JPS61194366A - Apparatus for automatically inserting analytical specimen tray in electric furnace and extracting same therefrom - Google Patents

Abstract

PURPOSE:To enhance working efficiency by allowing a general-purpose robot to auto matically insert a tray in an electric furnace and extracting the same therefrom in the industrial analysis of coals. CONSTITUTION:A plurality of containers each having a powdery specimen received therein are placed on a tray 20 by a general-purpose robot and, when the tray 20 is placed on a tray stand 15 at the stand-by position thereof, a tray detection lever 21 is contacted with a check switch 22 and a speed reduction motor 5 is driven by the signal from CPU and a door feed female screw 4 moves upwardly to open a door 2. At the same time, a tray stand moving pulse motor 16 is rotated to move a feed female screw 18 to the direction of an electric furnace and the tray stand 15 approaches the electric furnace while the pawl of the general-purpose robot enters the pawl hole 20' of the tray 20 to push the tray 20 to insert the same in the heat treatment chamber 10 of the electric furnace. When the tray 20 enters the electric furnace, the tray detection lever detects the tray 20 and the speed reduction motor 5 is reversely rotated by the signal of CPU to close the door 2. At the time of extraction, reverse operation is performed.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is aimed at improving an apparatus for automatic industrial analysis of coal using a general-purpose robot. This invention relates to a device that automatically inserts and extracts a plurality of containers placed on a tray into a heat treatment mold or air furnace.

[Conventional technology]

Conventionally, in industrial analysis of coal, when a sample container containing a sample for analysis is inserted into an electric furnace with heat treatment conditions determined for each analysis item and extracted, an electric furnace ( Open the door (b) of (a) as shown in the figure by manually pulling the counterbalanced weight (c) connected to it with a string, wire, etc., and place the sample container on the tray (a) into the electric furnace. All insertion and extraction was done manually, so
The problem was that it was time-consuming.

Therefore, in recent years, automation using general-purpose robots has been promoted in industry in order to save labor, improve analysis accuracy, and stabilize analysis.

[Problem that the invention seeks to solve]

However, the following problems arise when using a general-purpose robot to perform operations that were previously performed manually.

(1) If the tray carrying the sample container is not placed close to the furnace entrance, a space will be created between the furnace and the tray stand, causing impact to the tray during insertion and extraction. Damage or sample container shifting.

(11) It is necessary to separate the trays by the thickness of the furnace door and move them forward and backward as the furnace is opened and closed.

011) Unless the furnace door is opened and closed and the tray is moved forward and backward at the same time, the temperature inside the furnace will drop significantly and the temperature cannot be restored within a predetermined time.

JV)) Failure to accurately detect whether the tray is in the correct position in the furnace or on a single tray will damage the tray and sample container.

(V) The robot hand must be able to reliably grasp the sample container on the tray.

[Means for solving problems]

In order to automate the industrial analysis of coal, the inventors of the present invention used a general-purpose robot with a six-axis operating range, and attached the final axis of the robot to the main body of the sample container, the lid, and other parts necessary for the analysis. We have developed an automatic analyzer equipped with a hand that allows handling of various instruments, insertion of container trays into electric furnaces, and extraction. The present invention is a device for automatically inserting and extracting container trays into an electric furnace using this robot hand.

That is, the gist of the present invention is to provide an apparatus for inserting and extracting a container (containing a container containing an analysis sample) into an electric furnace for heat treatment using a general-purpose robot. A signal device installed at the location,
An automatic electric furnace for inserting an analytical sample tray into an analytical sample tray, characterized in that a central processing unit (CPU) interlocks a signal device provided in an opening/closing device for opening and closing a door of the electric furnace.

It is an extraction device.

[Effect]

In the apparatus of the present invention described above, when a plurality of sample containers containing analysis samples are placed on a tray and the trays are inserted from one tray into an electric furnace, the tray is placed in a standby position above one tray. When the signal device confirms that the
The opening of the door of the electric furnace and the movement of one tray to approach the electric furnace are performed in conjunction with the CPU signal, and the opening of the door and the contact of one tray to the electric furnace are completed. This is confirmed by both signaling devices. In the case of extraction, the tray is inserted into the electric furnace by a general-purpose robot at that point, and a signal indicating that it has arrived at a predetermined position in the furnace causes the furnace door to close and the tray to retreat. is performed in the opposite manner.

The general-purpose robot inserts and extracts the tray into the electric furnace by inserting the robot's claw into a claw hole provided at the rear end of the tray and moving the tray forward and backward.

[Embodiments of the invention]

Next, inserting the analytical sample tray of the present invention into an automatic electric furnace,
The extraction device will be explained based on an embodiment shown in FIGS. 1 to 8. Figure 1 is a front view of the electric furnace for heat treatment;
The figure is a side view of the electric furnace, one tray provided in front of the electric furnace, and its moving device. Further, Figs. 3 and 4 show a tray for a preferred ash sample container used in the apparatus of the present invention, Figs. 5 and 6 similarly show a tray for a moisture sample container, and Figs.
Figure 8 also shows a tray for volatile sample containers. The code (1) in the figure is an electric furnace, (2) is a door that opens and closes in the vertical direction, (3) is a door feed ball screw that opens and closes the door (2), and (4) Vi It is a door feed (female) screw fixed to the door (2), (5) is a speed reduction motor, (6) is a bevel gear, (7) is a door guide shaft, and (8) is a door screw. It is fixed to (2) and is a nine guide element (slide bearing unit). (9) is a limit switch provided in the electric furnace (1), which is provided at the open and closed positions of the door (2), and is designed to send a signal to the CPU (not shown). be.

αQ is a heat treatment chamber, α■ is a chimney, and (6) is a porcelain lump.

The tray (4) that is moved onto this tray during insertion and extraction is rotatably provided so that it can be easily moved. (
) is the tray detection lever, and α◆ is its check switch, which sends a confirmation signal to the 'kcPU that the tray (A) has been inserted and extracted into the fixed position in the electric furnace (1). It will now issue signals for opening and closing, and for one tray to move forward and backward.

At that time, there was one tray installed to encourage the electric furnace (1),
Pulse motor for moving one tray - αQ, feed revolving ball screw α
When the tray is waiting on top of the feed (female) screw a, the electric furnace (1) is brought closer to the tray by the CPH signal. , (to) is the limit switch for its operation. (2~ is a tray detection switch -1 (A) is a check switch, which sends a signal to +1cPU when the tray (A) force is extracted and placed in the insertion standby position. (21') is a roller Tray-〇Electric furnace (
1) Insertion and extraction into and out of the file are performed easily.

In Figures 6 to 8, the tray is a tray used in the present invention, and the rear end has a claw hole (20) into which a general-purpose robot's claw can be inserted.
I'm wearing it. Reference numeral 04 denotes a cold air hole, which is provided to allow cold air blown from a cold air fan (to) during oil fields to hit the sample container. (E) is a concave portion into which a sample container is placed. (c) is a concave groove into which the bottom of the moisture sample container can fit.

(A) is a ring provided to place the volatile sample container.

The operation of the device of the present invention will be explained to the doctor.

First, in industrial analysis of coal, we need to make it possible to perform automatic analysis using general-purpose robots.

All analysis operations can be performed by a general-purpose robot, such as being able to grip sample containers reliably and accurately with a robot hand, sampling samples, and inserting and extracting trays containing multiple sample containers into an electric furnace. It is a prerequisite to do so.

Therefore, in the apparatus of the present invention, all operations for this disaster are automated by linking the opening and closing of the electric furnace and the insertion and extraction operations of trays into the electric furnace by a general-purpose robot.

A general-purpose robot places multiple containers containing powder samples onto the tray, and when one tray is placed in the standby position above 4, the tray detection lever (c) comes into contact with check switch 4,
The deceleration motor (5) is driven by a signal from the CPU, and the door feed ball screw (3) is rotated via the bevel gear (6). As the door feed female screw (4) moves upward with this rotation, the door (2) opens.

At the same time, one tray (A is a pulse motor (2) for moving one tray is rotated by a signal from CPH.

With this rotation, the female feed screw α→ moves toward the electric furnace, and the claws of the general-purpose robot enter the claw holes (20') in the tray bag.

Push the tray and insert it into the heat treatment chamber αQ of the electric furnace.Then, the tip of the tray (7) will be inserted into the tray detection lens.
(To) and press it to make it contact the check switch 04. At this point, the insertion operation is completed, so the deceleration motor (5) rotates in the reverse direction again in response to a signal from the CPU to close the door (2).

Incidentally, when in an oil field, the operation is reversed to extract the tray (1).

〔Effect of the invention〕

As explained above, according to the apparatus of the present invention, when performing industrial analysis of coal automatically using a general-purpose robot,
Inserting and extracting trays into the electric furnace will all be done automatically. Therefore, not only work efficiency is improved, but also
There is no need for the sample container to shift or fall on the tray, and it can be handled reliably by a general-purpose robot.

[Brief explanation of the drawing]

Figures 1 to 8 show one embodiment of the present invention, Figure 1 is a front view of an electric furnace, Figure 2 is a side view of an electric furnace and one tray, and Figure 6 is a side view of an electric furnace and one tray.
The figure is a plan view of the ash tray, Figure 4 is its side view, and Figure 5 is a plan view of the ash tray.
The figure is a plan view of the moisture tray, Figure 6 is its side view, and Figure 7 is a top view of the moisture tray.
The figure is a plan view of the tray for volatile matter, and FIG. 8 is a side view thereof. FIG. 9 is a front view showing a conventional electric furnace. Symbols in the diagram (1) is electric furnace, (2) is door, (3) is door feed ball screw, (4) is door feed female screw, (5) is reduction motor, (6) is bevel gear, (7 ) is the door guide shaft, (8
) is a door guide. (9) Vi limit switch α1 is the heat treatment room, α pier is the chimney, (6) (12) is the roller, CuIVi) Ray detection lever, ←→ is the check switch, pigeon is one tray, (1
→ is the pulse motor for moving one tray, 1αη is the feed ball screw, (1→ is the feed screw, (2) is the limit switch, (1) is the tray, (C) is the tray detection lever, (A)
is a check switch.翰 is a cooling fan, (c) is a ventilation fan, (c) is a concave part, @ is a concave groove, and (goods) is a ring.

Claims (1)

[Claims] In a device that uses a general-purpose robot to insert and extract a tray containing a container containing an analysis sample into an electric furnace for heat treatment,
A signal device provided at the tray insertion/extraction standby position of the general-purpose robot and a signal device provided in the opening/closing device for opening and closing the door of the electric furnace are linked by a central processing unit (CPU). An automatic electric furnace insertion and extraction device for analytical sample trays.