阅读说明：本技术 一种炼钢自动测温取样设备及其测温取样方法 (Automatic temperature measurement sampling equipment for steelmaking and temperature measurement sampling method thereof ) 是由 鄢世平 李政彬 姜超 薛松海 程伟晶 于 2020-07-24 设计创作，主要内容包括：本发明公开了炼钢技术领域一种炼钢自动测温取样设备及其测温取样方法,行走车在重轨上直线移动并固定,机器人抓手安装在机器人臂端,气锤装置安装在收集仓顶部,横移车在行走车顶部直线移动并固定,旋转装置安装在横移车顶部,旋转装置旋转轴线垂直于行走车顶部,翻转板一端和第二伸缩装置一端均铰接在旋转装置上,第二伸缩装置另一端和翻转板铰接,测温取样枪连接板在翻转板上直线移动并固定,测温取样枪安装在测温取样枪连接板上,本发明通过解决了测温取样枪变形、易损,测温取样套管安装成功率低、视觉无法准确判定测温取样枪变形量等问题,实现了自动化测温取样,并且测温取样成功率高。(The invention discloses an automatic temperature measuring and sampling device for steelmaking and a temperature measuring and sampling method thereof, belonging to the technical field of steelmaking, wherein a travelling vehicle moves and is fixed on a heavy rail in a straight line, a robot gripper is arranged at the arm end of a robot, an air hammer device is arranged at the top of a collecting bin, the travelling vehicle moves and is fixed at the top of the travelling vehicle in a straight line, a rotating device is arranged at the top of the travelling vehicle, the rotating axis of the rotating device is vertical to the top of the travelling vehicle, one end of a turnover plate and one end of a second telescopic device are both hinged on the rotating device, the other end of the second telescopic device is hinged with the turnover plate, a temperature measuring and sampling gun connecting plate moves and is fixed on the turnover plate in a straight line, and a temperature measuring and sampling gun is arranged on the temperature measuring and sampling gun connecting plate. And the success rate of temperature measurement and sampling is high.)

1. The utility model provides an automatic temperature measurement sampling equipment of steelmaking, includes walking car (1) and installs sideslip car (3) at its top, collects storehouse (11), robot (13) and temperature measurement sample sleeve pipe magazine (15), still including rotary device (4), second telescoping device (5), returning face plate (6), temperature measurement sample rifle connecting plate (7), temperature measurement sample protective case (8), temperature measurement sample rifle (9), air hammer device (10) and robot tongs (12), its characterized in that: the device is characterized in that the walking vehicle (1) moves and is fixed on a heavy rail (17), the robot gripper (12) is arranged at the arm end of a robot (13), the air hammer device (10) is arranged at the top of a collection bin (11), the cross-moving vehicle (3) moves and is fixed at the top of the walking vehicle (1), the rotating device (4) is arranged at the top of the cross-moving vehicle (3), the rotation axis of the rotating device (4) is vertical to the top of the walking vehicle (1), one end of the turnover plate (6) and one end of the second telescopic device (5) are both hinged on the rotating device (4), the other end of the second telescopic device (5) is hinged with the turnover plate (6), the turnover axis of the turnover plate (6) is vertical to the rotation axis of the connecting plate (4), the temperature measurement sampling gun connecting plate (7) moves and is fixed on the turnover plate (6), and the temperature measurement sampling gun (9) is arranged on the temperature measurement sampling gun (7), the outer wall of the temperature measurement sampling gun (9) is provided with a temperature measurement sampling protective sleeve (8).

2. The automatic temperature measuring and sampling equipment for steelmaking according to claim 1, wherein: the bottom of the walking vehicle (1) is provided with wheels (101) matched with the heavy rails (17), and the wheels (101) are driven by a speed reducer (14).

3. The automatic temperature measuring and sampling equipment for steelmaking according to claim 1, wherein: robot tongs (12) are including installing mounting panel (121) at robot (13) arm end, install first bidirectional telescoping cylinder (122) and second bidirectional telescoping cylinder (124) on mounting panel (121), two opposite outputs of first bidirectional telescoping cylinder (122) are provided with semicircle cone-shaped funnel (123) of symmetry, two opposite outputs of second bidirectional telescoping cylinder (124) are provided with V type cleft hand (125) of symmetry, and are two sets of the centre of symmetry and two sets of semicircle cone-shaped funnel (123) the centre of symmetry of V type cleft hand (125) aligns.

4. The automatic temperature measuring and sampling equipment for steelmaking according to claim 1, wherein: the transverse moving vehicle (3) moves linearly on the traveling vehicle (1) through a first sliding rail sliding block (31), a first power machine (32) is installed on the transverse moving vehicle (3), a first guide wheel (34) is installed at the output end of the first power machine (32), a first guide strip (33) is fixedly connected to the traveling vehicle (1), and the first guide wheel (34) rotates to be matched with a gear rack of the first guide strip (33) to drive the transverse moving vehicle (3) to move linearly.

5. The automatic temperature measuring and sampling equipment for steelmaking according to claim 1, wherein: a first telescopic device (2) is installed at the top of the walking vehicle (1), and a V-shaped clamping block (21) is installed at the output end of the first telescopic device (2).

6. The automatic temperature measuring and sampling equipment for steelmaking according to claim 1, wherein: the temperature measurement sampling gun connecting plate (7) is installed on an inclined moving vehicle (71), the inclined moving vehicle (71) moves on the turnover plate (6) through a second sliding rail slider (72) in a linear mode, a second guide strip (75) is installed on the turnover plate (6), a second power machine (73) is installed on the inclined moving vehicle (71), a second guide wheel (74) is installed at the output end of the second power machine (73), and the second guide wheel (74) rotates and is matched with a gear rack of the second guide strip (75) to drive the inclined moving vehicle (71) to move on the turnover plate (6) in a linear mode.

7. The automatic temperature measuring and sampling equipment for steelmaking according to claim 1, wherein: the temperature measurement sampling gun (9) comprises a temperature measurement gun and a sampling gun, and the temperature measurement sampling protective sleeve (8) comprises a temperature measurement gun protective sleeve and a sampling gun protective sleeve which are respectively in one-to-one correspondence with the temperature measurement gun and the sampling gun.

8. The steelmaking thermometric sampling method of any one of claims 1 to 7, wherein: the method comprises the following steps:

1) when the equipment receives a temperature measurement sampling starting signal, a robot gripper (12) at the arm end of the robot (13) is used for gripping the temperature measurement sampling sleeve and installing the temperature measurement sampling sleeve on the temperature measurement sampling gun (9);

2) a temperature measuring sampling gun (9) with a temperature measuring sampling sleeve is inserted into the furnace;

3) when the equipment receives a temperature measurement sampling end signal, the temperature measurement sampling gun (9) with the temperature measurement sampling sleeve is drawn out of the furnace;

4) a robot gripper (12) at the arm end of the robot (13) is matched with the V-shaped clamping block (21) to reset the axis of the temperature measuring and sampling sleeve;

5) after resetting, the temperature measuring sampling sleeve is taken out from the outer wall of the temperature measuring sampling gun (9);

6) grabbing the temperature measurement sampling sleeve to be placed in a collection bin (11), knocking a sample head of the sampling sleeve by using an air hammer device (10), and enabling the sample head to fall into a drawer of the collection bin (11);

7) the sample head is manually checked;

8) placing the temperature measuring sampling sleeve into a waste bin of a collecting bin (11);

9) carrying out slag stripping on attached slag on the temperature measurement sampling protective sleeve (8) by using two groups of symmetrical semi-conical funnels (123) in a robot gripper (12) at the arm end of a robot (13);

10) and the robot (13) is reset, and one working process is finished.

Technical Field

The invention relates to the technical field of steelmaking, in particular to steelmaking automatic temperature measurement sampling equipment and a temperature measurement sampling method thereof.

Background

At present, most of the temperature measurement and sampling of converter molten steel are performed manually in China, the operation environment in front of the converter is severe, high temperature, high dust and high risk coefficient are high, the labor intensity of manual temperature measurement and sampling is high, and occupational diseases are easy to obtain. A few enterprises adopt manual assembly and disassembly of temperature measurement sampling sleeves, robots measure temperature and sample, or robots cooperate with a vision system to assemble and disassemble the sleeves so as to achieve temperature measurement and sampling.

Adopt such steelmaking automatic temperature measurement sampling equipment and temperature measurement sampling method thereof, though can realize the temperature measurement sample, such temperature measurement sampling method belongs to semi-intellectuality, temperature measurement sampling gun thermal radiation exists the deformation and temperature measurement sampling gun attaches the serious condition of sediment after the temperature measurement sample, lead to the deflection of temperature measurement sampling gun to surpass the scope of visual system and robot tongs, the stability and the temperature measurement sample success rate of equipment are on the low side in the temperature measurement sample process, the loss of temperature measurement sampling gun is big, thereby cause the temperature measurement sampling gun that often will change, therefore, the production cost is increased, the temperature measurement sampling efficiency is not high, the result of use is unsatisfactory.

Based on the above, the invention designs an automatic temperature measurement sampling device for steelmaking and a temperature measurement sampling method thereof, so as to solve the problems.

Disclosure of Invention

The invention aims to provide automatic temperature measurement sampling equipment for steelmaking and a temperature measurement sampling method thereof, which are used for solving the problems of low success rate of temperature measurement sampling and large loss of a temperature measurement sampling gun in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: an automatic temperature measurement sampling device for steelmaking comprises a travelling vehicle, a cross sliding vehicle, a collection bin, a robot, a temperature measurement sampling sleeve magazine, a rotating device, a second telescopic device, a turnover plate, a temperature measurement sampling gun connecting plate, a temperature measurement sampling protective sleeve, a temperature measurement sampling gun, an air hammer device and a robot gripper, wherein the travelling vehicle is arranged at the top of the travelling vehicle, the travelling vehicle linearly moves and is fixed on a heavy rail, the robot gripper is arranged at the arm end of the robot, the air hammer device is arranged at the top of the collection bin, the cross sliding vehicle linearly moves and is fixed at the top of the travelling vehicle, the rotating device is arranged at the top of the cross sliding vehicle, the rotating axis of the rotating device is vertical to the top of the travelling vehicle, one end of the turnover plate and one end of the second telescopic device are both hinged on the rotating device, the other end of the second telescopic device is hinged to the turnover plate, the turnover axis of the turnover plate is vertical, the temperature measurement sampling gun connecting plate is linearly moved and fixed on the turnover plate, the temperature measurement sampling gun is installed on the temperature measurement sampling gun connecting plate, and the outer wall of the temperature measurement sampling gun is provided with a corresponding temperature measurement sampling protective sleeve.

Preferably, the bottom of the walking vehicle is provided with wheels matched with the heavy rails, and the wheels are driven by a speed reducer.

Preferably, the robot tongs include the mounting panel of installing at the robot arm end, install first bidirectional telescoping cylinder and second bidirectional telescoping cylinder on the mounting panel, two opposite output ends of first bidirectional telescoping cylinder are provided with the semicircle cone-shaped funnel of symmetry, two opposite output ends of second bidirectional telescoping cylinder are provided with the V type tong of symmetry, and are two sets of the symmetry center of semicircle cone-shaped funnel and two sets of the symmetry center of V type tong aligns.

Preferably, the cross sliding vehicle moves linearly on the traveling vehicle through the first sliding rail sliding block, a first power machine is mounted on the cross sliding vehicle, a first guide wheel is mounted at the output end of the first power machine, a first guide bar is fixedly connected to the traveling vehicle, and the first guide wheel rotates to be matched with the first guide bar gear rack to drive the cross sliding vehicle to move linearly.

Preferably, a first telescopic device is installed at the top of the walking vehicle, and a V-shaped clamping block is installed at the output end of the first telescopic device.

Preferably, the temperature measuring and sampling gun connecting plate is installed on an inclined moving vehicle, the inclined moving vehicle moves linearly on the turnover plate through a second slide rail slide block, a second guide strip is installed on the turnover plate, a second power machine is installed on the inclined moving vehicle, a second guide wheel is installed at the output end of the second power machine, and the second guide wheel rotates to be matched with a second guide strip gear rack to drive the inclined moving vehicle to move linearly on the turnover plate.

Preferably, the temperature measurement sampling gun comprises a temperature measurement gun and a sampling gun, and the temperature measurement sampling protective sleeve comprises a temperature measurement gun protective sleeve and a sampling gun protective sleeve which respectively correspond to the temperature measurement gun and the sampling gun one by one.

A steelmaking temperature measurement sampling method comprises the following steps:

when the equipment receives a temperature measurement sampling starting signal, a robot gripper at the arm end of the robot is used for gripping the temperature measurement sampling sleeve and is arranged on a temperature measurement sampling gun;

a temperature measuring sampling gun with a temperature measuring sampling sleeve is inserted into the furnace;

when the equipment receives a temperature measurement sampling end signal, the temperature measurement sampling gun with the temperature measurement sampling sleeve is drawn out of the furnace;

a robot gripper at the arm end of the robot is matched with the V-shaped clamping block to reset the axis of the temperature measuring and sampling sleeve;

taking out the temperature measuring sampling sleeve from the outer wall of the temperature measuring sampling gun after resetting;

grabbing a temperature measurement sampling sleeve and placing the temperature measurement sampling sleeve into a collection bin, knocking a sample head of the sampling sleeve by using an air hammer device, and enabling the sample head to fall into a drawer of the collection bin;

the sample head is manually checked;

placing a temperature measurement sampling sleeve into a waste bin of a collection bin;

carrying out slag stripping on attached slag on the temperature measurement sampling protective sleeve by using two groups of symmetrical semi-conical funnels in a robot gripper at the arm end of the robot;

and the robot is reset, and one working process is finished.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the apparatus of the present invention extending into the furnace;

FIG. 3 is a schematic structural view of a first telescopic device and a V-shaped clamping block according to the present invention;

FIG. 4 is a schematic structural view of the walking vehicle of the present invention;

FIG. 5 is a schematic view of a robot gripper according to the present invention;

FIG. 6 is a schematic view of the structure of the collecting bin and air hammer device of the present invention;

FIG. 7 is a schematic view showing a moving structure of the traverse carriage of the present invention;

FIG. 8 is a schematic diagram of the movement structure of the temperature measurement sampling gun according to the present invention.

1. A walking vehicle; 101. a wheel; 2. a first telescoping device; 21. a V-shaped clamping block; 3. a transverse moving vehicle; 31. a first slide rail slider; 32. a first power machine; 33. a first conducting bar; 34. a first guide wheel; 4. a rotating device; 5. a second telescoping device; 6. a turnover plate; 7. a temperature measuring and sampling gun connecting plate; 71. obliquely moving the vehicle; 72. a second slide rail slider; 73. a second power machine; 74. a second guide wheel; 75. a second conducting bar; 8. a temperature measurement sampling protection sleeve; 9. a temperature measuring sampling gun; 10. an air hammer device; 11. a collection bin; 12. a robot gripper; 121. mounting a plate; 122. a first bidirectional telescopic cylinder; 123. a semi-conical funnel; 124. a second bidirectional telescopic cylinder; 125. a V-shaped claw; 13. a robot; 14. a speed reducer; 15. a temperature measurement sampling sleeve magazine; 16. a furnace door; 17. and (4) heavy rail.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the 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.

One embodiment of the invention:

the robot 13 can be a six-axis robot of the Angton ER50 model;

the first telescopic device 2 can adopt an electric push rod with adjustable stroke (50 mm stroke, 150N thrust, 24V voltage and 60mm/s speed);

the second telescopic device 5 can adopt an electric cylinder with the model EAC 7010-900-B10-HR-FP-PS;

the first bidirectional telescopic cylinder 122 may be of the type of alder HFT32x80 s;

the second bidirectional telescopic cylinder 124 can adopt a Fishes HGPT-50 parallel gas claw;

the pneumatic hammer device 10 can adopt a pneumatic knocking hammer with model number AH-40 LP;

the speed reducer 14 can adopt a three-in-one speed reducer with the model QS 20-160;

the rotating device 4 can adopt a worm gear reducer of model SE 17-102-25R;

the first power machine 34 and the second power machine 73 can adopt motors with models of ECMA-L11875S3 and ECMA-J11330S4 respectively;

the unused temperature measuring sampling sleeve is horizontally placed in the temperature measuring sampling sleeve magazine 15;

the temperature measurement sampling gun 9 comprises a temperature measurement gun and a sampling gun, the temperature measurement sampling protection sleeve 8 comprises a temperature measurement gun protection sleeve and a sampling gun protection sleeve, the temperature measurement gun protection sleeve is sleeved on the outer wall of the temperature measurement gun, and the sampling gun protection sleeve is sleeved on the outer wall of the sampling gun;

when the equipment receives a temperature measurement sampling starting signal, the robot 13 is started, a temperature measurement sampling sleeve in the temperature measurement sampling sleeve magazine 15 is grabbed through the robot gripper 12, the temperature measurement sampling sleeve is automatically installed on the temperature measurement sampling gun 9 through the robot 12, after the installation is finished, the walking vehicle 1 drives the wheels 101 to rotate and walk forwards through the speed reducer 14 on the heavy rails 17, meanwhile, the cross-sliding vehicle 3 also walks forwards, the walking vehicle 3 walks to the center of the front of the furnace, and the cross-sliding vehicle 3 walks to the front end of the walking vehicle 1 and stops walking.

When receiving signals of opening a furnace door 16 and turning over a converter to be in place, a rotating device 4 rotates 90 degrees electrically through an internal servo motor, a turning plate 6 is shortened through a second telescopic device 5 to drive the turning plate to turn over to be in place, a temperature measurement sampling gun connecting plate 7 moves forwards under the drive of a second power machine 73 to extend into the converter, when receiving a temperature measurement signal of a temperature measurement gun, the temperature measurement sampling gun connecting plate 7 is recovered, the turning plate 6 turns to the original position, then the rotating device 4 rotates to the original position, a travelling vehicle 1 and a cross travelling vehicle 3 are started to move backwards simultaneously, the travelling vehicle 1 moves backwards to the middle position, the cross travelling vehicle 3 also moves backwards to the middle position and a first telescopic device 2 extends, when moving backwards to the original position, a robot 13 starts to firstly grab a temperature measurement sampling sleeve to be placed into a collecting bin 11, then grab the temperature measurement sampling sleeve to be placed into an air hammer device 10, the air hammer device 10 starts to knock a sample head, the sample head can be manually inspected, and then the robot 13 puts the temperature measurement sampling sleeve into the collection bin 11.

After the sleeve pipe for temperature measurement sampling is disassembled, the first expansion device 2 is recovered, the robot 13 carries out slag stripping on attached slag on the temperature measurement sampling protective sleeve pipe 8 through a guide horn mouth formed by the two groups of semicircular funnels 123, the transverse moving vehicle 3 and the walking vehicle 1 return to the right position after slag stripping, once temperature measurement sampling is finished, and when a temperature measurement sampling signal is received again, the temperature measurement sampling action of the equipment sequentially acts as above.

The two symmetrical sets of semicircular funnels 123 are opened and closed by the first bidirectional telescopic cylinder 122 through air release, and the two symmetrical sets of V-shaped claws 125 are opened and closed by the second bidirectional telescopic cylinder 124 through air release.

When the temperature measurement sampling sleeve is installed, the head of the robot 13 moves to the end part of the temperature measurement sampling sleeve 2, two output ends of the first bidirectional telescopic cylinder 122 extend or shorten simultaneously to drive two sets of symmetrical semicircular funnels 123 to be far away or close to each other, the two sets of symmetrical semicircular funnels 123 are close to each other to form a guide horn mouth to realize clamping the temperature measurement sampling sleeve, two output ends of the second bidirectional telescopic cylinder 124 extend or shorten simultaneously to drive two sets of symmetrical V-shaped claws 125 to be far away or close to each other, the two sets of symmetrical V-shaped claws 125 are close to each other to realize clamping the temperature measurement sampling sleeve, and the central shaft of the guide horn mouth is aligned with the symmetrical axes of the two sets of.

The first power machine 32 drives the first guide wheel 34 to rotate, the first guide wheel 34 is in clearance fit with the first guide strip 33, the first guide wheel 34 is a gear, and the first guide strip 33 is a rack, so that the cross sliding vehicle 3 is driven to linearly move on the top of the traveling vehicle 1 under the cooperation of the first slide rail sliding block 31;

the second power machine 73 drives the second guide wheel 74 to rotate, the second guide wheel 74 is in clearance fit with the second guide strip 75, the second guide wheel 74 is a gear, the second guide strip 75 is a rack, and therefore the oblique moving vehicle 71 is driven to linearly move on the side wall of the turnover plate 6 under the cooperation of the second slide rail sliding block 72, and the temperature measuring and sampling gun 9 is driven to extend into or separate from the furnace;

when the temperature measuring sampling gun 9 and the temperature measuring sampling sleeve on the outer wall are separated from the furnace, the first telescopic device 2 extends to drive the V-shaped clamping block 21 to abut against the outer wall of the temperature measuring sampling sleeve, the V-shaped claw 125 is provided with a limiting block, and the V-shaped clamping block 21 and the limiting block are matched to realize the axis resetting of the temperature measuring sampling sleeve 2;

the second telescoping device 5 extends and drives the turnover plate 6 to rotate to a vertical state, and the second telescoping device 5 shortens and drives the turnover plate 6 to rotate to an inclined state.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.