CN108359767A - A kind of the stokehold automatic temperature measurement and/or sampling method of steelmaking converter molten steel - Google Patents
A kind of the stokehold automatic temperature measurement and/or sampling method of steelmaking converter molten steel Download PDFInfo
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- CN108359767A CN108359767A CN201810229602.2A CN201810229602A CN108359767A CN 108359767 A CN108359767 A CN 108359767A CN 201810229602 A CN201810229602 A CN 201810229602A CN 108359767 A CN108359767 A CN 108359767A
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
- C21C5/28—Manufacture of steel in the converter
- C21C5/42—Constructional features of converters
- C21C5/46—Details or accessories
- C21C5/4673—Measuring and sampling devices
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- Investigating And Analyzing Materials By Characteristic Methods (AREA)
Abstract
The present invention relates to a kind of stokehold automatic temperature measurement of steelmaking converter molten steel and/or sampling methods, the method carries out thermometric and/or sampling using steelmaking converter stokehold automatic temperature measurement and sampling system, and the system comprises stokehold automatic temperature measurement sampling part, casings to dismount part and system electric control part automatically；Described sleeve pipe dismounts part and is made of robot and its handgrip, casing magazine, molten steel sample and useless casing collecting bin and NI Vision Builder for Automated Inspection automatically；The NI Vision Builder for Automated Inspection measures practical temperature-measuring gun and/or sampling gun head position, by the deflection for going out temperature-measuring gun and/or sampling hammerhead with the preset coordinate comparing calculation of temperature-measuring gun and/or sampling gun, and the deflection is supplied to robot, so that robot is according to the displacement of the deformation amount controlling handgrip, each casing is accurately installed.In automatic temperature measurement, sampling, converter tipping to certain angle is subjected to thermometric sampling, completion need to be inserted perpendicularly into from fire door by avoiding traditional automatic temperature measurement.
Description
Technical field
The present invention relates to a kind of stokehold automatic temperature measurement of steelmaking converter molten steel and/or sampling methods, and in particular to steel-making turns
The independent automatic temperature measurement or sampling of stove stokehold automatic temperature measurement and/or sampling system to molten steel in steelmaking converter, or simultaneously thermometric with take
Sample.The system is related to robot and machine vision applications in thermometric, drive pipe automatic armoring structure design and exploitation.Institute
It states that method is alternative to be accomplished manually thermometric, sampling work, belongs to intelligent, automation equipment is designed and developed and its in smelting system
The field of application.
Background technology
The automatic temperature measurement sampling of large-tonnage converter molten steel has the equipment of import at present, their working method is from Converter
Vertical inject carries out thermometric sampling at the top of mouthful in converter.Import equipment investment is big, and needs to carry out converter extensive
Transformation, can just install and use plug-type automatic equipment at the top of this kind.Steel-making LF refining furnace has automatic temperature measurement to sample at present
Automatic equipment, this working method is identical as the working method of large-tonnage converter import automatic temperature measurement sampling equipment, is all from essence
Furnace mouth is inserted perpendicularly into the mode that work is completed in stove.
There are following several respects in thermometric sampling process in automatic temperature measurement sampling system：It is attached to when by temperature-measuring casing
When temperature-measuring gun, to being inserted into dimension precision requirement height, the too deep thermocouple that can destroy bushing head is too shallow, will not hit on contact,
Temperature signal cannot be passed to emitter, and the prior art is difficult to realize the high-precision insertion size Control；Temperature-measuring casing,
The endoporus of thermometric protection sleeve pipe and drive pipe differs smaller with the outer diameter of temperature-measuring gun and sampling gun, and casing is directed at installation with rifle
Precise requirements it is high；Temperature-measuring gun, the flexible deformation in sampling gun head, under certain deflection, casing is difficult to standard with pipette tips
Really installation；There are a certain range of variations for the outer diameter of temperature-measuring casing, thermometric protection sleeve pipe and drive pipe, can not reliably capture.
The converter of current medium and small tonnage is artificial progress thermometric sampling, and this working method is first by converter tipping to one
Temperature-measuring gun, sampling gun are manually inserted into stove and complete thermometric, sampling work by fixed angle, the oblique stokehold of fire door.Meanwhile by people
Work completes temperature-measuring gun, sampling gun dismounting, the work of thermometric, drive pipe.
However, converter carries out thermometric sampling under rollover conditions, then temperature-measuring gun and/or sampling gun presence are longer（5.5 meters with
On）Cantilever, under so long cantilever, there are pipe with small pipe diameter（φ16）Pipe amount of deflection is big, flexible problem.Scene temperature is high
（The temperature of converter is up to 1700 DEG C or more）, intensity can decline steel at high temperature, to cause temperature-measuring gun and/or sampling gun rigid
Property reduce the problem of.
Labor intensity is big, there is the risk factor easily scalded etc..Due to artificial operation, thermometric samples in stove
Point is every time different, and unstable result fluctuation is larger.
Invention content
The purpose of the present invention is designing a kind of the stokehold automatic temperature measurement and/or sampling method of steelmaking converter molten steel, for replacing
Work is assembled and disassembled for traditional artificial thermometric, sampling and casing.The method uses steelmaking converter stokehold automatic temperature measurement and sample train
System carries out independent thermometric or sampling, or is carried out at the same time thermometric and sampling.
The system comprises three parts subsystems, cooperate, and can be achieved at the same time automatic temperature measurement, sampling and casing
Automatic assembly and disassembly three zones；In automatic temperature measurement sampling process, by NI Vision Builder for Automated Inspection accurate judgement pipette tips position, with essence
Standard captures casing and is inserted into corresponding pipette tips.
Technical scheme is as follows：
Steelmaking converter stokehold automatic temperature measurement and sampling system include stokehold automatic temperature measurement sampling part, casing dismount automatically partly and
System electric control part.
The stokehold automatic temperature measurement sampling part is by longitudinal-moving device, turnover device, overturning safety device, rotating device, cross
Moving device and walking dolly composition；The walking dolly drives the entire system that stokehold fire-screen door is followed to move；It is described traversing
Device drives temperature-measuring gun and/or sampling gun transverse moving left and right to each working position；The rotating device realizes temperature-measuring gun and/or sampling
Rifle switches 90 ° of angle operating position；The overturning safety device is filled to being up to the security protection of the vertical shift mechanism more than 6 meters
It sets；The turnover device is turned to and tumbles from vertical down position rear converter fire door for realizing temperature-measuring gun and/or sampling gun
The automatic switchover of opposite operating position；The longitudinal-moving device is for driving temperature-measuring gun and/or sampling gun to pass in and out converter, realization pair
The thermometric of molten steel samples；
Described sleeve pipe dismounts part by robot and its handgrip, casing magazine, molten steel sample and useless casing collecting bin and machine automatically
Device vision system forms；The robot and its handgrip dismount on demand for realizing casing, can accurately install each casing, tear open
Except to corresponding position, the handgrip is additionally operable to overcome the fluctuation of various sleeve outer sizes；Described sleeve pipe magazine is robot
Various casings are provided；The molten steel sample and useless casing collecting bin are for collected molten steel sample collection, used various
Casing is collected to place and be used with subsequent classification；The NI Vision Builder for Automated Inspection measures practical temperature-measuring gun and/or sampling hammerhead position
It sets, by going out the deflection of temperature-measuring gun and/or sampling hammerhead with the preset coordinate comparing calculation of temperature-measuring gun and/or sampling gun, and
The deflection is supplied to robot, so that robot is according to the displacement of the deformation amount controlling handgrip, accurate installation is each
Casing.
The system electric control part includes for carrying out the electrical hardware of thermometric sampling and control journey automatically by technological requirement
Sequence.
Connection relation between each component of the system is as follows：Traverse displacement unit, robot and its handgrip, casing magazine,
Molten steel sample and useless casing collecting bin and NI Vision Builder for Automated Inspection are connected directly with walking dolly respectively, are moved with walking dolly or so
It is dynamic.Rotating device is connected with traverse displacement unit, with traverse displacement unit transverse moving left and right.Turnover device is connected with rotating device, with rotating dress
90 degree are set to rotate back and forth.Overturning safety device is connected with turnover device, is the safety device of longitudinal-moving device.Longitudinal-moving device with
Turnover device is connected, and is overturn back and forth within a certain angle with turnover device.Temperature-measuring gun, sampling gun are connected with longitudinal-moving device, thermometric
Rifle, sampling gun can longitudinally move back and forth with longitudinal-moving device separately or together, realize the thermometric of molten steel in converter, sampling.
Further, the NI Vision Builder for Automated Inspection includes memory subsystem and computing subsystem.The memory subsystem is pre-
Preset coordinate collection is first preserved, the default mark collection that does includes multiple preset coordinate points, and the memory subsystem is also further used
In the head position for the practical temperature-measuring gun and/or sampling gun that storage is measured；The computing subsystem is according to what is detected
Head position compares multiple preset coordinate points that the preset coordinate is concentrated, and chooses immediate with the head position
Point on the basis of preset coordinate point, calculates the deflection of the temperature-measuring gun and/or sampling hammerhead according to the datum mark, and by institute
It states deflection and is transmitted to robot.
The stokehold automatic temperature measurement and/or sampling method of steelmaking converter molten steel include the following steps：
S1. the order of thermometric and/or sampling is assigned in stokehold;
S2. converter tipping opens certain size to technological angle, stokehold fire-screen door, and simultaneity factor walking dolly is moved to converter
Near central axes;
S3. traverse displacement unit drives temperature-measuring gun and/or sampling gun to thermometric, sampling direction working position;
S4. rotating device drives temperature-measuring gun and/or sampling gun to be rotated by 90 ° against converter mouth;
S5. overturning safety device extracts safety pin out;
S6. turnover device drives temperature-measuring gun and/or sampling gun to be turned to thermometric sampler space angle operating position;
S7. longitudinal-moving device stretches into the molten steel of converter with temperature-measuring gun and/or sampling gun and successfully measures liquid steel temperature or/and acquirement
Molten steel sample;
S8. automatic temperature measurement and/or sampling part make the converse course of work, until temperature-measuring gun and/or sampling gun return to casing
Dismount position;
S9. drive pipe is extracted by robot, and sample therein is knocked in sample collection storehouse, then the casing is put into useless casing
Corresponding position in collecting bin;
S10. the corresponding position that temperature-measuring casing is extracted and is put into useless casing collecting bin by robot;
S11. in NI Vision Builder for Automated Inspection working position, practical temperature-measuring gun and/or sampling gun head position are measured, by with temperature-measuring gun
And/or the preset coordinate comparing calculation of sampling gun goes out the deflection of temperature-measuring gun and/or sampling hammerhead, and the deflection is provided
To robot;
S12. traverse displacement unit takes temperature-measuring gun and/or sampling gun to casing and dismounts position;
S13. robot is installed on corresponding barral of a gun from capturing relevant casing in casing magazine;
S14. one action flow terminates, wait in the position next time flow start.
Compared with prior art, the present invention has following several respects advantageous effect：
1. method can be achieved at the same time automatic temperature measurement, sampling and casing assemble and disassemble three zones；
2. when automatic temperature measurement, converter tipping to certain angle is carried out thermometric sampling, avoiding traditional automatic temperature measurement need to be from fire door
It is inserted perpendicularly into completion, simplifies the structure of automatic temperature measurement sampling system, automatic temperature measurement is reduced and samples difficulty；
3. being provided with robot, handgrip and NI Vision Builder for Automated Inspection, NI Vision Builder for Automated Inspection can carry out precise positioning to pipette tips, so as to
Casing is accurately positioned in robot, captures and installs；
4. intelligent, automation equipment come into operation, instead of manually carrying out thermometric sampling work before Converter, eliminate artificial
The interference of factor improves reliability, the stability of work；
5. for molten steel sample, automatically detection provides condition, reduces the injury to people in artificial factor and production process
Factor.
Description of the drawings
Attached drawing 1 is steelmaking converter and steelmaking converter stokehold automatic temperature measurement and sampling system overall structure stereogram；
Attached drawing 2 is steelmaking converter and steelmaking converter stokehold automatic temperature measurement and the integrally-built front view of sampling system；
Attached drawing 3 is the right view of steelmaking converter and steelmaking converter stokehold automatic temperature measurement and sampling system structure；
Attached drawing 4 is the left view of steelmaking converter and steelmaking converter stokehold automatic temperature measurement and sampling system structure；
Attached drawing 5 is steelmaking converter stokehold automatic temperature measurement and the three-dimensional structure diagram of sampling system；
Attached drawing 6 is steelmaking converter stokehold automatic temperature measurement and the vertical view of sampling system；
Attached drawing 7 is steelmaking converter stokehold automatic temperature measurement and the side view of sampling system.
Specific implementation mode
A kind of the stokehold automatic temperature measurement and/or sampling method of steelmaking converter molten steel, the method use a kind of steelmaking converter
Stokehold automatic temperature measurement carries out independent thermometric or sampling with sampling system, or is carried out at the same time thermometric and sampling.
As shown in figs. 1-7, steelmaking converter stokehold automatic temperature measurement includes with sampling system：Stokehold automatic temperature measurement sampling portion
Divide, casing dismounts part and system electric control part automatically.
The stokehold automatic temperature measurement sampling part is by longitudinal-moving device 3, turnover device 4, overturning safety device 5, rotating device
6, traverse displacement unit 7 and walking dolly 8 form；The walking dolly 8 drives the entire system that stokehold fire-screen door 2 is followed to move；
The traverse displacement unit 7 drives temperature-measuring gun 13-1 and/or sampling gun 13-2 transverse moving left and rights to each working position；The rotating device 6
Realize that temperature-measuring gun 13-1 and/or sampling gun 13-2 switches 90 ° of angle operating position；The overturning safety device 5 is to height
Up to the safety device of the vertical shift mechanism more than 6 meters；The turnover device 4 is for realizing temperature-measuring gun 13-1 and/or sampling gun 13-
2 are turned to the automatic switchover of the operating position opposite with rear converter fire door of tumbling from vertical down position；The longitudinal-moving device 3 is used
Converter is passed in and out in driving temperature-measuring gun 13-1 and/or sampling gun 13-2, realizes the thermometric sampling of molten steel；
Described sleeve pipe dismounts part by robot 9 and its handgrip, casing magazine 10, molten steel sample and useless casing collecting bin automatically
11, NI Vision Builder for Automated Inspection 12 forms；The robot 9 and its handgrip dismount on demand for realizing casing, can be accurately by each set
Pipe installation removes and arrives corresponding position, and the handgrip is additionally operable to overcome the fluctuation of various sleeve outer sizes；Described sleeve pipe magazine
10 provide various casings for robot 9；The molten steel sample and useless casing collecting bin 11 for collected molten steel sample collection,
Used various casings are collected to place and be used with subsequent classification；
The NI Vision Builder for Automated Inspection 12 measures practical temperature-measuring gun 13-1 and/or sampling gun 13-2 head positions, by with thermometric
The preset coordinate comparing calculation of rifle and/or sampling gun 13-2 go out the deflection of temperature-measuring gun and/or sampling gun 13-2, and will be described
Deflection is supplied to robot 9, so that robot 9 is according to the displacement of shown deformation amount controlling handgrip, accurately installs each casing.
The system electric control part includes for carrying out the electrical hardware of thermometric sampling and control journey automatically by technological requirement
Sequence.
Connection relation between the component of the system is as follows：Traverse displacement unit 7, robot and its handgrip 9, casing magazine
10, molten steel sample and useless casing collecting bin 11 and NI Vision Builder for Automated Inspection 12 are connected directly with walking dolly 8 respectively, with walking dolly
It moves left and right.Rotating device 6 is connected with traverse displacement unit 7, with traverse displacement unit transverse moving left and right.Turnover device 4 and 6 phase of rotating device
Even, it is rotated back and forth for 90 degree with rotating device.Overturning safety device 5 is connected with turnover device 4, is the security protection dress of longitudinal-moving device
It sets.Longitudinal-moving device 3 is connected with turnover device 4, is overturn back and forth within a certain angle with turnover device.Temperature-measuring gun 13-1, sampling gun
13-2 is connected with longitudinal-moving device, and temperature-measuring gun, sampling gun can longitudinally move back and forth with longitudinal-moving device separately or together, realizes and turns
The thermometric of molten steel, sampling in stove.
Further, the NI Vision Builder for Automated Inspection includes memory subsystem and computing subsystem.The memory subsystem is pre-
Preset coordinate collection is first preserved, the default mark collection that does includes multiple preset coordinate points, and the memory subsystem is also further used
In the head position for the practical temperature-measuring gun 13-1 and/or sampling gun 13-2 that storage is measured；The computing subsystem is according to detection
The head position arrived compares multiple preset coordinate points that the preset coordinate is concentrated, and chooses and the head position
Point on the basis of immediate preset coordinate point, the deformation of the temperature-measuring gun and/or sampling hammerhead is calculated according to the datum mark
Amount, and the deflection is transmitted to robot.
The stokehold automatic temperature measurement of the steelmaking converter molten steel and/or the operation principle of sampling method are as follows:
The stokehold automatic temperature measurement and/or sampling method of 1 molten steel of steelmaking converter include the following steps：
S1. the order of thermometric and/or sampling is assigned in stokehold;
S2. converter 1 is tumbled to technological angle, and stokehold fire-screen door 2 opens certain size, and simultaneity factor walking dolly 8 is moved to
Near converter central axes;
S3. traverse displacement unit 7 drives temperature-measuring gun 13-1 and/or sampling gun 13-2 to thermometric, sampling direction working position;
S4. rotating device 6 drives temperature-measuring gun 13-1 and/or sampling gun 13-2 to be rotated by 90 ° against 1 mouthful of converter;
S5. overturning safety device 5 extracts safety pin out;
S6. turnover device 4 drives temperature-measuring gun 13-1 and/or sampling gun 13-2 to be turned to thermometric sampler space angle operating position;
S7. longitudinal-moving device 3 stretches into the molten steel of converter 1 with temperature-measuring gun 13-1 and/or sampling gun 13-2 and successfully measures molten steel temperature
Degree or/and acquirement molten steel sample;
S8. automatic temperature measurement and/or sampling part make the converse course of work, until temperature-measuring gun 13-1 and/or sampling gun 13-2
Return to casing dismounting position;
S9. drive pipe is extracted by robot 9, and sample therein is knocked in sample collection storehouse 11, then the casing is put into useless
Corresponding position in casing collecting bin 11;
S10. the corresponding position that temperature-measuring casing is extracted and is put into useless casing collecting bin 11 by robot 9;
S11. in 12 working position of NI Vision Builder for Automated Inspection, practical temperature-measuring gun 13-1 and/or sampling gun 13-2 head positions is measured, is passed through
Go out temperature-measuring gun 13-1 and/or sampling gun 13-2 with the preset coordinate comparing calculation of temperature-measuring gun 13-1 and/or sampling gun 13-2
Deflection, and the deflection is supplied to robot 9;
S12. traverse displacement unit 7 takes temperature-measuring gun 13-1 and/or sampling gun 13-2 to casing and dismounts position;
S13. robot 9 is installed on corresponding barral of a gun from capturing relevant casing in casing magazine 10;
S14. one action flow terminates, wait in the position next time flow start.
Claims (2)
1. a kind of steelmaking converter（1）The stokehold automatic temperature measurement and/or sampling method of molten steel, the method use steelmaking converter stokehold
Automatic temperature measurement carries out automatic temperature measurement and/or sampling with sampling system；Steelmaking converter stokehold automatic temperature measurement includes with sample train:
Stokehold automatic temperature measurement sampling part, casing dismount part and system electric control part automatically；It is characterized in that：
The stokehold automatic temperature measurement sampling part is by longitudinal-moving device（3）, turnover device（4）, overturning safety device（5）, rotating dress
It sets（6）, traverse displacement unit（7）And walking dolly（8）Composition；The walking dolly drives the entire system to follow stokehold fire-screen door
（2）It is mobile；The traverse displacement unit drives temperature-measuring gun（13-1）And/or sampling gun（13-2）Transverse moving left and right is to each working position；Institute
It states rotating device and realizes temperature-measuring gun（13-1）And/or sampling gun（13-2）Switch 90 ° of angle operating positions；The overturning peace
Full device（5）It is the safety device to being up to the vertical shift mechanism more than six meters；The turnover device（4）For realizing temperature-measuring gun
（13-1）And/or sampling gun（13-2）Be turned to from vertical down position and tumble the perpendicular operating position of rear converter fire door
Automatically switch；The longitudinal-moving device（3）For driving temperature-measuring gun（13-1）And/or sampling gun（13-2）Pass in and out steelmaking converter（1）,
Realize the thermometric sampling of molten steel；
Described sleeve pipe dismounts part by robot and its handgrip automatically（9）, casing magazine（10）, molten steel sample and useless casing collect
Storehouse（11）, NI Vision Builder for Automated Inspection（12）Composition；The robot and its handgrip（9）It is dismounted on demand for realizing casing, it can be accurate
Corresponding position really is arrived into the installation of each casing, dismounting, the handgrip is additionally operable to overcome the fluctuation of various sleeve outer sizes；It is described
Casing magazine（10）Various casings are provided for robot；The molten steel sample and useless casing collecting bin（11）For collected steel
Water sample is collected, used various casings are collected to place and be used with subsequent classification；The NI Vision Builder for Automated Inspection（12）It measures
Go out practical temperature-measuring gun（13-1）And/or sampling gun（13-2）Head position, the head position and temperature-measuring gun that will be measured
（13-1）And/or sampling gun（13-2）Preset coordinate comparison, calculate temperature-measuring gun（13-1）And/or sampling gun（13-2）Head
Deflection, and the deflection is supplied to robot, it is accurate so that robot is according to the displacement of shown deformation amount controlling handgrip
Each casing is really installed；
The system electric control part includes for carrying out the electrical hardware of thermometric sampling and control program automatically by technological requirement；
Traverse displacement unit（7）, robot and its handgrip（9）, casing magazine（10）, molten steel sample and useless casing collecting bin（11）And machine
Device vision system（12）Respectively with walking dolly（8）It is connected directly, is moved left and right with walking dolly；Rotating device（6）With it is traversing
Device（7）It is connected, with traverse displacement unit transverse moving left and right；Turnover device（4）With rotating device（6）It is connected, comes for 90 degree with rotating device
Convolution turns；Overturn safety device（5）With turnover device（4）It is connected；Longitudinal-moving device（3）With turnover device（4）It is connected, is filled with overturning
It sets and overturns back and forth within a certain angle；Temperature-measuring gun（13-1）, sampling gun（13-2）It is connected with longitudinal-moving device, temperature-measuring gun, sampling gun
It can longitudinally move back and forth with longitudinal-moving device separately or together, realize the thermometric of molten steel in converter, sampling；
It the described method comprises the following steps：
S1. the order of thermometric and/or sampling is assigned in stokehold;
S2. steelmaking converter（1）It tumbles to technological angle, stokehold fire-screen door（2）Open certain size, simultaneity factor walking dolly
（8）It is moved near converter central axes;
S3. traverse displacement unit（7）Drive temperature-measuring gun（13-1）And/or sampling gun（13-2）To thermometric and/or sampling direction working position;
S4. rotating device（6）Drive temperature-measuring gun（13-1）And/or sampling gun（13-2）It is rotated by 90 ° against converter（1）Mouthful;
S5. safety device is overturn（5）Extract safety pin out;
S6. turnover device（4）Drive temperature-measuring gun（13-1）And/or sampling gun（13-2）It is turned to the work of thermometric sampler space angle
Position;
S7. longitudinal-moving device（3）With temperature-measuring gun（13-1）And/or sampling gun（13-2）Stretch into converter（1）Molten steel in successfully survey
Go out liquid steel temperature or/and obtains molten steel sample;
S8. automatic temperature measurement and/or sampling part make the converse course of work, until temperature-measuring gun（13-1）And/or sampling gun
（13-2）Return to casing dismounting position;
S9. robot（9）Drive pipe is extracted, sample therein is knocked into sample collection storehouse（11）In, then the casing put
To useless casing collecting bin（11）In corresponding position;
S10. temperature-measuring casing is extracted and is put into useless casing collecting bin by robot（11）In corresponding position;
S11. NI Vision Builder for Automated Inspection detects temperature-measuring gun（13-1）With/sampling gun（13-2）Place working position, to measure practical thermometric
Rifle（13-1）And/or sampling gun（13-2）Head position, the head position and temperature-measuring gun that will be detected（13-1）With/sampling
Rifle（13-2）Preset coordinate comparison, calculate temperature-measuring gun（13-1）With/sampling gun（13-2）The deflection of head, and by the change
Shape amount is supplied to robot;
S12. traverse displacement unit is by temperature-measuring gun（13-1）And/or sampling gun（13-2）Take casing dismounting position to;
S13. robot（9）From casing magazine（10）The middle relevant casing of crawl is installed on corresponding barral of a gun;
S14. one action flow terminates, wait in the position next time flow start.
2. a kind of steelmaking converter according to claim 1（1）The stokehold automatic temperature measurement and/or sampling method of molten steel, it is special
Sign is：The NI Vision Builder for Automated Inspection includes memory subsystem and computing subsystem；The memory subsystem has pre-saved pre-
If coordinate set, the default mark collection that does includes multiple preset coordinate points, and the memory subsystem is further used for storage and measures
The practical temperature-measuring gun gone out（13-1）And/or sampling gun（13-2）Head position；The computing subsystem is according to the institute detected
Head position is stated, multiple preset coordinate points that the preset coordinate is concentrated are compared, is chosen closest with the head position
Preset coordinate point on the basis of point, calculate the deflection of the temperature-measuring gun and/or sampling hammerhead according to the datum mark, and will
The deflection is transmitted to robot.
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| CN201810229602.2A CN108359767B (en) | 2018-03-20 | 2018-03-20 | A kind of the stokehold automatic temperature measurement and sampling method of steelmaking converter molten steel |
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| CN201810229602.2A CN108359767B (en) | 2018-03-20 | 2018-03-20 | A kind of the stokehold automatic temperature measurement and sampling method of steelmaking converter molten steel |
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| CN111855025A (en) * | 2020-07-24 | 2020-10-30 | 机械科学研究总院海西（福建）分院有限公司 | Automatic temperature measurement sampling equipment for steelmaking and temperature measurement sampling method thereof |
| CN111855301A (en) * | 2019-04-28 | 2020-10-30 | 上海科林国冶工程技术有限公司 | Automatic extraction device for molten metal sample and use method thereof |
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| CN111855301A (en) * | 2019-04-28 | 2020-10-30 | 上海科林国冶工程技术有限公司 | Automatic extraction device for molten metal sample and use method thereof |
| CN110146335B (en) * | 2019-06-10 | 2021-09-14 | 中冶赛迪工程技术股份有限公司 | Automatic temperature measurement sampling method for steelmaking converter door |
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| CN110607414B (en) * | 2019-08-14 | 2024-04-09 | 河钢股份有限公司承德分公司 | Turnover semisteel ladle temperature measurement sampling device |
| CN110426102A (en) * | 2019-08-30 | 2019-11-08 | 江苏金恒信息科技股份有限公司 | A kind of ladle detection system |
| CN110657895A (en) * | 2019-09-02 | 2020-01-07 | 张家港宏昌钢板有限公司 | Automatic temperature measurement and sampling device of refining robot and use method |
| CN111006790A (en) * | 2019-11-05 | 2020-04-14 | 中冶赛迪工程技术股份有限公司 | Robot electric furnace temperature measurement sampling operation method and system |
| CN110907221A (en) * | 2019-12-31 | 2020-03-24 | 哈工大机器人智能制造有限公司 | Mobile robot system for automatic temperature measurement and sampling of stokehold molten iron |
| CN111855025A (en) * | 2020-07-24 | 2020-10-30 | 机械科学研究总院海西（福建）分院有限公司 | Automatic temperature measurement sampling equipment for steelmaking and temperature measurement sampling method thereof |
| CN113777337A (en) * | 2021-09-13 | 2021-12-10 | 中冶赛迪技术研究中心有限公司 | Molten metal unmanned inspection system and method |
| CN114544251A (en) * | 2022-03-23 | 2022-05-27 | 武汉科技大学 | Molten iron sampling device and method based on visual positioning |
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