 13 is rotatably connected with the sliding end of the sliding assembly 131; after the slide gas claw 134 grips the sample, the slide holder 133 is rotated by 90 degrees so that the gripping position of the slide gas claw 134 faces the sample transfer robot 40.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: the sample transfer robot 40 further comprises a sample attitude vision assembly 50; after the sliding gas claw 134 clamps the sample, the sliding bracket 133 rotates by 90 degrees, so that the clamping position of the sliding gas claw 134 faces the sample transfer manipulator 40 and faces the sample posture vision assembly 50; the sample pose vision assembly 50 acquires sample pose images.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: the sample pose vision assembly 50 includes an industrial camera, a light source.

Further, the present invention provides an automatic sampling inspection system, which may further have the following features: the knock-out sampling device 10 also includes a debris collection assembly; the debris collection assembly includes: a chip hopper 14, a chip conveyer belt 15, a chip collecting box 16; the debris hopper 14 is in a position below the two crushing claws 124; a chip conveying belt 15 is arranged at the lower outlet position of the chip hopper 14; the end of the conveyor belt 15 is provided with a debris collection bin 16.

Drawings

FIG. 1 is a perspective view of an automatic sampling inspection system according to an embodiment.

Fig. 2 is a perspective view of a knock-out sampling device in an embodiment.

Fig. 3 is a perspective view of the elastic grip clamping and rotating device in the embodiment.

FIG. 4 is a schematic view showing the structure of the rotary shaft in the embodiment.

FIG. 5 is a schematic structural diagram of an air-powered vibration module in an embodiment.

Fig. 6 is a schematic structural view of a sample clamping and rotating mechanism in the embodiment.

Fig. 7 is a partially enlarged view of the sample transfer robot in the embodiment.

FIG. 8 is a schematic structural view of a flaw detection module in the example.

Detailed Description

The utility model is further described with reference to the following figures and specific embodiments.

Examples

As shown in fig. 1, in the present embodiment, an automatic sampling inspection system includes: the sample bomb switching manipulator 60, the breaking and sampling device 10, the sample switching manipulator 40, the cooling water tank 20 and the flaw detection assembly 30.

The sampling bullet transfer robot 60 picks up the sampling bullet 100 from the molten steel, transfers the sampling bullet 100 to the bullet handle clamping and rotating device 11 of the breaking and sampling device 10, and vertically inserts the sampling bullet into the gripper assembly. In the present embodiment, the configuration of the sample-spring transfer robot 60 is the same as that of the sample-transfer robot 40, and will be described in detail later.

As shown in fig. 2, the knock-out sampling device 10 includes: the device comprises a spring handle clamping and rotating device 11, two sets of pneumatic vibration assemblies 12, a sample clamping and rotating mechanism 13, a debris collecting assembly and a bracket 17.

In this embodiment, the support 17 comprises a base 17a and two "n" -shaped frames 17 b; two "n" -shaped frames 17b are symmetrically fixed to the base 17 a.

As shown in fig. 2, in the present embodiment, the elastic grip clamping rotation device 11 includes: steering cylinder 111, rotating assembly, tong subassembly.

The steering cylinder 111 drives the whole rotating assembly to rotate forward and backward by 90 degrees, and the rotating center of the steering cylinder 111 is perpendicular to that of the rotating assembly. The rotating component drives the whole clamping hand component to rotate horizontally.

The rotating assembly includes: a rotation fixing plate 112, a bearing seat 117, a bearing 117a, a rotation shaft 113, a rotation driver 114, a motor fixing plate 115, a driving gear 116, and a driven gear 116 a. In this embodiment, the rotary driving member 114 is a servo motor.

The fixed end of the steering cylinder 111 is fixed to the one side "n" frame 17 b. The rotation fixing plate 112 is fixed to a rotation end of the steering cylinder 111. The steering cylinder 111 drives the rotation fixing plate 112 and all the components mounted on the rotation fixing plate 112 to rotate forward and backward by 90 degrees.

The rotation fixing plate 112 has a through hole. The bearing seat 117 is fixed to the front side of the steering base plate 112, and the hole position of the bearing seat 117 is matched with the through hole of the rotation fixing plate 112. The bearing 117a is installed between the bearing housing 117 and the rotary shaft 113, that is, the outer ring of the bearing 117a is attached to the inner wall of the bearing housing 117, and the inner ring of the bearing 117a is attached to the outer ring of the rotary shaft 113.

The rotating shaft 113 has a center hole 113b, and the sampling bullet 100 may pass through the center hole 113b of the rotating shaft 113. The rotary shaft 113 has a circular flange 113a at its front end. The rear end of the rotary shaft 113 penetrates the bearing 117a and the steering base plate 112, and the rear side of the circular flange 113a of the rotary shaft 113 is attached to the front surface of the bearing holder 117.

The motor fixing plate 115 is fixed on the rear side of the rotation fixing plate 112. The servo motor 114 is fixed to the rear side of the rotation fixing plate 112 by a motor fixing plate 115. The output shaft of the servo motor 114 is fixedly connected with the driving gear 116. The driven gear 116a is fixed to the rotary shaft 113 and is located on the rear side of the rotation fixing plate 112. The driving gear 116 is engaged with the driven gear 116 a.

The servo motor 114 is activated, and the output shaft thereof rotates, thereby driving the driving gear 116 and the driven gear 116a to rotate, i.e. driving the rotation shaft 113 to rotate, i.e. driving the entire gripper assembly mounted on the rotation shaft 113 to rotate.

The tong subassembly includes: a gripper mounting plate 118 and a gripper air gripper 119. The gripper mounting plate 118 is fixed to a circular flange 113a at the front end of the rotary shaft 113. The fulcrum-openable pneumatic gripper 119 is attached to the front side of the gripper attachment plate 118. In this embodiment, the gripper jaw 119 is a fulcrum opening/closing type gripper jaw 119, and includes two symmetrically disposed profiling gripping jaws 119a and 119 b. The position where the copying jaws 119a, 119b are clamped is located at the position of the center hole 113b of the rotary shaft 113. The opening and closing of the fulcrum opening and closing type gas claw 119 is controlled by an electromagnetic valve, and the copying gripping claws 119a and 119b grip or release the sampling bomb 100.

The two sets of pneumatic vibration assemblies 12 are symmetrically arranged on two sides of the rotation center of the rotation assembly and are respectively arranged on the n-shaped frame 17 b. Each set of pneumatic oscillating assemblies 12 comprises: a telescopic drive 121, an attachment plate 122, a pneumatic vibrator 123 and crushing jaws 124. In this embodiment, the telescopic driving member 121 is a rod cylinder.

The fixed end of the guide rod cylinder 121 is fixed to the "n" shaped frame 17 b. The pneumatic vibrator 123 is fixed to the telescopic end of the guide rod cylinder 121 through a connection plate 122. The crushing claw 124 is fixed to the pneumatic vibrator 123. In this embodiment, the crushing claw 124 has three horizontal crushing teeth.

The guide rod cylinder 121 stretches out, drive connecting plate 122, pneumatic vibrator 123, broken claw 124 is close to sample bullet 100, until broken tooth 124 contacts the excircle of sample bullet 100, and exert certain pressure to the sample bullet excircle, pneumatic vibrator 123 high frequency vibration, thereby drive broken claw 124 and break the sample bullet excircle cladding, cooperation bullet handle presss from both sides tight rotary device 11's rotating assembly to the rotation of sample bullet 100, realize that the different positions of sample bullet excircle are strikeed, make the outer cladding of sample bullet 100 drop completely. Of course, when the outer covering of the sampling bullet 100 is broken and falls off, the guide rod cylinder 121 retracts to drive the connecting plate 122, the pneumatic vibrator 123 and the breaking claw 124 to reset and be away from the sampling bullet 100.

The sample clamping and rotating mechanism 13 includes: a sliding assembly 131, a sliding rotary cylinder 132, a sliding bracket 133 and a sliding gas claw 134.

In this embodiment, the sliding assembly 131 includes: a slide driver, a slide rail 131a, and a slider 131 b. The slide rail 131a is fixed to the base 17 a. The sliding block 131b embraces the sliding rail 131 a. The slide driver drives the slider 131b to move on the slide rail 131a, closer to or farther from the grip-rotating device 11. The fixed end of the slide rotation cylinder 132 is fixed to the slider 131 b.

The sliding bracket 133 is fixed to a rotation end of the fixed end of the sliding rotation cylinder 132. A sliding gas claw 134 is installed at the upper end of the sliding bracket 133. In this embodiment, the sliding gas claw 134 is a three-claw gas claw, and includes three sliding clamping jaws 135 uniformly distributed on the circumference.

The slider 131b of the slide assembly 131 brings the slide rotary cylinder 132, the slide holder 133 and the slide gas claw 134 close to the rotary shaft 113, i.e., close to the sample 600 at the end of the sampling bullet 100, and the slide gas claw 134 grips the shank of the sample 600. After the pneumatic vibrator drives the crushing claw 124 to crush the outer cylindrical coating of the sampling bomb, the sliding block 131b of the sliding assembly 131 drives the sliding rotary cylinder 132, the sliding bracket 133 and the sliding gas claw 134 to be away from the rest of the sampling bomb 100. The slide rotation cylinder 132 drives the slide bracket 133, the slide gas claw 134, and the sample 600 to rotate clockwise by 90 degrees, to face the sample transfer robot 40, and the sample is transferred to the sample transfer robot 40.

The debris collection assembly includes: a chip hopper 14, a chip conveyer belt 15 and a chip collecting box 16. The debris hopper 14 is secured to the base 17a in a position below the two crushing claws 124. A chip conveyor belt 15 is arranged at the lower outlet position of the chip hopper 14. The end of the conveyor belt 15 is provided with a debris collection bin 16.

The chips dropped off by the sampling bullet 100 automatically fall by gravity into the chip hopper 14 and onto the conveyor belt 15 which transports the chips into the chip collection bin 16.

As shown in fig. 7, in the present embodiment, the sample transfer robot 40 includes: the manipulator comprises a manipulator base 44, a six-axis arm 800, a clamping jaw fixing plate 41, a clamping driving piece 42 and two sample clamping jaws 43. In this embodiment, the clamp actuator 42 is a parallel cylinder.

The six-axis arm 800 includes: rotation (S axis), lower arm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swing (B axis), and wrist rotation (T axis). The 6 joints are synthesized to achieve 6 degrees of freedom motion of the tip. Of course, a four-axis arm may be used depending on the range of motion desired.

One end of the six-axis arm 800 is rotatably connected to the robot base 44. The jaw holding plate 41 is fixed to the distal end of the six-axis arm 800. The fixed end of the parallel cylinder 42 is fixed on the clamping jaw fixing plate 41; the two sample clamping jaws 43 are symmetrically arranged and respectively fixed on two moving ends of the parallel air cylinder 42. In this embodiment, the sample holding jaw 43 has a semicircular notch that fits the sample 600. The parallel cylinder 42 moves the sample holding jaw 43 closer to and away from.

In this embodiment, the structure of the sampling spring transfer robot 60 is the same as that of the sample transfer robot 40, but the two robots may be different.

When the sample 600 faces the sample transfer robot 40, the six-axis arm 800 brings the two sample holding jaws 43 close to the sliding gas jaw 134 of the clamping and rotating mechanism 13, and the two sample holding jaws 43 clamp the sample from the sliding gas jaw 134.

In this embodiment, the sample transfer robot 40 further includes a sample attitude vision assembly 50. The sample posture vision assembly 50 comprises an industrial camera, a light source and the like, and the fixed height and the lens angle of the sample posture vision assembly on the bracket can be adjusted through a fixing bolt. After the sliding gas claw 134 clamps the sample, the sliding bracket 133 rotates by 90 degrees, and the surface sample is transferred to the manipulator 40 and faces the sample posture vision assembly 50; the sample attitude vision module 50 acquires a sample attitude image, the sample transfer robot 40 adjusts the attitude, and the six-axis arm 800 rotates to clamp the outer circle of the sample 600 by the sample clamping jaw 43 and release the sample shank by the sliding gas jaw 134. The sample transfer robot 40 moves the sample 600 to the position of the cooling water tank 20, and places the sample into the cooling water tank 20 for cooling. In this embodiment, the cooling water tank 20 is cooled by circulating water, and the collected waste basket can be taken out from the water tank, so as to clean the waste.

The inspection assembly 30 includes: flaw detection base support 301, flaw detection horizontal movement assembly 302, flaw detection cantilever beam 303, vertical drive 304 and flaw detection head 306. In this embodiment, the vertical drive 304 is a rod cylinder.

The fixed end of the flaw detection horizontal moving component 302 is fixed on the flaw detection base bracket 301. The bottom of the flaw detection cantilever beam 303 is fixed at the horizontal moving end of the flaw detection horizontal moving component 302. The fixed end of vertical drive 304 is fixed to the end of inspection boom 303. The inspection head 306 is secured to the telescoping end of the vertical drive 304.

The flaw detection base support 301 is arranged on one side of the cooling water tank 20, and after the sample 600 is cooled, the sample transfer manipulator 40 drives the sample 600 to a flaw detection position. At this time, the flaw detection horizontal moving assembly 302 drives the flaw detection cantilever beam 303 to approach the cooling water tank 20; the vertical driving element 304 drives the flaw detection head 306 to descend into the cooling water tank 20 until the bottom end face of the flaw detection head 306 contacts the upper surface of the sample 600, and the sample transfer manipulator 40 drives the sample 600 to move back and forth at the flaw detection position, so that the flaw detection head 306 detects flaws on the surface and inside of the whole sample 600. After the flaw detection is completed, the sample transfer robot 40 delivers the sample 600 for diversion or the next process.

The working process of the automatic sampling flaw detection system comprises the following steps:

the sampling bomb changeover robot 60 picks up the sampling bomb 100 from the molten steel and transfers the sampling bomb 100 to the bomb grip rotating apparatus 11 of the crushing sampling apparatus 10.

The rotating cylinder 111 rotates to drive the rotating fixing plate 112 and all the components mounted on the rotating fixing plate 112 to rotate 90 degrees, the center of the rotating shaft is vertical, and the opening of the gripper pneumatic claw 119 faces upward. The gripper jaws 119 open, thereby bringing the contoured grippers 119a and 119b open. At this time, the sampling bullet transfer robot 60 vertically passes the bullet 100 taken out of the sampling bullet transfer robot 60 through the center hole 113b of the rotating shaft 113 and places the bullet into the jaws 119a and 119b, and then the clamping jaw 119119 closes the two copying jaws 119a and 119b to clamp the bullet 100. Then the rotating cylinder 111 drives the rotating fixing plate 112 to rotate 90 degrees in the opposite direction, so that the sampling bomb 100 is in a horizontal state.

The sliding assembly 131 moves towards the sampling bomb 100, and drives the sliding air claw 134 to move in the same direction. At this point, the three sliding jaws 135 are opened, the handle of the sample 600 enters the sliding jaws 135, and the three sliding jaws 135 close to grip the handle of the sample 600.

The guide rod cylinder 121 is slowly pushed forward to drive the pneumatic vibrator 123 and the crushing claw 124 to be close to the sampling bomb 100 until the crushing tooth 124 contacts the excircle of the sampling bomb 100 and exerts certain pressure on the excircle of the sampling bomb, and the pneumatic vibrator 123 vibrates at high frequency, so that the crushing claw 124 is driven to break the excircle coating of the sampling bomb. After the crushing claw 124 reaches the preset position, the guide rod cylinder 121 drives the pneumatic vibrator 123 and the crushing claw 124 to retract, and drives the vibrator 123 and the crushing claw 124 to reset and to be far away from the sampling bomb 100. Meanwhile, the servo motor 114 is started, and the output shaft thereof rotates, so as to drive the driving gear 116 and the driven gear 116a to rotate, i.e. to drive the rotating shaft 113 to rotate, i.e. to drive the whole gripper assembly mounted on the rotating shaft 113 to rotate by a preset angle, i.e. to rotate the sampling bomb 100 by a preset angle. The guide rod cylinder 121 is slowly pushed forwards again to drive the pneumatic vibrator 123 and the crushing claw 124 to be close to the sampling bomb 100 until the crushing tooth 124 contacts the outer circle of the sampling bomb 100 and exerts certain pressure on the outer circle of the sampling bomb, and the pneumatic vibrator 123 vibrates at high frequency, so that the crushing claw 124 is driven to break the outer circle cladding of the sampling bomb. Repeatedly knocking different parts of the bullet until the outer covering of the bullet completely falls off. The debris that falls off the sampling bullet 100 during the knocking process automatically falls by gravity into the debris hopper 14 and onto the conveyor belt 15, which transports the debris into the debris collection bin 16.

After the bullet wrapper completely falls off, the sliding block 131b of the sliding assembly 131 drives the sliding rotary cylinder 132, the sliding bracket 133 and the sliding gas claw 134 away from the remaining sampling bullets 100. The slide rotation cylinder 132 drives the slide holder 133, the slide gas claw 134, and the sample 600 to rotate clockwise by 90 degrees, facing the sample transfer robot 40.

The sample attitude vision assembly 50 acquires a sample attitude image, and the sample transfer robot 40 adjusts the attitude. At this time, the six-axis arm 800 brings the two sample holding jaws 43 close to the sliding gas jaw 134 of the clamping and rotating mechanism 13, the six-axis arm 800 rotates so that the sample holding jaws 43 hold the outer circumference of the sample 600, and the sliding gas jaw 134 releases the sample shank. The sample transfer robot 40 moves the sample 600 to the position of the cooling water tank 20, and places the sample into the cooling water tank 20 for cooling.

After the sample 600 is cooled, the flaw detection horizontal moving assembly 302 drives the flaw detection cantilever beam 303 to be close to the cooling water tank 20; the vertical driving member 304 drives the flaw detection head 306 to descend into the cooling water tank 20 until the bottom end face of the flaw detection head 306 contacts the upper surface of the sample 600, and the sample transfer manipulator 40 drives the sample 600 to move back and forth at the flaw detection position, so that the flaw detection head 306 detects flaws on the surface and inside of the whole sample 600, and whether the sample 600 is qualified is verified. After the flaw detection is completed, the sample transfer robot 40 delivers the sample 600 for diversion or the next process.

According to the automatic sampling flaw detection system provided by the utility model, the sampling bomb which is subjected to sampling is put into a breaking sampling device of the system under the driving of a robot hand, and the operations of clamping, knocking, rotating, visual judgment, sample taking, cooling, flaw detection and the like are automatically realized, so that qualified samples are automatically taken out.

In addition, the automatic sampling flaw detection system provided by the utility model has high automation degree, and can automatically break the outer coating of the sampling bomb, so that the sample piece is automatically taken out, and scalding and dust damage to a human body caused by manual knocking are avoided; whether the sample piece is qualified or not is automatically judged by the system according to the flaw detection result, the sample piece is prevented from being judged by the experience of an operator, the sampling is more scientific and reliable, the traditional manual knocking sampling is changed, whether the sample piece is qualified or not is judged according to the personal experience, the production efficiency can be effectively improved, the qualified rate of the sample piece is improved, and the potential safety hazard during the operation of workers is reduced.

The embodiments described above are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Claims (9)

1. An automatic sampling flaw detection system is characterized in that: comprises a breaking sampling device (10), a sample piece switching manipulator (40) and a cooling water tank (20);

wherein the knock-out sampling device (10) comprises: the elastic handle clamping and rotating device (11), two sets of pneumatic vibration assemblies (12) and a clamping and rotating mechanism (13);

the elastic handle clamping and rotating device (11) can clamp the handle part of the sampling elastic and drive the sampling elastic to rotate;

two sets of pneumatic vibration subassembly (12) symmetry sets up, and every set of pneumatic vibration subassembly (12) includes: a telescopic driving piece (121), a pneumatic vibrator (123) and a crushing claw (124); the pneumatic vibrator (123) is fixed on the telescopic driving piece (121); the crushing claw (124) is fixed on the pneumatic vibrator (123); the telescopic driving piece (121) drives the pneumatic vibrator (123) and the crushing claw (124) to be close to and far away from the position of the sampling elastic sample piece; the pneumatic vibrator (123) drives the crushing claw (124) to vibrate;

the sample clamping and rotating mechanism (13) includes: a sliding component (131), a sliding bracket (133) and a sliding gas claw (134); the sliding bracket (133) is connected with the sliding end of the sliding component (131); the sliding gas claw (134) is arranged at the upper end of the sliding bracket (133); the sliding end of the sliding assembly (131) drives the sliding bracket (133) and the sliding gas claw (134) to be close to or far away from the position of the sampling elastic sample piece; a sliding gas claw (134) clamps the sample piece;

the sample piece transfer manipulator (40) clamps the sample piece on the sliding gas claw (134), the sample piece transfer manipulator (40) also drives the sample piece to move to the position of the cooling water tank (20), and the sample piece is placed in the cooling water tank (20) for cooling.

2. The automated sampling inspection system of claim 1, characterized in that: further comprises a flaw detection assembly (30);

wherein the flaw detection module (30) includes: the flaw detection device comprises a flaw detection base support (301), a flaw detection horizontal moving assembly (302), a flaw detection cantilever beam (303), a vertical driving piece (304) and a flaw detection head (306);

the fixed end of the flaw detection horizontal moving component (302) is fixed on the flaw detection base support (301);

the bottom of the flaw detection cantilever beam (303) is fixed at the horizontal moving end of the flaw detection horizontal moving component (302);

the fixed end of the vertical driving piece (304) is fixed at the end part of the flaw detection cantilever beam (303);

the flaw detection head (306) is fixed at the telescopic end of the vertical driving piece (304);

the flaw detection base support (301) is arranged on one side of the cooling water tank (20), and the flaw detection horizontal moving assembly (302) drives the flaw detection cantilever beam (303) to be close to and far away from the cooling water tank (20); the vertical driving piece (304) drives the flaw detection head (306) to descend and ascend;

the sample transfer manipulator (40) drives the sample to move in the preset area.

3. The automated sampling inspection system of claim 1, characterized in that:

the sample transfer robot (40) comprises: the device comprises a manipulator base (44), a four-axis arm or a six-axis arm (800), a clamping jaw fixing plate (41), a clamping driving piece (42) and two sample clamping jaws (43);

one end of the six-axis arm (800) is rotatably connected with the manipulator base (44);

the clamping jaw fixing plate (41) is fixed at the tail end of the six-axis arm (800);

the fixed end of the clamping driving piece (42) is fixed on the clamping jaw fixing plate (41);

the two sample clamping jaws (43) are symmetrically arranged and are respectively fixed on the moving end connected with the clamping driving piece (42);

the clamping driving piece (42) drives the sample clamping jaw (43) to approach and depart from;

the six-axis arm (800) drives the two sample clamping jaws (43) to be close to the sliding gas claw (134) of the clamping and rotating mechanism (13), and the two sample clamping jaws (43) clamp the sample from the sliding gas claw (134).

4. The automated sampling inspection system of claim 1, characterized in that: the sampling elastic switching mechanical arm (60);

wherein, the sampling bullet switching manipulator (60) clamps the sampling bullets and transfers the sampling bullets to the bullet handle clamping and rotating device (11) of the breaking sampling device (10).

5. The automated sampling inspection system of claim 4, characterized in that:

wherein the elastic handle clamping and rotating device (11) comprises: the steering cylinder (111), the rotating assembly and the clamping hand assembly;

the rotating assembly is arranged at the rotating end of the steering cylinder (111), and the steering cylinder (111) drives the whole rotating assembly to rotate forwards and backwards by 90 degrees;

the clamping hand assembly is arranged on the rotating assembly, and the rotating assembly drives the clamping hand assembly to rotate;

the rotation center of the steering cylinder (111) is vertical to the rotation center of the rotating assembly;

the sampling bullet switching mechanical arm (60) vertically puts the sampling bullet into the clamping hand assembly; after the clamping hand assembly clamps the sampling bomb, the steering cylinder (111) rotates by 90 degrees, and the sampling bomb device is in a horizontal state.

6. The automated sampling inspection system of claim 1, characterized in that:

wherein, a sliding bracket (133) of the sample clamping and rotating mechanism (13) is rotatably connected with a sliding end of the sliding component (131);

after the sliding gas claw (134) clamps the sample piece, the sliding support (133) rotates by 90 degrees, so that the grabbing position of the sliding gas claw (134) faces the sample piece transfer manipulator (40).

7. The automated sampling inspection system of claim 6, characterized in that:

the sample piece switching mechanical arm (40) further comprises a sample piece posture visual assembly (50);

after the sliding gas claw (134) clamps the sample piece, the sliding support (133) rotates by 90 degrees, so that the grabbing position of the sliding gas claw (134) faces to the sample piece transfer manipulator (40) and faces to the sample piece posture vision component (50);

a sample pose vision assembly (50) acquires a sample pose image.

8. The automated sampling inspection system of claim 7, characterized in that:

wherein, the sample posture vision component (50) comprises an industrial camera and a light source.

9. The automated sampling inspection system of claim 1, characterized in that:

the knock-out sampling device (10) further comprises a debris collection assembly;

the debris collection assembly includes: a chip hopper (14), a chip conveying belt (15), a chip collecting box (16);

the debris hopper (14) is in a position below the two crushing claws (124);

a scrap conveyer belt (15) is arranged at the lower outlet position of the scrap hopper (14);

the end of the conveyor belt (15) is provided with a scrap collecting box (16).

Images