JPS61195360A - Device for moving specimen tank for sampling by robot - Google Patents

Abstract

PURPOSE:To make possible re-sampling from the same specimen tank by arranging so that a turntable on which plural specimen tanks are placed is halted at a prescribed sampling position and, when a robot has completed sampling, the tanks are raised under vibrations to equalize the recesses in the powdery material. CONSTITUTION:A sensor 5 receives specimen tank number signals from a CPU and detects the tank number by the signal holes of an encoder pattern 4. In case of different specimen tanks, the turntable 1 is revolved and the target specimen tank 3 is moved to a sampling position and accurately stopped by a fixed position stop sensor 7 and a fixed position stop magnet 6. A general-purpose robot performs automatic sampling. After its termination, a motor 14 of the specimen tank lift device is driven and a cam 13 is turned to raise the lifting shaft 12 to elevate the tank 3 into contact with a sample arm while vibrations are given to the specimen tank by a vibrator 10 to equalize the powdery material in the tank.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is a device for automatic industrial analysis of coal using a general-purpose robot. The purpose of this system is to enable a sample tank to move and stop at a predetermined position, and to automatically level out the dents of sample powder that have occurred in the sample tank after sampling.

[Conventional technology]

Conventionally, in industrial analysis of coal, the sample powder is JI
SM8812 stipulates that it be crushed to 60 meshes or less, and it is a fine powder.

There is no particular specification regarding the sample tank, and paper bags or the like are used because they are convenient to carry, and samples are manually sampled from inside the bags with a spatula or the like.

Furthermore, conventional sample vessels for semi-automating the sampling of powder samples include those shown in FIGS. 3 and 4. At the cutting opening of this sample tank (a), two plates (b) and (c) as shown in Fig. 4 are placed one on top of the other, one of which rotates. Powder samples were cut out by placing the openings () and (e) in different positions when stopped and overlapping each other when cutting out.

Also, (f) indicates a sample container, and (g) indicates a conveyor.

[Problem that the invention seeks to solve]

In order to fully automate the conventional method of sampling samples by hand using a general-purpose robot, there are the following problems.

(1) In order to sample a powder sample with a general-purpose robot, the sample tank must be continuously transported to a fixed position so that sampling can be performed at all times.

(11) The position and time of movement and stopping of the sample tank must be done reliably and accurately.

(+++) Since the sampler is run several times from one sample tank, it is necessary to level out the dents in the powder that occur after sampling.

(1) Powder samples for industrial analysis of coal are fine powders of 60 mesh or less, so if the sample tank is cut out from the bottom of the tank, it will clog and become difficult to cut out.

[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 can handle instruments. The present invention exhibits its effectiveness even more when used in conjunction with this device, and its main point is to move the sample tank to the fixed position of the target sample tank in sampling coal powder samples. For stopping, the combination of the NO1 detection sensor and encoder pan and the combination of the fixed position stop sensor and fixed position stop magnet are used to accurately move and stop, and after sampling is completed, the powder in the sample tank is The reason is that the resulting dents are smoothed out by applying vibration to the sample tank.

That is, the gist of the present invention is to provide a turntable in which a plurality of sample vessels are arranged in a circular manner, a stop device for stopping the turntable at a predetermined sampling position, and a stop device provided at the bottom of the sample vessel at the sampling position. A vibrator for vibrating the sample tank is attached to the sample tank lifting device and the spoon sample cutting arm installed on the top of the sample tank at the sampling position.
This is a sampling sample tank moving device using a robot, characterized in that the stop device, the sample tank pushing device, and the vibrator are controlled by a central processing unit (CPU).

[Effect]

According to the present invention having the above configuration, before the robot starts sampling, the target sample tank containing the sample is moved by the rotation of the turntable on which it is placed, and the NO1 detection sensor of the stop device is moved. Since the combination of the above and the combination of a fixed position stop sensor and a fixed position stop magnet are used together, it is possible to accurately and reliably stop the sample at a predetermined sampling position.

When the robot finishes sampling, the extrusion device pushes up the sample tank for the next sampling, causing the sample tank to come into contact with the spoon sample cutting arm, and the vibrator gives vibration to the powder inside. The dents are smoothed out.

[Embodiments of the invention]

1 and 2 show an embodiment of the robot-based sampling sample tank moving device of the present invention, with FIG. 1 being a plan view and FIG. 2 being a side view. Reference numeral (1) in the figure is a turntable, on which sample vessels containing a plurality of samples are arranged in a circular manner. This turntable (1
) is adapted to rotate by a rotating shaft (2).

(8) is a guide wheel therefor, and (3) is a target sample tank. (4) is an encoder pan, which detects the target sample tank in combination with the No. detection sensor (5). In addition, this encoder pan (4) is S to prevent rust.
US is used. (6) is a fixed position stop magnet, which is combined with a fixed position stop sensor (force) to stop the turntable (1).In the present invention, these two devices are used together, and the turntable is linked by the CPU. (1) Move and stop accurately to accurately align the sample tank to the sampling position.

(9) is a spoon sample cutting arm installed above the sampling position, which is installed above the sample tank for leveling the sample of the sampling spoon that the inventors have separately developed for automatic analysis. .

In the present invention, this spoon sample cutting arm i is provided with a biplate α1, and this and a sample tank pushing device, which will be explained later, are linked by the CPU to even out the dents that have occurred in the powder in the sample tank after sampling. That's how it is.

0υ is a fixed holder for the sample tank lifting device provided at the bottom of the sampling position, (17J is its lifting shaft, α boiler is a cam, and I is a motor; these constitute the sample tank lifting device.

Next, the operation of the apparatus of the present invention having the above configuration will be explained.

First, when the general-purpose robot is about to start sampling, the signal from the CPU (sample tank NO,) is set to No.
The detection sensor (5) receives the signal and detects the sample tank NO1 through the signal hole of the encoder pan (4). In the case of a different sample tank, drive the rotation axis (2) of the turntable (1) to move the target sample tank (3) to a predetermined position, and the target sample tank (3) is connected to a fixed position stop sensor (7). The built-in fixed position stop magnet (6) ensures accurate stopping.

Automatic sampling was then carried out by a general-purpose robot.
When this is completed, the motor (14) of the sample tank lifting device is driven, the cam (13) rotates and pushes the push-up shaft 03 upward, the fixed holder αυ pushes up the sample tank, and the sample tank is attached to the spoon sample cutting arm. At this point, the vibrator α provided there is driven to vibrate the sample tank, thereby smoothing out the dents that have occurred in the internal powder.

It is important that all these operations be performed by signals from the CPU.

〔Effect of the invention〕

As explained above, according to the robotic sampling sample tank moving device of the present invention, a sample tank containing a target sample can be accurately moved to a fixed position during automatic sampling in which a spoon is handled by a general-purpose robot. Moreover, since the dents in the powder in the sample tank can be leveled with a vibrator after sampling, it is now possible to sample from the same sample tank again.

[Brief explanation of the drawing]

1 and 2 show an embodiment of the apparatus of the present invention, with FIG. 1 being a plan view and FIG. 2 being a side view. 6 to 4 show a conventional device, FIG. 3 is a side view, and FIG. 4 is an explanatory diagram of the structure of the cutting port. In the figure, (1) is a turntable, (2) is a rotating shaft, (3) is a target sample tank, (4) is an encoder pan, (5)
) is NO1 detection sensor, (6) is fixed position stop magnet, (7) is fixed position stop sensor, (8) is guide wheel, (9) is spoon sample cutting arm, ao is vibrator, 1αυ is fixed holder, (1 is the push-up shaft, 0 is the cam, (l is the motor. Agent: Patent Attorney Sanro Kimura Figure 1)

Claims (1)

[Claims] A turntable with a plurality of sample tanks arranged in a circle, a stop device that stops the turntable at a predetermined sampling position, a sample tank push-up device provided at the bottom of the sample tank at the sampling position, and a sample tank at the sampling position. A vibrator for vibrating the sample tank is installed on the spoon sample cutting arm provided at the top of the tank, and the stop device, the sample tank pushing device, and the vibrator are connected to a central processing unit (CP).
U) A sample tank moving device for sampling by a robot, characterized in that it is controlled by a robot.