阅读说明：本技术 一种机器人测温取样探头自动供料装置 (Robot temperature measurement sampling probe automatic feed device ) 是由 赵腾 王广收 贾涛 于 2021-06-11 设计创作，主要内容包括：本发明提供一种机器人测温取样探头自动供料装置,包括机器人、壳体、枪前杆、分离机构和电控系统；所述的壳体内设有测温供料仓和取样供料仓,所述的测温供料仓位于取样供料仓上方,且与取样供料仓平行设置；所述的测温供料仓和取样供料仓的上端均设有定位槽,所述的测温供料仓和取样供料仓的下端均连接有分离机构；所述的测温供料仓内布有多个测温头,所述的取样供料仓内布有多个取样头。本发明中测温供料仓和取样供料仓采用水平式布料,上料方便同时分离可靠；缓冲机构保证插入纸管探头的顺畅性,定位槽解决了测温取样机器人在自动接插纸管探头作业时的可靠性问题。(The invention provides an automatic feeding device for a robot temperature measuring sampling probe, which comprises a robot, a shell, a gun front rod, a separating mechanism and an electric control system, wherein the shell is provided with a plurality of cavities; the temperature measuring feeding bin and the sampling feeding bin are arranged in the shell, and the temperature measuring feeding bin is positioned above the sampling feeding bin and is arranged in parallel with the sampling feeding bin; the upper ends of the temperature measuring feeding bin and the sampling feeding bin are provided with positioning grooves, and the lower ends of the temperature measuring feeding bin and the sampling feeding bin are connected with separating mechanisms; the temperature measurement feed storehouse in cloth have a plurality of temperature probes, sample feed storehouse in cloth have a plurality of sampling heads. According to the invention, the temperature measurement feeding bin and the sampling feeding bin adopt horizontal distribution, so that the feeding is convenient and the separation is reliable; the buffer mechanism ensures the smoothness of the inserted paper tube probe, and the positioning groove solves the problem of reliability of the temperature measurement sampling robot in the automatic insertion operation of the paper tube probe.)

1. The utility model provides a temperature measurement sampling probe automatic feed device of robot which characterized in that: comprises a robot, a shell (1), a gun front rod (2), a separating mechanism (4) and an electric control system; a temperature measuring feeding bin (101) and a sampling feeding bin (102) are arranged in the shell (1), and the temperature measuring feeding bin (101) is positioned above the sampling feeding bin (102) and is parallel to the sampling feeding bin (102); the upper ends of the temperature measuring feeding bin (101) and the sampling feeding bin (102) are respectively provided with a positioning groove (9), and the lower ends of the temperature measuring feeding bin (101) and the sampling feeding bin (102) are respectively connected with a separating mechanism (4); a plurality of temperature measuring heads (3) are distributed in the temperature measuring feeding bin (101), and a plurality of sampling heads (7) are distributed in the sampling feeding bin (102); the gun front rod (2) is connected with the tail end of a mechanical arm of the robot; the gun front rod (2) is moved by a mechanical arm to measure the temperature in the temperature measuring feeding bin (101) and sample in the sampling feeding bin (102); the robot and the separating mechanism (4) are respectively connected with an electric control system through electric signals.

2. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 1, wherein: the separating mechanism (4) comprises an air cylinder (401), a connecting rod (402) and a swing rod (403), the air cylinder (401) is arranged in the shell (1), a piston rod of the air cylinder (401) is connected with one end of the connecting rod (402), and the other end of the connecting rod (402) is connected with the swing rod (403); the air cylinder (401) is in electric signal connection with an electric control system.

3. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 2, characterized in that: the swing rod (403) is V-shaped.

4. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 2, characterized in that: the air cylinder (401) is connected to the shell (1) in an ear seat mode, and the air cylinder (401) drives the connecting rod (402) to drive the swing rod (403) to rotate.

5. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 1, wherein: and a baffle (6) is arranged at the positioning groove (9).

6. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 1, wherein: the shell (1) is provided with a buffer mechanism (5), and the buffer mechanism (5) is arranged on the wall of the shell (1) on one side of the positioning groove (9).

7. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 6, wherein: the buffer mechanism (5) comprises a flange pipe (501), a flange shaft (502), a guide rod (503), a spring sleeve (504) and a pressure sensor (505), one end of the flange pipe (501) is welded with the outer wall of the shell (1), the other end of the flange pipe is connected with the flange shaft (502), and the spring sleeve (504) is arranged in the flange pipe (501) and slides along the guide rod (503); a spring is arranged in the spring sleeve (504), and the pressure sensor (505) is positioned in the shell (1) and arranged at the end part of the spring sleeve (504).

8. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 1, wherein: the temperature measurement feeding bin (101) is a horizontal temperature measurement feeding bin (101), and the sampling feeding bin (102) is a horizontal sampling feeding bin (102).

9. The automatic feeding device for the sampling probe capable of realizing temperature measurement according to claim 1, wherein: and a pressing cylinder (8) is arranged at the upper end of the positioning groove (9).

Technical Field

The invention belongs to the field of steel smelting, and particularly relates to an automatic feeding device for a robot temperature measurement sampling probe.

Background

The steel smelting process section has the requirements on temperature measurement and sampling of molten steel, most of the prior art still adopts manual temperature measurement and sampling, and the measurement accuracy is not high, the labor intensity is high, and the working condition is severe. In some occasions, the measurement is carried out mechanically (chain driving trolley and manual loading and unloading probe), and the full-automatic operation is not realized. At present, the robot temperature measurement sampling device is also applied, but because the diameters of the two ends of the sampling head are different, a vertical cloth arrangement mode is adopted, and the production continuity is blocked due to the frequent blocking phenomenon during separation.

Disclosure of Invention

In order to overcome the problems of low measurement accuracy, high labor intensity and severe working conditions in the prior art, the invention provides the automatic feeding device of the robot temperature measurement sampling probe, and the temperature measurement feeding bin and the sampling feeding bin adopt horizontal material distribution, so that the feeding is convenient and the separation is reliable; the arrangement of the positioning groove ensures the reliability.

The technical scheme adopted by the invention is as follows:

an automatic feeding device of a robot temperature measuring sampling probe comprises a robot, a shell, a gun front rod, a separating mechanism and an electric control system; the temperature measuring feeding bin and the sampling feeding bin are arranged in the shell, and the temperature measuring feeding bin is positioned above the sampling feeding bin and is arranged in parallel with the sampling feeding bin; the upper ends of the temperature measuring feeding bin and the sampling feeding bin are provided with positioning grooves, and the lower ends of the temperature measuring feeding bin and the sampling feeding bin are connected with separating mechanisms; a plurality of temperature measuring heads are distributed in the temperature measuring feed bin, and a plurality of sampling heads are distributed in the sampling feed bin; the gun front rod is connected with the tail end of a mechanical arm of the robot; the gun front rod is moved by a mechanical arm to measure the temperature in the temperature measuring feeding bin and sample in the sampling feeding bin; the robot and the separating mechanism are respectively connected with an electric signal of the electric control system.

The separating mechanism comprises an air cylinder, a connecting rod and a swing rod, the air cylinder is arranged in the shell, a piston rod of the air cylinder is connected with one end of the connecting rod, and the other end of the connecting rod is connected with the swing rod; the air cylinder is connected with an electric signal of the electric control system.

The swing rod is V-shaped.

The cylinder is connected to the shell in an ear seat mode, and the cylinder drives the connecting rod to drive the swing rod to rotate.

And a baffle is arranged at the positioning groove.

The shell is provided with a buffer mechanism, and the buffer mechanism is arranged on the wall of the shell at one side of the positioning groove.

The buffer mechanism comprises a flange pipe, a flange shaft, a guide rod, a spring sleeve and a pressure sensor, wherein one end of the flange pipe is welded with the outer wall of the shell, the other end of the flange pipe is connected with the flange shaft, and the spring sleeve is sleeved in the flange pipe and slides along the guide rod; the spring sleeve is internally provided with a spring, and the pressure sensor is positioned in the shell and arranged at the end part of the spring sleeve.

The temperature measurement feed bin is a horizontal temperature measurement feed bin, and the sampling feed bin is a horizontal sampling feed bin.

And a pressing cylinder is arranged at the upper end of the positioning groove.

The invention has the beneficial effects that:

the invention controls the mechanical arm of the robot to be stunned to a required position through the electric control system, and the positioning is accurate. Meanwhile, the mechanical arm is connected with the gun front rod, so that temperature measurement and sampling can be completed simultaneously. The buffer mechanism of the invention ensures that the probe cannot be damaged.

The following will be further described with reference to the accompanying drawings.

Drawings

Fig. 1 is a schematic front view of the present invention.

Fig. 2 is an enlarged view of the cushion mechanism at Y in fig. 1.

Fig. 3 is a right side sectional view of fig. 1.

Fig. 4 is a partially enlarged view of U in fig. 3.

In the figures, the reference numbers are: 1. a housing; 2. a gun front rod; 3. a temperature measuring head; 4. a separating mechanism; 401. a cylinder; 402. a connecting rod; 403. a swing rod; 5. a buffer mechanism; 501. a flange pipe; 502. a flange shaft; 503. a guide bar; 504. a spring housing; 505. a pressure sensor; 6. a baffle plate; 7. a sampling head; 8. a pressing cylinder; 9. and (6) positioning a groove.

Detailed Description

Example 1:

in order to overcome the problems of low measurement accuracy, high labor intensity and severe working conditions in the prior art, the invention provides the automatic feeding device of the robot temperature measurement sampling probe, which is shown in the figures 1-4, wherein the temperature measurement feeding bin and the sampling feeding bin adopt horizontal distribution, and the feeding is convenient and reliable in separation; the arrangement of the positioning groove ensures the reliability.

An automatic feeding device of a robot temperature measuring sampling probe comprises a robot, a shell 1, a gun front rod 2, a separating mechanism 4 and an electric control system; a temperature measuring feeding bin 101 and a sampling feeding bin 102 are arranged in the shell 1, and the temperature measuring feeding bin 101 is positioned above the sampling feeding bin 102 and is arranged in parallel with the sampling feeding bin 102; the upper ends of the temperature measuring feeding bin 101 and the sampling feeding bin 102 are respectively provided with a positioning groove 9, and the lower ends of the temperature measuring feeding bin 101 and the sampling feeding bin 102 are respectively connected with a separating mechanism 4; a plurality of temperature measuring heads 3 are distributed in the temperature measuring feeding bin 101, and a plurality of sampling heads 7 are distributed in the sampling feeding bin 102; the gun front rod 2 is connected with the tail end of a mechanical arm of the robot; the gun front rod 2 measures the temperature in the temperature measuring feeding bin 101 through the movement of a mechanical arm and samples in the sampling feeding bin 102; the robot and the separating mechanism 4 are respectively connected with an electric signal of an electric control system.

In the invention, the robot is controlled by the electric control system to carry out temperature measurement and sampling, the electric control system is the prior art, and further description is not provided in the invention.

According to the invention, the electric control system controls the mechanical arm of the robot to move, and the gun front rod 2 connected to the mechanical arm is positioned by the electric control system, so that the positioning accuracy is effectively ensured.

Example 2:

based on embodiment 1, in this embodiment, preferably, the separation mechanism 4 includes a cylinder 401, a connecting rod 402 and a swing rod 403, the cylinder 401 is disposed in the housing 1, a piston rod of the cylinder 401 is connected to one end of the connecting rod 402, and the other end of the connecting rod 402 is connected to the swing rod 403; the cylinder 401 is in electrical signal connection with an electronic control system.

Preferably, the swing link 403 is V-shaped.

As shown in FIG. 1, the swing rod 403 of the present invention comprises two swing arms, the two swing arms are connected into a V shape, the lower swing arm is connected with the connecting rod 402, and the upper swing arm can stir the probe; the two swing arms swing along the pivot. When the swing link 403 swings, the link 402 is acted on by the air cylinder 401 to rotate the swing link 403 counterclockwise, and simultaneously swing the two swing arms upward. The included angle between the two swing arms is determined in advance according to requirements and is processed into an integral type.

Preferably, the cylinder 401 is connected to the housing 1 in the form of a lug, and the cylinder 401 drives the connecting rod 402 to drive the swing arm at the upper end of the swing rod 403 to rotate.

Preferably, the location groove 9 is provided with a baffle 6.

As shown in FIG. 3, the baffle 6 is used to block the temperature probe 3 and the sampling head 7, as shown in FIG. 4. The temperature measurement feeding bin 101 and the sampling feeding bin 102 are inclined, the outer wall of the shell 1 is also provided with an automatic probe removing device, and the automatic probe removing device is used for discharging materials after sampling and temperature measurement are completed. The automatic probe removing device at least comprises an air cylinder and a clamping mechanism, wherein the air cylinder drives the clamping mechanism, so that clamping and releasing actions of the claw piece are realized, and discharging is finished. The automatic probe removing device and the clamping mechanism are both in the prior art, and further description is not provided in the invention.

Preferably, the housing 1 is provided with a buffer mechanism 5, and the buffer mechanism 5 is arranged on the wall of the housing 1 on one side of the positioning groove 9.

Preferably, the buffer mechanism 5 comprises a flange pipe 501, a flange shaft 502, a guide rod 503, a spring sleeve 504 and a pressure sensor 505, one end of the flange pipe 501 is welded with the outer wall of the housing 1, the other end of the flange pipe 501 is connected with the flange shaft 502, and the spring sleeve 504 is arranged in the flange pipe 501 and slides along the guide rod 503; a spring is arranged in the spring housing 504, and the pressure sensor 505 is positioned in the housing 1 and arranged at the end of the spring housing 504.

Preferably, the temperature measuring feeding bin 101 is a horizontal temperature measuring feeding bin 101, and the sampling feeding bin 102 is a horizontal sampling feeding bin 102.

Preferably, the upper end of the positioning groove 9 is provided with a pressing cylinder 8.

In the invention, the temperature measuring feeding bin 101 and the sampling feeding bin 102 adopt horizontal material distribution, so that the feeding is convenient and the separation is reliable; the buffer mechanism 5 ensures the smoothness of the inserted paper tube probe, and the positioning groove 9 solves the problem of reliability of the temperature measurement sampling robot in the automatic insertion operation of the paper tube probe.

The working engineering of the invention is as follows:

including two processes of temperature measurement and sample, when needs carry out temperature measurement or sample, connect rifle front mast 2 on the robotic arm of robot, carry out temperature measurement or sample operation, the process of temperature probe 3 is during the temperature measurement: the cylinder 401 drive of temperature measurement feed bin 101 department corresponds connecting rod 402, then drives pendulum rod 403 rotatory, and during the cylinder 401 drive, pendulum rod 403 anticlockwise rotation, a temperature probe 3 was chosen to the tip baffle 6 that is higher than feed tank 9 by a swing arm of pendulum rod 403 this moment to roll to the constant head tank 9 along pendulum rod 403 top swash plate in, compress tightly cylinder 8 this moment and stretch out locking. The mechanical arm of the robot drives the gun front rod 2 to be inserted into the temperature measuring head 3, the pressing cylinder 8 is retracted, and the temperature measuring head 3 moves forward to contact the pressure sensor 505 in the buffer mechanism 5 (preset pressure is transmitted to the PLC to control the stroke of the mechanical arm of the robot, so that the probe is protected from being crushed). The buffer mechanism 5 buffers the temperature measuring head 3, and the probe cannot be damaged. The sampling head 7 and the temperature measuring head 3 both belong to probes. The process of the sampling head 7 during sampling is the same as that of the temperature measuring head 3 during temperature measurement.

In the present invention, as shown in fig. 2, the working process of the buffer mechanism 5 is as follows: the temperature measuring head 3 advances to contact the pressure sensor 505 in the buffer mechanism 5 to drive the spring sleeve 504 to slide along the guide rod 503.

The above examples are merely illustrative of the present invention and should not be construed as limiting the scope of the present invention, and all designs identical or similar to the present invention are within the scope of the present invention. The apparatus structure and the method steps thereof, which are not described in detail in the present invention, are prior art and will not be further described in the present invention.