201017161 六、發明說明： 【發明所屬之技術領域】 本發明，係關於-種將用以製作分析樣品之定量 試樣的前處理熔融用混合加以自動化 η 目動混合裝置。 【先前技術】 為了自礦石、金屬冶煉副產物及再回枚原料等， 率地獲得金、m等有價金屬，不僅要 Ο ❹ 處理方法，且就經濟性方面考量，預先正確地分析出： 石、金屬之冶煉副產物及再回收原料等中所含的該等有價 金屬之量亦十分重要。 用以分析上述有價金屬之含量之方法中，須要進行前 處理使含有價金屬之試樣變得均i因此於試樣中加入硫 化礦，使試樣消光，然後進行粉碎、減縮而製成定量分析 用試樣。藉由對該試樣進行乾式分析，而計算线樣内之 有價金屬含有^於專利錄i中，揭示有—種對上述分 析方法加以改良並將其加以實施之定量分析系統。 [專利文獻1]日本特開2000_97925號公報 【發明内容】 但是，於上述前處理方法中，係將含有價金屬之樣品 與硫化礦等助溶劑投人消総融用_内進行消光。消光 熔融用坩堝並非僅用於—次前處理，而係利用於多次前處 理’因此㈣㈣在加以研磨、塗佈脫模劑之後，投入試 樣或助熔劑而進行熔融處理。 先前之處理中，用以研磨掛竭之研磨裝置、對掛竭塗 3 201017161 佈脫模劑之塗佈裝置及硫化礦之混合裝置，係分別分開設 置而獨立運轉，因此係藉由人力於裝置間移動坩堝托板、 調整高度、將自動混合結束後之坩堝換置於台車上。另外， 由於混合後之坩堝之重量單獨即超過5kg，故托板整艘達到 250kg左右。因此，移動坩堝所耗費的人力作業負擔較重， 並且至準備好分析用樣品為止需要花費較長之作業時間。 因此，本發明之課題在於提供一種改善研磨坩堝向 坩堝塗佈脫模劑、投入硫化礦時之作業的自動混合裝置。 解決該課題的本發明之自動混合裝置，其特徵在於， 包括.研磨裝置，係用以對分析樣品（再回收原料等）與 助熔劑之消光熔融用坩堝進行研磨；塗佈裝置，係用以對 經上述研磨裝置研磨之坩堝塗佈脫模劑；稱量裝置係用 以將硫化礦投入藉由上述塗佈裝置塗佈有脫模劑之坩堝 内；及搬送裝置，係用以將配置於托板上之掛瑪朝上述研 磨裝置搬送’將研磨後之_自上述研磨裝置朝上述塗佈 裝置搬送，將塗佈脫模劑後之坩堝自上述塗佈裝置朝上述 稱量裝置搬送’將投人硫化確後之㈣朝上述投人位置搬 送，於㈣内投入收納有分析樣品之杯皿，然後將投入杯 i後之坩堝搬送至上述托板上且加以排列配置。 藉由採用上述構成，可自動地研磨掛禍、塗佈_、 稱量硫化碟、向㈣中投人硫化礦、投人收納有分析樣品 之杯皿、及料㈣，並且無需將混合後之㈣換置於托 板之作業可直接利用電動式托板台車將掛禍搬送至 溶融爐，藉此可減少人力作業負#，大幅地縮短至準備好 201017161 分析用樣品為止之作業時間。 上述自動混合裝置，其特徵在於：上述研磨裝置之作 業位置、上述塗佈裝置之作業位置、上述稱量裝置之作業 位置、上述杯皿投人位置係配置於以搬送裝置為中心之圓 的内部。藉由採用此種構成，能夠以搬送I置為中心來配 置用以進行各種作業之裝置，縮短移動時間。 節省空間。 並且，利用上述自動混合裝置的分析樣品（再回收原 β料等）之有價金屬之定量分析用試樣前處理方法，包括以 下步驟：將托板上之坩堝朝用以研磨坩堝之研磨裝置搬 送；藉由上述研磨裝置對上述坩堝進行研磨；將經研磨之 上述坩堝朝用以將脫模劑塗佈於坩堝之塗佈裝置搬送；藉 由上述塗佈裝置對上述坩堝進行塗佈；將經塗佈之上述坩 堝朝用以投入硫化礦之稱量裝置搬送；藉由上述稱量裝 置將所稱量之硫化礦投入上述坩堝内；將投入有硫化礦 之上述坩堝朝收納有分析樣品（再回收原料等）之杯孤的 技入位置搬送；向搬送至上述投入位置之坩堝中投入上述 杯皿；及將混合結束後之上述坩堝排列配置於托板上。 本發明之自動混合裝置： (1)利用搬送裝置使堆瑪在坩瑪之研磨處理、對坩堝 塗佈脫模劑之塗佈處理、向坩堝中投入硫化礦之投入處理 及向掛瑪中投入杯皿之投入處理之裝置間移動，藉此可減 )耗費於各裝置間之移動上的人力之作業負擔，而縮短移 動所花費之時間。 201017161 (2) 利用機械臂進行搬送，藉此可進行等待時間極少 之高效率的作業。 (3) 將裝載有托板（配置有坩堝）之台車配置於多軸機 械臂之抓手之可動範圍内’藉此可節省空間。 (4) 減少以人力所進行之坩堝的移動作業，藉此每天 可減少約3小時之人力之作業負擔。 (5 )每個坩堝之混合原本要花費1〇8秒但若使用自 動混〇裝置卜則能夠以7〇秒進行每個坩堝之混合。因此， 可將混合所需時間縮短、約35%。而且，自動混合裝置每天 最多可進行240個坩堝之混合處理。 (6)除裝置發生故障以外，可根據用途來選擇將坩堝 之研磨處理、對坩堝塗佈脫模劑之塗佈處理、向坩堝中投 入硫化礦之投入處理、及向坩堝中投入杯皿之投入處理的 各步驟加以組合之自動作業。 【實施方式】 以下，連同圖式一起對用以實施本發明之最佳形態加 以說明。 〜 [實施例] 一面參照圖式，一面說明本發明之實施例。圖丨係顯 示本發明之自動混合裝置i之概略構成的說明圖。圖；顯 示自上側觀察自動混合裝置1之構成。 自動混合裝置卜係一種混合用則吏分析肖樣品（再回 收原料等）消光之助熔劑的裝置。自動混合裝置i，係將預 先收納有分析用樣品之杯孤i丨與相對於該分析用樣品之重 201017161 量為既h之⑽劑投人㈣12内，進行使 光之準備。將以上述方式所準備之时竭：：樣品消 以熔融。另，分析用樣品所含之貴 “，、燒爐加 I ώ〜只龙屬，例如可 把、金、銀、釘、銦等。另外，杯服u係進溶 Γ理之料爐内燃燒者，由具有可收納分析用== 度且具有可燃性之材料形成。 汞。《之強 自動混合裝置i，具備有：研磨裝置2、塗佈201017161 VI. Description of the Invention: [Technical Field of the Invention] The present invention relates to an automatic η-mesh mixing device for mixing pre-treatment melts for quantitative samples for preparing analytical samples. [Prior Art] In order to obtain valuable metals such as gold and m from ore, metal smelting by-products, and other materials, it is necessary to analyze not only the treatment method but also the economic considerations. The amount of such valuable metals contained in metal smelting by-products and reclaimed raw materials is also important. In the method for analyzing the content of the above-mentioned valuable metal, it is necessary to carry out pretreatment to make the sample containing the valence metal become uniform. Therefore, the sulfide ore is added to the sample, the sample is matted, and then pulverized and reduced to be quantified. Analytical sample. By performing a dry analysis on the sample, the calculation of the valuable metal content in the line sample is disclosed in Patent Document i, and a quantitative analysis system for modifying the above analysis method and implementing it is disclosed. [Patent Document 1] Japanese Laid-Open Patent Publication No. 2000-97925. SUMMARY OF THE INVENTION However, in the above pretreatment method, a sample containing a valence metal and a co-solvent such as a sulfide ore are used for the purpose of extinction. The matte melting enthalpy is not used only for the secondary treatment, but is used for a plurality of pretreatments. Therefore, (4) (4) After the polishing and coating of the release agent, the sample or the flux is introduced and melted. In the previous treatment, the grinding device for grinding and squeezing, the coating device for the smear coating 3 201017161, and the mixing device for the sulphide ore were separately installed and operated independently, so that the device was manually operated. Move the pallet, adjust the height, and change the raft after the automatic mixing to the trolley. In addition, since the weight of the crucible after mixing is more than 5 kg alone, the entire pallet reaches about 250 kg. Therefore, the labor required for moving the load is heavy, and it takes a long time to prepare the sample for analysis. Accordingly, an object of the present invention is to provide an automatic mixing device for improving the operation of applying a release agent to a polishing crucible and introducing a sulfide ore. An automatic mixing device according to the present invention for solving the problem, comprising: a polishing device for polishing an analysis sample (recycling a raw material or the like) and a matte for melting and melting of a flux; and a coating device for Applying a release agent to the crucible that has been ground by the above-mentioned polishing apparatus; the weighing apparatus is used to put the sulfide ore into the crucible coated with the release agent by the coating device; and the conveying device is configured to be disposed in The slinger on the pallet conveys the polishing device to the above-mentioned polishing device, and then conveys the polishing device from the polishing device to the coating device, and transfers the coating agent from the coating device to the weighing device. After the injection is confirmed, (4) the container is transported to the above-mentioned investment position, and the cup containing the analysis sample is placed in (4), and then the cup is placed and transferred to the pallet and arranged. By adopting the above configuration, the hazard, the coating _, the weighing vulcanizing disc, the sulphide ore to the (4), the cup containing the analysis sample, and the material (4) can be automatically polished, and the mixture is not required to be mixed. (4) The operation of changing to the pallet can directly transfer the accident to the melting furnace by the electric pallet truck, thereby reducing the manpower work negative #, and greatly reducing the working time until the 201017161 analysis sample is prepared. The automatic mixing device is characterized in that the working position of the polishing device, the working position of the coating device, the working position of the weighing device, and the cup casting position are arranged inside a circle centered on the conveying device. . By adopting such a configuration, it is possible to arrange a device for performing various operations centering on the transport I, and to shorten the travel time. save space. Further, the sample pretreatment method for quantitative analysis of a valuable metal using an analysis sample (recycling raw material such as β) or the like of the above-described automatic mixing device includes the following steps: transporting the crucible on the pallet toward the polishing apparatus for polishing the crucible And polishing the crucible by the polishing device; and polishing the crucible to the coating device for applying the release agent to the crucible; coating the crucible by the coating device; The coated sputum is transferred to a weighing device for feeding the sulphide ore; the weighed ore is weighed into the sputum by the weighing device; and the sputum into which the sulphide ore is placed is stored with the analytical sample (again The glass material of the raw material or the like is transported, and the cup is placed in the crucible to be transported to the input position; and the crucible array after the completion of the mixing is placed on the pallet. The automatic mixing device of the present invention: (1) using a conveying device to perform the grinding treatment of the gamma in the gamma, the coating treatment of the enamel coating release agent, the input of the sulphide ore into the sputum, and the input into the smashing When the cups are moved between the devices to be processed, the burden of manpower on the movement between the devices can be reduced, and the time taken for the movement can be shortened. 201017161 (2) The robot arm is used for transportation, so that it can perform extremely efficient operation with little waiting time. (3) The trolley loaded with the pallet (equipped with 坩埚) is placed within the movable range of the grip of the multi-axis robot arm, which saves space. (4) Reducing the mobile work carried out by manpower, thereby reducing the workload of manpower for about 3 hours per day. (5) The mixing of each cymbal originally took 1 〇 8 seconds, but if an automatic mixing device was used, the mixing of each cymbal could be performed in 7 sec. Therefore, the time required for mixing can be shortened by about 35%. Moreover, the automatic mixing device can perform a maximum of 240 mixing operations per day. (6) In addition to the failure of the device, depending on the application, the grinding treatment of the crucible, the coating treatment of the antimony coating release agent, the injection treatment of the sulfide ore into the crucible, and the pouring of the cup into the crucible may be selected. The automated steps of combining the various steps of the processing are combined. [Embodiment] Hereinafter, the best mode for carrying out the invention will be described with reference to the drawings. ~ [Embodiment] An embodiment of the present invention will be described with reference to the drawings. The figure shows an outline of the schematic configuration of the automatic mixing device i of the present invention. Fig. shows the configuration of the automatic mixing device 1 viewed from the upper side. The automatic mixing device is a device for mixing the flux of the matte sample (recovering the raw material, etc.). The automatic mixing device i prepares the light by placing the cup of the sample for analysis in advance and the weight of the sample for the analysis of 201017161 as the dose of (10) of the dose (4). The time prepared in the above manner is exhausted: the sample is melted. In addition, the sample contained in the analysis is expensive, and the furnace is added with I ώ ~ only dragons, such as gold, silver, nails, indium, etc. In addition, the cup is served in a furnace that is dissolved in a furnace. It is formed of a material having a flammability capable of accommodating the analysis == degree. Mercury. The strong automatic mixing device i is provided with: a polishing device 2, and a coating device
稱量裝置4、多軸機械臂5、托板輸送帶6、杯皿投入位置 13、台車7及主電腦9。研磨裝置2係用以對空㈣。内 進行研磨之裝置。_ 12係重複數次燃燒分析用樣品之處 理而加以利用。本裝置係用以將上—次燃燒時附著於掛禍 12内之脫模劑等加以清除。 圖2係顯示研磨裝置2之概略構成的說明圖。研磨裝 置2,具備有··用以固定坩堝12之底座21、對坩堝η内 進行研磨之研磨刷22、使研磨刷22旋轉之馬達部23。研 磨裝置2，係使藉由馬達部23而旋轉之研磨刷22伸入固定 於底座21之坩堝12内，對坩禍12内進行研磨。 塗佈裝置3，係用以對經研磨裝置2研磨後之坩堝12 塗佈脫模劑（塗佈液）之裝置。圖3係顯示塗佈裝置3之 概略構成的說明圖。塗佈裝置3,具備有：用以固定坩堝 12之底座31、貯存脫模劑之貯槽（tank) 32、向坩堝ι2内 供給脫模劑之供給口 33、將脫模劑自貯槽32抽取至供給口 33之泵34、用以調整脫模劑之流量的控制閥35、及用以將 脫模劑塗滿之塗佈刷3 6。此處，底座3 1係本發明之支持手 201017161 段之一例，塗佈刷36係塗佈手段之一例。底座31可於固 疋之狀態下使供給有脫模劑之坩堝31 一面旋轉一面傾動。 當坩堝12傾斜90度時，將塗佈刷36自坩堝12之開口部 伸入至坩堝12之内側並於坩堝12内側滑動，在坩堝12内 塗滿脫模劑。又，泵34與供給口 33構成本發明之供給手 段。 塗佈裝置3中，藉由使泵34運轉，而自供給口 33向 坩堝12内供給脫模劑。泵34於將固定量之脫模劑投入坩 堝12内之時間點將會停止，為了在坩堝12塗滿脫模劑， 而使坩堝12在以底座31之鉸鏈（hinge)部3U為中心旋 轉之同時緩緩傾斜，於坩堝12變成水平之時暫時停止。即， 若將開始時設為〇度，則使坩堝12一面旋轉一面傾動直至 90度為止。接著’為更加均勻地塗佈脫模劑，係將塗佈刷 36自坩堝12之開口方向自動插入坩堝12内。該塗佈刷％ 緩緩移動於整個坩堝12内而塗佈脫模劑。當塗佈刷36到 達坩堝底面β卩時，則使塗佈刷退出至坩堝外。該塗佈刷3 6 之塗佈操作次數可^意設定。因此，即使已設塗佈液之黏 度、濃度產生變化’亦可加以應對，可將塗佈液塗滿於坩 堝12内。擦刷後，再次使坩堝12傾斜，當傾動142.2度時 停止。此時，倒轉坩堝12而使殘留於坩堝12内之剩餘之 脫模劑返回至貯槽。然後’使坩堝12恢復至0度之位置， 結束塗佈步驟。以此方式，塗佈裝置3將脫模劑塗佈於坩 堝12内。又，於供給口 33處設置有用以檢測塗佈劑喷出 之感測器33a。若無噴出塗佈劑，則再次進行此後之全部混 201017161 。操作，因此該感測器33a十分重要。此種脫模劑，可使用 潤π油中混合有碳粉之混合液。例如可使用18升之油混 合有9kg之碳的混合液作為脫模劑。 稱量裝置4 ’係用以將硫化礦（例如硫化鐵）投入藉由 塗佈裝置3塗佈有脫模劑之坩堝12内之裝置。 圖4係顯不稱量裝置4之概略構成的說明圖。稱量裝 置4,係具備有：接收側硫化礦漏斗4卜螺旋輸送帶 conveyor) 42、中繼漏斗43、輸出輸送帶44、稱量部45、The weighing device 4, the multi-axis robot arm 5, the pallet conveyor belt 6, the cup loading position 13, the carriage 7 and the main computer 9. The grinding device 2 is used to be empty (four). A device for grinding inside. The _ 12 series was used several times for the sample of the combustion analysis. This device is used to remove the release agent or the like adhering to the catastrophe 12 during the primary combustion. FIG. 2 is an explanatory view showing a schematic configuration of the polishing apparatus 2. The polishing apparatus 2 includes a base 21 for fixing the crucible 12, a polishing brush 22 for polishing the inside of the crucible 11, and a motor portion 23 for rotating the polishing brush 22. In the grinding device 2, the polishing brush 22 rotated by the motor portion 23 is inserted into the crucible 12 fixed to the base 21 to grind the inside of the crucible 12. The coating device 3 is a device for applying a release agent (coating liquid) to the crucible 12 which has been polished by the polishing apparatus 2. Fig. 3 is an explanatory view showing a schematic configuration of the coating device 3. The coating device 3 includes a base 31 for fixing the crucible 12, a tank 32 for storing the release agent, a supply port 33 for supplying the release agent to the inside of the crucible 2, and a release agent for extracting the release agent from the storage tank 32. The pump 34 of the supply port 33, the control valve 35 for adjusting the flow rate of the release agent, and the application brush 36 for coating the release agent. Here, the base 3 1 is an example of a support hand of the present invention, paragraph 201017161, and an application example of a coating brush 36 is a coating means. The base 31 can be tilted while rotating the crucible 31 to which the release agent is supplied in a solid state. When the crucible 12 is inclined by 90 degrees, the coating brush 36 is extended from the opening of the crucible 12 to the inside of the crucible 12 and slides inside the crucible 12, and the crucible 12 is coated with the release agent. Further, the pump 34 and the supply port 33 constitute the supply means of the present invention. In the coating device 3, the pump 34 is operated to supply the release agent from the supply port 33 into the crucible 12. The pump 34 is stopped at a point in time when a fixed amount of the release agent is introduced into the crucible 12, and the crucible 12 is rotated around the hinge portion 3U of the base 31 while the crucible is coated with the release agent. Slowly tilt and stop temporarily when 坩埚12 becomes level. That is, when the start is set to the degree of twist, the crucible 12 is tilted until it reaches 90 degrees while rotating. Next, in order to apply the release agent more uniformly, the application brush 36 is automatically inserted into the crucible 12 from the opening direction of the crucible 12. The coating brush % is gradually moved throughout the crucible 12 to apply a release agent. When the application brush 36 reaches the bottom surface β卩 of the crucible, the coating brush is ejected to the outside of the crucible. The number of coating operations of the coating brush 36 can be set. Therefore, even if the viscosity and concentration of the coating liquid are changed, it can be handled, and the coating liquid can be applied to the crucible 12. After wiping, the crucible 12 is again tilted and stopped when the tilt is 142.2 degrees. At this time, the crucible 12 is inverted to return the remaining release agent remaining in the crucible 12 to the storage tank. Then, the crucible 12 is returned to the position of 0 degrees, and the coating step is ended. In this way, the coating device 3 applies a release agent to the crucible 12. Further, a sensor 33a for detecting the ejection of the coating agent is provided at the supply port 33. If no coating agent is sprayed out, then all the subsequent mixing 201017161 is performed again. Operation, so the sensor 33a is very important. As such a mold release agent, a mixture of carbon powder mixed with π oil can be used. For example, a mixture of 18 kg of oil mixed with 9 kg of carbon can be used as a release agent. The weighing device 4' is used to put a sulfide ore (e.g., iron sulfide) into a device in which the release agent is coated with the release agent. Fig. 4 is an explanatory view showing a schematic configuration of the weighing device 4. The weighing device 4 is provided with: a receiving side sulphide ore funnel 4, a screw conveyor belt conveyor 42, a relay funnel 43, an output conveyor belt 44, a weighing portion 45,
❿ =力計（load cell) 46及底座輪送帶47。相較於先前之要 化費藉由帶式進料器及振動進料器各裝置之動作來進行輸 出所需之時間的混合裝置，本發明之混合裝置，由於僅藉 由輸出輸送帶44來將硫化礦輸出，因此能夠以短時間將硫 化礦輸出。投入稱量部45之硫化礦，係藉由稱量部45所 具備之測力計46來檢測、稱量出重量。於稱量裝置4之接 收漏斗41中，投入水分為〇2〜、容積比重（匕仙 specific gravity ) 2.1、安息度為4〇度之硫化鐵。於接收漏 斗41之送出側，配置有螺旋輪送帶42。將接收漏斗41内 之硫化礦朝螺旋輸送帶42送出，並藉由螺旋輸送帶42向 中繼漏斗43運送。於中繼漏斗43,設置有感測器，以檢測 硫化礦量，自動控制螺旋輸送帶42之硫化礦的補充速度。 中繼漏斗43對運送來之硫化礦暫時加以保管，向稱量部μ 輸出。 另一方面，坩堝12最初係配置於底座輸送帶47上之 以虛線所描繪之位置上，藉由底座輸送帶47之驅動而自動 9 201017161 地被搬送至以實線所描繪之位置上。稱量部45開始稱量硫 化確，且將稱量後之硫化礦投入掛蜗12中。硫化礦之重量， 係根據樣品之量及種類來加以設定，且資訊係預先輸入。 然後’若稱量結束後’則藉由底座輸送帶47使坩堝12返 回至虛線之位置。 多軸機械臂5’係使j#塌12在研磨裝置2、塗佈裝置3、 稱量裝置4之各作業位置2a、2c、3a、3c、4a及杯皿投入 位置13、托板8之間移動的搬送裝置。多轴機械臂5配置 於自動混合裝置1之中心部。圖5係顯示自側面觀察多軸 ⑩ 機械臂5時之概略構成的說明圖，圖5(a)係顯示使多軸 機械臂5之手臂51彎折的狀態，圖5 (b)則顯示使多轴機 械臂5之手臂51伸展的狀態。 多軸機械臂5，係具備有：手臂51;設於手臂51之前 端部之抓手52;用以驅動手臂51之手臂用致動器53、54 ; 及用以驅動抓手52之抓手用致動器55。多軸機械臂5，能 夠以垂直方向上所具備之轴為中心來旋轉。手臂51係藉由 手臂用致動器53、54來進行伸縮。抓手52具備有3根爪 粵 部52a，可藉由使爪部52a動作來抓握杯皿11、坩堝12。 當手臂5 1伸縮時，抓手用致動器55，以使爪部52a所抓握 之杯皿11或坩堝12保持為水平之方式’對抓手52相對於 手臂51之傾斜角加以控制。該多轴機械臂5，係與主電腦 9電連接，並根據主電腦9之指令進行運轉。 托板輸送帶6，係用以搬送收納有分析用樣品之杯皿 11的裝置。收納有分析用樣品之杯皿11係配置於投入側 10 201017161 6a處，藉由托板輪送帶6鉬 朝向圖中之左側搬送，而到達送 出側6b。並且，於托板輪接娌 坂輸送帶6之送出側6b側面，具備有 杯皿投入位置13、坩堝臨時放 吁欲置處13a。假設出現多軸機械 臂5丟落搬送中之坩堝12笪 等之故障時，若於該坩堝臨時放 置處13a之位置放置掛瑪，則可私你普士 & ^ 於作業中斷後緊接著重新開 始處理。 台車7 ϋ裝載載置有空㈣12之托板8,利用 電動輔助進行動作之掛禍12的搬運用台車。又，托板8可 收容3行10列共計30個掛禍12。 主電腦9,係與研磨裝置2、塗饰裝置3、稱量裝置4、 托板輸送冑6受到電控制，且對各裝置之作業進行監視、 控制。 接著，說明各裝置之配置。圖1中以兩點鏈線所描綠 出之圓弧，係表示多轴機械臂5之手臂51最大伸長時之抓 手Μ的軌跡。研磨裝置2、塗佈裝置3、稱量褒置4之各 ❹ 作業位置2^2(：、3&、3〇、乜及托板輸送帶6之送出側讣、 杯皿投入位置13、掛瑪臨時放置處13a，係配置於該圓狐 内。又，台車7係以使托板8配置於該圓弧内之方式停車。 如此，將作為_ 12之搬送裝置之多轴機械臂5配置於中 心’將研磨裝置2'塗佈裝置3、稱量裝置4、托板輸送帶 6之送則6b、杯孤投入位置13、及裝載有托板8之台車 7配置於多軸機械臂5之抓手52的可動範圍内，藉此； 省空間。 即 圖6’係顯示多轴機械臂5將抓手52移動至稱量裳置 11 201017161 4之作業位置4a之上方時的自動混合裝置！之概略的說明 圖。如圖6所示，多軸機械臂5可使手臂51伸長至稱量裝 置4之作業位置4a，抓握並搬送掛禍12。同樣地，多輛機 械臂5可使手臂51伸長至研磨裝置2之作業位置2a'塗佈 裝置3之作業位置3a、托板輸送帶6之送出側⑪、及杯皿 投入位置13，抓握並搬送杯皿u、坩堝。 其次，說明自動混合裝置1之作業步驟。圖7,係說明 自動混β裝置1之作業步驟之流程的流程圖。自動混合裝 置1之處理’包括：多軸機械臂 之作業、塗佈裝置3中之作業、 皿投入位置13處之作業之處理。 混合裝置1之處理。❿ = load cell 46 and base pulley 47. Compared with the previous mixing device for the time required for output by the action of the belt feeder and the vibrating feeder, the mixing device of the present invention is only used by the output conveyor 44 The sulfide ore is output, so that the sulfide ore can be output in a short time. The sulphide ore to be placed in the weighing unit 45 is detected and weighed by the dynamometer 46 provided in the weighing unit 45. In the receiving funnel 41 of the weighing device 4, the input water is 〇2~, the specific gravity of the volume (the specific gravity) 2.1, and the iron sulfide having a rest rate of 4 degrees. A spiral feed belt 42 is disposed on the delivery side of the receiving funnel 41. The sulfide ore in the receiving funnel 41 is sent to the screw conveyor 42 and conveyed to the relay funnel 43 by the screw conveyor 42. In the relay funnel 43, a sensor is provided to detect the amount of sulfide ore and automatically control the replenishing speed of the sulfide ore of the spiral conveyor belt 42. The relay funnel 43 temporarily stores the transferred sulfide ore and outputs it to the weighing unit μ. On the other hand, the crucible 12 is initially placed on the base conveyor belt 47 at a position indicated by a broken line, and is automatically transported to a position drawn by a solid line by the driving of the base conveyor belt 47. The weighing unit 45 starts weighing the sulfurization and puts the weighed ore after the weighing into the worm 12. The weight of the sulfide ore is set according to the amount and type of the sample, and the information is input in advance. Then, if the weighing is completed, the crucible 12 is returned to the position of the broken line by the base conveyor belt 47. The multi-axis robot arm 5' is configured to cause the j# collapse 12 between the working positions 2a, 2c, 3a, 3c, 4a of the polishing device 2, the coating device 3, and the weighing device 4, and between the cup loading position 13 and the pallet 8. Moving conveyor. The multi-axis robot arm 5 is disposed at the center of the automatic mixing device 1. Fig. 5 is an explanatory view showing a schematic configuration when the multi-axis 10 robot arm 5 is viewed from the side, and Fig. 5(a) shows a state in which the arm 51 of the multi-axis robot arm 5 is bent, and Fig. 5 (b) shows The state in which the arm 51 of the multi-axis robot arm 5 is extended. The multi-axis robot arm 5 is provided with: an arm 51; a gripper 52 provided at an end portion of the arm 51; an arm actuators 53, 54 for driving the arm 51; and a gripper for driving the gripper 52 Actuator 55 is used. The multi-axis robot arm 5 is rotatable about an axis provided in the vertical direction. The arm 51 is expanded and contracted by the arm actuators 53, 54. The gripper 52 is provided with three claws 52a, and the cups 11 and 12 can be gripped by moving the claws 52a. When the arm 51 is telescopic, the gripper actuator 55 controls the inclination angle of the gripper 52 with respect to the arm 51 in such a manner that the cup 11 or the crucible 12 gripped by the claw portion 52a is horizontal. The multi-axis robot arm 5 is electrically connected to the host computer 9, and is operated in accordance with an instruction from the host computer 9. The pallet conveyor 6 is a device for conveying the cup 11 containing the sample for analysis. The cup 11 containing the sample for analysis is placed on the input side 10 201017161 6a, and is conveyed toward the left side in the figure by the pallet wheel 6 molybdenum, and reaches the delivery side 6b. Further, on the side of the delivery side 6b of the pallet wheel 娌 坂 conveyor belt 6, there is provided a cup insertion position 13 and a temporary release position 13a. Assuming that there is a failure of the multi-axis robot arm 5 in the case of a drop-and-drop transport, if a hang-up is placed at the position of the 坩埚 temporary placement 13a, then you can privately punish & ^ immediately after the interruption of the operation. Start processing. The trolley 7 is loaded with a pallet 8 that is placed on the empty (four) 12 pallet, and is transported by the electric assist. Moreover, the pallet 8 can accommodate 3 rows and 10 columns for a total of 30 hangs. The main computer 9, the polishing device 2, the painting device 3, the weighing device 4, and the pallet transport cassette 6 are electrically controlled, and the operation of each device is monitored and controlled. Next, the configuration of each device will be described. The circular arc drawn in green by the two-dot chain line in Fig. 1 indicates the trajectory of the gripper when the arm 51 of the multi-axis robot arm 5 is maximally extended. Each of the polishing device 2, the coating device 3, and the weighing device 4 is operated at a position 2^2 (:, 3&, 3, 乜, and the delivery side of the pallet conveyor 6, the cup input position 13, and the hanging The temporary placement portion 13a is disposed in the round fox. Further, the trolley 7 is parked so that the pallet 8 is disposed in the circular arc. Thus, the multi-axis robot 5 as the transport device of the -12 is disposed. At the center, the grinding device 2' coating device 3, the weighing device 4, the pallet conveyor 6 feeding 6b, the cup lending position 13, and the carriage 7 loaded with the pallet 8 are disposed on the multi-axis robot arm 5. The movable range of the gripper 52 is thereby saved; that is, FIG. 6' shows the automatic mixing device when the multi-axis robot arm 5 moves the gripper 52 to the working position 4a of the weighing skirt 11 201017161 4 As shown in Fig. 6, the multi-axis robot arm 5 can extend the arm 51 to the working position 4a of the weighing device 4, and grasp and carry the hook 12. In the same manner, the plurality of robot arms 5 can be Extending the arm 51 to the working position 2a of the polishing apparatus 2, the working position 3a of the coating device 3, the sending side 11 of the pallet conveyor 6, and The cup is put into the position 13, and the cups u and 坩埚 are grasped and conveyed. Next, the operation steps of the automatic mixing device 1 will be described. Fig. 7 is a flow chart showing the flow of the operation steps of the automatic mixing device 1. The automatic mixing device 1 The processing 'includes: the operation of the multi-axis robot arm, the operation in the coating device 3, and the processing at the dish loading position 13. The processing of the mixing device 1.
5之動作、研磨裝置2中 稱量裝置4中之作業、杯 以下，參照圖7說明自動 步驟^，多軸機械臂5進行動作。多轴機械臂5抓 握住托板8上之料12’朝研磨…之作業位置2a搬送。 此時，多軸機械臂5係選擇空的 的坩堝12而加以搬送。各甜 禍12内是否是空的，由主+ 黾腦9所掌握，多轴機械臂5係The operation of 5, the operation of the weighing device 2 in the polishing apparatus 2, and the cup. Hereinafter, the automatic step will be described with reference to Fig. 7, and the multi-axis robot arm 5 operates. The multi-axis robot arm 5 grasps the material 12' on the pallet 8 and transports it toward the working position 2a of the polishing. At this time, the multi-axis robot arm 5 selects an empty crucible 12 and transports it. Whether each of the sweet disasters 12 is empty, mastered by the main + camphor 9 and multi-axis robotic arm 5
根據主電腦9之資訊進行動作。 步驟S2中’研磨裝置2進杆 運仃作業。將坩堝自研磨裝置 2之位置2a搬送至位置2b， 研磨裝置2係藉由馬達部2: 使研磨刷22旋轉，對在步騍 鄉S1中由多軸機械臂5搬送來 之坩堝12内進行研磨。將 之位置2b搬送至2c。 磨結束後之㈣自研磨裝置: :中彡轴機械臂5進行動作。多軸機械臂5拆 握住位於研磨裝置2之位置 上之研磨後的坩堝12,朝塗 12 201017161 佈裝置3之作業位置3a搬送。 裝置！Li4番中塗佈裝置3進行動作。將_ 12自塗佈 佛在步嫌搬送至位置3b，塗佈裝置3,將脫模劑塗 置S3巾由多轴機械臂5搬送來的_ a 磨後的…内。將塗佈結束後之…自 、 之位置3b搬送至位置3a。 握住=?，多軸機械臂5進行動作。多軸機械臂5抓 徑任堡：佈裝置3, Φ 12,朝稱量裝窨4 上之塗佈脫模劍後的掛堝 朝稱量裝置4之作業位置4a搬送。 之广I:S6中’稱量裝置4進行動作。藉由稱量裝置4内 量^ ^送帶47,將㈣12自位置4a搬送至位置仆，稱 搬送來之將所稱量之硫化礦投入在步驟S5中多軸機械臂5 藉由亦即經塗佈裝置3塗佈後…12内。 :二座輸…7’將投入結束後之㈣12自位置处搬 握住置V多軸機械臂5進行動作。多抽機械臂5抓 =稱量裝置4之位置4a之…，朝杯皿投入位置η 步驟％中，多轴機械臂5進行動作。多轴機械臂^ 握住托板輸送帶6之送出側6b上之 孤η，投入配置於杯皿投 Λ肖樣1"的杯 外杈入位置13上的坩堝12内。 握住=”/多軸機械臂5進行動作。多轴機械臂5抓 Γ2 =:Γ位置13之作業位置5a處之混合後的_ 送至托板8上且排列配置。 13 201017161 藉由上述處理A ' 步驟，自動混合裝置1，可將既定量之硫 化碌、及投入有公 刀衍用樣品之杯皿投入熔融用坩堝12中， 且自動加以混合。L »J.·· w , 上述處理均由主電腦9控制。藉由裝载 有托板8之台車7，故” __ 將以此方式加以混合之坩堝12朝消光 想·融處理步驟運送， 進订用以製作有價金屬之定量分析用 試樣的前處理。The action is performed according to the information of the host computer 9. In step S2, the grinding device 2 is put into operation. The position 2a from the polishing apparatus 2 is conveyed to the position 2b, and the polishing apparatus 2 rotates the polishing brush 22 by the motor unit 2, and performs the inside of the crucible 12 conveyed by the multi-axis robot 5 in the step S1. Grinding. Transfer position 2b to 2c. (4) Self-grinding device after the end of grinding: The middle-shaft mechanical arm 5 operates. The multi-axis robot arm 5 disassembles the polished crucible 12 located at the position of the polishing apparatus 2, and conveys it to the working position 3a of the cloth device 3 201017161. Device! The Li4 medium coating device 3 operates. The _12 self-coating Buddha is transported to the position 3b, the coating device 3, and the release agent is applied to the _a milled inside of the S3 towel conveyed by the multi-axis robot arm 5. The position 3b from the position after the completion of the coating is transferred to the position 3a. Holding the ??, the multi-axis robot arm 5 operates. The multi-axis robot arm 5 grasps the diameter of the castle: the cloth device 3, Φ 12, and the hanging shovel after the coating of the squeezing sword on the weighing device 4 is transported to the working position 4a of the weighing device 4. In the wide I: S6, the weighing device 4 operates. The (4) 12 is transported from the position 4a to the position servant by the amount of the feed belt 47 in the weighing device 4, and the transferred sulphide ore is said to be transferred to the multi-axis robot arm 5 in step S5 by The coating device 3 was coated after 12... : The two-seat...7' will be moved from the position after the completion of the (four)12, and the V multi-axis robot arm 5 will be moved. The multi-pulsing arm 5 grips the position 4a of the weighing device 4, and the multi-axis robot arm 5 operates in the step 5% of the cup-input position. The multi-axis robot arm ^ holds the solitary η on the delivery side 6b of the pallet conveyor 6 and puts it into the crucible 12 placed in the cup outer insertion position 13 of the cup casting sample 1". Hold the ""/multi-axis robot arm 5 to operate. The multi-axis robot arm 5 grabs 2 =: the mixed _ at the working position 5a of the Γ position 13 is sent to the pallet 8 and arranged in alignment. 13 201017161 by the above In the step A', the automatic mixing device 1 can be used to put a cup of sulphide and a sample into which the sample is fed into the melting crucible 12, and automatically mix it. L »J.·· w , The processing is controlled by the host computer 9. By means of the trolley 7 loaded with the pallet 8, the __ is mixed in this way, and the 坩埚12 is transported in the extinction process, and the order is made to make a quantitative metal. Pretreatment of the sample for analysis.
上所述，自動混合裝置丨，係以多軸機械臂5為中心 來配置研磨裝置2、塗佈裝置3、稱量裝置4、托板輸送專 裝載有托板8之台車7。藉此，可同時且於短時間内全 灯先前係分別獨立進行的掛瑪12之研磨作業、掛禍m 塗佈作業、向坩堝12投入硫化鐵之投入作業。As described above, the automatic mixing device 配置 is configured by arranging the polishing device 2, the coating device 3, the weighing device 4, and the pallet to transport the carriage 7 on which the pallet 8 is mounted. In this way, it is possible to simultaneously and in a short period of time, the entire illuminating operation of the hangma 12, the smashing m coating operation, and the input of the iron sulphide into the crucible 12.
藉此，可減少由人力所進行之坩堝12之移動作業，每 可減/約3小時之人力作業負擔。又，藉由使用裝載有 托板8之台車7,可減少將混合結束後之坩堝^換置於台 車7上之作業，減輕作業負擔。又，藉由採用如下方式， 可減少更換作業，減輕作業負擔：利用螺旋輸送帶42，對 先則於技入裝置中藉由更換料匣（cartridge )加以補充之硫 化鐵進行自動補給。 並且，先前之自動混合裝置要花費1〇8秒進行每個坩 堝之混合，但是自動混合裝置i，能夠以7〇秒進行每個坩 堝之混合。因此，可將混合所需之時間縮短約35%。又， 自動混合裝置1每天最多可進行24〇個坩堝之混合處理。 上述實施例僅為用以實施本發明之例，本發明並不限 定於該等實施例，對該等實施例進行各種變形之情形屬於 14 201017161, 本發明之範圍内，而且於本發明之 種實施例。 可進行其他各 自動混合裝置！可構成為：任意選擇上 各步驟並加以組合’進行符合狀況之作業 、步驟之 成為：具備有研磨裝置2、塗佈裝置3、稱量裝置4亦可構 =多轴機械臂5。又，自動混合裝置1亦可構成：至： 研磨裝置2、塗佈裝置3，經蔷、 吐“裝置中之任-者發生故障 時’多轴機械f 5省略將㈣12朝發生故障之裝置搬送 此時，於自動混合裝置！之作f步驟t，主電腦9，以忽略 (pass)發生故障之裝置之方式，來進行控制。 【圖式簡單說明】 圖1，係顯示本發明之自動混合裝置之概略構成的說明 圖。 圖2’係顯示研磨裝置之概略構成的說明圖。 圖3，係顯示塗佈裝置之概略構成的說明圖。 圖4，係顯示稱量裝置之概略構成的說明圖。 圖5’係顯示自侧面觀察多軸機械臂時之概略構成的說 明圖，圖5(a)顯示使多軸機械臂之手臂彎折之狀態，圖5 (b)顯示使多軸機械臂之手臂伸展之狀態。 圖6’係顯示多軸機械臂將抓手移動至投入裝置之作業 位置之上方時的自動混合裝置之概略的說明圖。 圖7係說明自動混合裝置之作業步驟的流程圖。 【主要元件符號說明】 1 自動混合裝置 15 201017161 2 研磨裝置 3 塗佈裝置 4 投入裝置 5 多轴機械臂 6 托板輸送帶 6a 投入側 6b 送出側 7 台車 8 托板 9 主電腦 11 杯亿 12 坩堝 13 杯皿投入位置 13a 坩堝臨時放置處 21、 31底座 22 研磨刷 23 馬達部 31a 鉸鍵部 32 貯槽 33 供給口 33a 感測器 34 泵 35 控制閥 36 塗佈刷 201017161 41 42 43 44 45 46 47 51 φ 52 53、54 55 接收侧硫化礦漏斗 螺旋輸送帶 中繼漏斗 輸出輸送帶 稱量部 測力計 底座輸送帶 手臂 抓手 手臂用致動器 抓手用致動器 17Thereby, the mobile work performed by the manpower can be reduced, and the labor load per reduction/about 3 hours can be reduced. Further, by using the carriage 7 on which the pallet 8 is mounted, it is possible to reduce the work of shifting the brakes after the completion of the mixing to the carriage 7, thereby reducing the work load. Further, by adopting the following method, it is possible to reduce the replacement work and reduce the work load: the spiral conveyor 42 is used to automatically replenish the iron sulfide which is supplemented by the cartridge in the prior art. Also, the previous automatic mixing device took 1 〇 8 seconds to perform mixing of each ,, but the automatic mixing device i was able to perform mixing of each 以 in 7 〇 seconds. Therefore, the time required for mixing can be shortened by about 35%. Further, the automatic mixing device 1 can perform a mixing process of up to 24 turns per day. The above embodiments are merely examples for implementing the present invention, and the present invention is not limited to the embodiments, and various modifications of the embodiments are within the scope of the present invention and are within the scope of the present invention. Example. Other automatic mixing devices are available! It is possible to arbitrarily select and combine the steps and perform the following operations: the polishing device 2, the coating device 3, and the weighing device 4 may be configured as a multi-axis robot 5. Further, the automatic mixing device 1 may be configured to: the polishing device 2, the coating device 3, and the "multiple-axis machine f 5 when the device fails", and the (four) 12 is transferred to the malfunctioning device. At this time, in the automatic mixing device! f step t, the host computer 9 performs control by ignoring the malfunctioning device. [Schematic Description] FIG. 1 shows the automatic mixing of the present invention. Fig. 2 is an explanatory view showing a schematic configuration of a polishing apparatus. Fig. 3 is an explanatory view showing a schematic configuration of a coating apparatus. Fig. 4 is a view showing a schematic configuration of a weighing apparatus. Fig. 5' is an explanatory view showing a schematic configuration of a multi-axis robot arm viewed from the side, FIG. 5(a) shows a state in which the arms of the multi-axis robot arm are bent, and FIG. 5(b) shows a multi-axis machine. Fig. 6' is a schematic explanatory view showing an automatic mixing device when the multi-axis robot arm moves the gripper above the working position of the input device. Fig. 7 is a view showing the operation steps of the automatic mixing device. Flow chart. Explanation of main components and symbols] 1 Automatic mixing device 15 201017161 2 Grinding device 3 Coating device 4 Input device 5 Multi-axis robot 6 Pallet conveyor 6a Input side 6b Delivery side 7 Pallet 8 Pallet 9 Main computer 11 cups 12 坩埚13 cup input position 13a 坩埚 temporary placement 21, 31 base 22 abrasive brush 23 motor portion 31a hinge portion 32 sump 33 supply port 33a sensor 34 pump 35 control valve 36 coating brush 201017161 41 42 43 44 45 46 47 51 φ 52 53, 54 55 Receiving side sulphide ore funnel screw conveyor belt relay funnel output conveyor belt weighing dynamometer base conveyor belt arm gripper arm actuator actuator gripper 17