CN108359767B - A kind of the stokehold automatic temperature measurement and sampling method of steelmaking converter molten steel - Google Patents
A kind of the stokehold automatic temperature measurement and sampling method of steelmaking converter molten steel Download PDFInfo
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- CN108359767B CN108359767B CN201810229602.2A CN201810229602A CN108359767B CN 108359767 B CN108359767 B CN 108359767B CN 201810229602 A CN201810229602 A CN 201810229602A CN 108359767 B CN108359767 B CN 108359767B
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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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Abstract
The present invention relates to a kind of stokehold automatic temperature measurement of steelmaking converter molten steel and sampling methods, the method carries out thermometric and 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 automatically 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；The NI Vision Builder for Automated Inspection measures practical temperature-measuring gun and sampling gun head position, by the deflection for going out temperature-measuring gun and sampling hammerhead with the preset coordinate comparing calculation of temperature-measuring gun and 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 sampling methods, and in particular to steelmaking converter furnace
The independent automatic temperature measurement or sampling of preceding automatic temperature measurement and/or sampling system to molten steel in steelmaking converter, or thermometric and sampling simultaneously.
The system is related to robot and machine vision applications in thermometric, drive pipe automatic armoring structure design and exploitation.It is described
Method is alternative to be accomplished manually thermometric, sampling work, belongs to intelligent, automation equipment and designs and develops and its answer in smelting system
Field.
Background technique
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, it is all from essence that this working method is identical as the working method of large-tonnage converter import automatic temperature measurement sampling equipment
Furnace mouth is inserted perpendicularly into the mode that work is completed in furnace.
There are following several respects: being attached to when by temperature-measuring casing in automatic temperature measurement sampling system in thermometric sampling process
High to insertion dimension precision requirement when temperature-measuring gun, the too deep thermocouple that can destroy bushing head shallowly then will not hit on contact very much,
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 inner hole 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 and pipette tips are difficult to standard
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 grab.
The converter of current medium and small tonnage is artificial progress thermometric sampling, and this working method is first by converter tipping to one
Fixed angle, the oblique stokehold of fire door manually will complete thermometric, sampling work in temperature-measuring gun, sampling gun insertion furnace.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 there are longer (5.5 meters or more) in temperature-measuring gun and sampling gun
Cantilever, under so long cantilever, big, flexible problem that there are the pipe amounts of deflection of small diameter tube (φ 16).Scene temperature height (converter
Temperature up to 1700 DEG C or more), intensity can decline steel at high temperature, so that temperature-measuring gun and sampling gun be caused rigidly to reduce
Problem.
Labor intensity of workers is big, there is the risk factor vulnerable to scald etc..Due to artificial operation, thermometric is sampled in furnace
Point is every time different, and unstable result fluctuation is larger.
Summary of the invention
The purpose of the present invention is designing the stokehold automatic temperature measurement and sampling method of a kind of steelmaking converter molten steel, passed for substituting
Artificial thermometric, sampling and the casing of system assemble and disassemble work.The method using steelmaking converter stokehold automatic temperature measurement and sampling system into
The independent thermometric of row or sampling, or thermometric and sampling are carried out simultaneously.
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 grabs 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 dismounting portion automatically
Divide 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 to follow stokehold fire-screen door mobile；It is described traversing
Device drives temperature-measuring gun and sampling gun transverse moving left and right to each working position；The rotating device realizes that temperature-measuring gun and sampling gun exist
90 ° of angle operating position switching；The overturning safety device is the safety device to the vertical shift mechanism up to more than 6 meters；
The turnover device is turned to for realizing temperature-measuring gun and sampling gun from vertical down position opposite with rear converter fire door of tumbling
The automatic switchover of operating position；The longitudinal-moving device realizes the survey to molten steel for driving temperature-measuring gun and sampling gun to pass in and out converter
Temperature sampling；
Described sleeve pipe dismounts part by robot and its handgrip, casing magazine, molten steel sample and useless casing collecting bin automatically
It is formed with NI Vision Builder for Automated Inspection；The robot and its handgrip dismount as needed for realizing casing, can accurately pacify each casing
Dress is removed and arrives corresponding position, and the handgrip is also used to overcome the fluctuation of various sleeve outer sizes；Described sleeve pipe magazine is machine
Device people provides various casings；The molten steel sample and useless casing collecting bin are 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 measures practical temperature-measuring gun and sampling hammerhead position
It sets, by going out the deflection of temperature-measuring gun and sampling hammerhead with the preset coordinate comparing calculation of temperature-measuring gun and sampling gun, and will be described
Deflection is supplied to robot, so that robot is according to the displacement of the deformation amount controlling handgrip, accurately installs each casing.
The system electric control part includes the electrical hardware and control journey for carrying out thermometric sampling automatically by technique requirement
Sequence.
Connection relationship 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 overturns 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 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 of practical temperature-measuring gun and sampling gun that storage is measured；The computing subsystem is according to the head detected
Position compares multiple preset coordinate points that the preset coordinate is concentrated, and chooses immediate default with the head position
Point on the basis of coordinate points, calculates the deflection of the temperature-measuring gun and sampling hammerhead according to the datum mark, and by the deformation
Amount is transmitted to robot.
The stokehold automatic temperature measurement and sampling method of steelmaking converter molten steel the following steps are included:
S1. the order of thermometric and 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
Near converter central axes；
S3. traverse displacement unit drives temperature-measuring gun and sampling gun to thermometric, sampling direction working position；
S4. rotating device drives temperature-measuring gun and 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 sampling gun to be turned to thermometric sampler space angle operating position；
S7. longitudinal-moving device protrudes into the molten steel of converter with temperature-measuring gun and sampling gun successfully measures liquid steel temperature and acquirement steel
Water sample；
S8. automatic temperature measurement and sampling part make the converse course of work, until temperature-measuring gun and sampling gun return to casing and tear open
Fill position；
S9. drive pipe is extracted by robot, and sample therein is knocked in sample collection storehouse, then the casing is put into useless
Corresponding position in casing 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 sampling gun head position are measured, by with temperature-measuring gun
Go out the deflection of temperature-measuring gun and sampling hammerhead with the preset coordinate comparing calculation of sampling gun, and the deflection is supplied to machine
People；
S12. traverse displacement unit takes temperature-measuring gun and sampling gun to casing dismounting position；
S13. robot is installed on corresponding barral of a gun from grabbing relevant casing in casing magazine；
S14. one action process terminates, wait in the position next time process start.
Compared with prior art, the present invention have following several respects the utility model has the advantages that
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 subjected to thermometric sampling, avoiding traditional automatic temperature measurement need to be from
Fire door is inserted perpendicularly into completion, simplifies the structure of automatic temperature measurement sampling system, reduces automatic temperature measurement 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 that casing is accurately positioned in robot, grabs and install；
4. intelligent, automation equipment come into operation, instead of manually carrying out thermometric sampling work before Converter, eliminate
The interference of human factor improves reliability, the stability of work；
5. automatically being detected for molten steel sample and providing condition, reduce in artificial factor and production process to people's
Damage factors.
Detailed description of the invention
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 main 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 the three-dimensional structure diagram of steelmaking converter stokehold automatic temperature measurement and sampling system；
Attached drawing 6 is the top view of steelmaking converter stokehold automatic temperature measurement and sampling system；
Attached drawing 7 is the side view of steelmaking converter stokehold automatic temperature measurement and sampling system.
Specific embodiment
A kind of the stokehold automatic temperature measurement and sampling method of steelmaking converter molten steel, the method use a kind of steelmaking converter stokehold
Automatic temperature measurement and sampling system carry out independent thermometric or sampling, or carry out thermometric and sampling simultaneously.
As shown in figs. 1-7, steelmaking converter stokehold automatic temperature measurement and sampling system include: 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 to follow stokehold fire-screen door 2 mobile；
The traverse displacement unit 7 drives temperature-measuring gun 13-1 and sampling gun 13-2 transverse moving left and right to each working position；The rotating device 6 is realized
Temperature-measuring gun 13-1 and sampling gun 13-2 switches 90 ° of angle operating position；The overturning safety device 5 is to up to more than 6 meters
Vertical shift mechanism safety device；The turnover device 4 for realizing temperature-measuring gun 13-1 and sampling gun 13-2 from vertically to
Lower position is turned to the automatic switchover of the operating position opposite with rear converter fire door of tumbling；The longitudinal-moving device 3 is surveyed for driving
Warm rifle 13-1 and sampling gun 13-2 passes in and out converter, realizes the thermometric sampling of molten steel；
Described sleeve pipe dismounts part automatically and is collected by robot 9 and its handgrip, casing magazine 10, molten steel sample and useless casing
Storehouse 11, NI Vision Builder for Automated Inspection 12 form；The robot 9 and its handgrip dismount as needed for realizing casing, can accurately will be each
Casing installation removes and arrives corresponding position, and the handgrip is also used to overcome the fluctuation of various sleeve outer sizes；Described sleeve pipe bullet
Storehouse 10 is that robot 9 provides various casings；The molten steel sample and useless casing collecting bin 11 are received 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 sampling gun 13-2 head position, by with thermometric
The preset coordinate comparing calculation of rifle and sampling gun 13-2 go out the deflection of temperature-measuring gun and sampling gun 13-2, and by the deflection
It is supplied to robot 9, so that robot 9 is according to the displacement of shown deformation amount controlling handgrip, each casing is accurately installed.
The system electric control part includes the electrical hardware and control journey for carrying out thermometric sampling automatically by technique requirement
Sequence.
Connection relationship between the component of the system is as follows: traverse displacement unit 7, robot 9 and its handgrip, 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 with 90 degree of 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, overturns 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 longitudinally move back and forth with longitudinal-moving device separately or together, realizes in converter
The thermometric of molten steel, 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 of practical temperature-measuring gun 13-1 and sampling gun 13-2 that storage is measured；The computing subsystem is according to detecting
The head position, compares multiple preset coordinate points that the preset coordinate is concentrated, and selection most connects with the head position
Point on the basis of close preset coordinate point calculates the deflection of the temperature-measuring gun and sampling hammerhead according to the datum mark, and will
The deflection is transmitted to robot.
The stokehold automatic temperature measurement of the steelmaking converter molten steel and the working principle of sampling method are as follows:
The stokehold automatic temperature measurement and sampling method of 1 molten steel of steelmaking converter the following steps are included:
S1. the order of thermometric and 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 moves
It moves near converter central axes；
S3. traverse displacement unit 7 drives temperature-measuring gun 13-1 and sampling gun 13-2 to thermometric, sampling direction working position；
S4. rotating device 6 drives temperature-measuring gun 13-1 and 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 sampling gun 13-2 to be turned to thermometric sampler space angle operating position；
S7. longitudinal-moving device 3 protrudes into temperature-measuring gun 13-1 and sampling gun 13-2 and successfully measures molten steel temperature in the molten steel of converter 1
Degree and acquirement molten steel sample；
S8. automatic temperature measurement and sampling part make the converse course of work, until temperature-measuring gun 13-1 and sampling gun 13-2 is returned
Position is dismounted to casing；
S9. drive pipe is extracted by robot 9, and sample therein is knocked in sample collection storehouse 11, then the casing is put
To the corresponding position in useless 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 sampling gun 13-2 head position are measured, is led to
Cross the deformation for going out temperature-measuring gun 13-1 and sampling gun 13-2 with the preset coordinate comparing calculation of temperature-measuring gun 13-1 and sampling gun 13-2
Amount, and the deflection is supplied to robot 9；
S12. traverse displacement unit 7 takes temperature-measuring gun 13-1 and sampling gun 13-2 to casing dismounting position；
S13. robot 9 is installed on corresponding barral of a gun from grabbing relevant casing in casing magazine 10；
S14. one action process terminates, wait in the position next time process start.
Claims (2)
1. a kind of the stokehold automatic temperature measurement and sampling method of steelmaking converter (1) molten steel, the method uses steelmaking converter stokehold certainly
Dynamic thermometric and sampling system carry out automatic temperature measurement and sampling；Steelmaking converter stokehold automatic temperature measurement and sampling system include: furnace
Preceding automatic temperature measurement sampling part, casing dismount part and system electric control part automatically；It is characterized by:
The stokehold automatic temperature measurement sampling part is by longitudinal-moving device (3), turnover device (4), overturning safety device (5), rotating dress
Set (6), traverse displacement unit (7) and walking dolly (8) composition；The walking dolly drives the entire system to follow stokehold fire-screen door
(2) mobile；The traverse displacement unit drives temperature-measuring gun (13-1) and sampling gun (13-2) transverse moving left and right to each working position；The rotation
Rotary device realizes that temperature-measuring gun (13-1) and sampling gun (13-2) switch 90 ° of angle operating position；The overturning safety device
(5) it is safety device to the vertical shift mechanism up to more than six meters；The turnover device (4) is for realizing temperature-measuring gun (13-1)
From vertical down position be turned to and tumble with sampling gun (13-2) automatic switchover of the perpendicular operating position of rear converter fire door；
The longitudinal-moving device (3) realizes the survey of molten steel for driving temperature-measuring gun (13-1) and sampling gun (13-2) to pass in and out steelmaking converter (1)
Temperature sampling；
Described sleeve pipe dismounts part automatically and is collected by robot (9) and its handgrip, casing magazine (10), molten steel sample and useless casing
Storehouse (11), NI Vision Builder for Automated Inspection (12) composition；The robot (9) and its handgrip dismount as needed for realizing casing, can be quasi-
Corresponding position really is arrived into the installation of each casing, dismounting, the handgrip is also used to overcome the fluctuation of various sleeve outer sizes；It is described
Casing magazine (10) provides various casings for robot；The molten steel sample and useless casing collecting bin (11) are used for collected steel
Water sample is collected, used various casings are collected to place and be used with subsequent classification；NI Vision Builder for Automated Inspection (12) measurement
Practical temperature-measuring gun (13-1) and sampling gun (13-2) head position out, by the head position measured and temperature-measuring gun (13-1)
It is compared with the preset coordinate of sampling gun (13-2), calculates the deflection of temperature-measuring gun (13-1) and sampling gun (13-2) head, and will
The deflection is supplied to robot, so that robot is according to the displacement of shown deformation amount controlling handgrip, accurately installs each set
Pipe；
The system electric control part includes the electrical hardware and control program for carrying out thermometric sampling automatically by technique requirement；
Traverse displacement unit (7), robot (9) and its handgrip, casing magazine (10), molten steel sample and useless casing collecting bin (11) and machine
Device vision system (12) is connected directly with walking dolly (8) respectively, is moved left and right with walking dolly；Rotating device (6) with it is traversing
Device (7) is connected, with traverse displacement unit transverse moving left and right；Turnover device (4) is connected with rotating device (6), comes with 90 degree of rotating device
Convolution turns；Overturning safety device (5) is connected with turnover device (4)；Longitudinal-moving device (3) is connected with turnover device (4), fills with overturning
It sets and overturns back and forth within a certain angle；Temperature-measuring gun (13-1), sampling gun (13-2) are connected with longitudinal-moving device, temperature-measuring gun, sampling gun
Longitudinally move back and forth with longitudinal-moving device separately or together, realizes the thermometric of molten steel in converter, sampling；
It the described method comprises the following steps:
S1. the order of thermometric and sampling is assigned in stokehold；
S2. steelmaking converter (1) is tumbled to technological angle, the certain size of stokehold fire-screen door (2) opening, simultaneity factor walking dolly
(8) it is moved near converter central axes；
S3. traverse displacement unit (7) drives temperature-measuring gun (13-1) and sampling gun (13-2) to thermometric and sampling direction working position；
S4. rotating device (6) drives temperature-measuring gun (13-1) and sampling gun (13-2) to be rotated by 90 ° against converter (1) mouth；
S5. safety pin is extracted in overturning safety device (5) out；
S6. turnover device (4) drives temperature-measuring gun (13-1) and sampling gun (13-2) to be turned to thermometric sampler space angle working position
It sets；
S7. longitudinal-moving device (3) protrudes into the molten steel of converter (1) with temperature-measuring gun (13-1) and sampling gun (13-2) and successfully measures steel
Coolant-temperature gage and acquirement molten steel sample；
S8. automatic temperature measurement and sampling part make the converse course of work, until temperature-measuring gun (13-1) and sampling gun (13-2) return
Position is dismounted to casing；
S9. drive pipe is extracted by robot (9), sample therein is knocked in sample collection storehouse (11), then the casing is put
To the corresponding position in useless 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；
S11. NI Vision Builder for Automated Inspection detection temperature-measuring gun (13-1) and sampling gun (13-2) place working position, to measure practical temperature-measuring gun
(13-1) and sampling gun (13-2) head position, the head position that will test out and temperature-measuring gun (13-1) and sampling gun (13-
2) preset coordinate comparison, calculates the deflection of temperature-measuring gun (13-1) and sampling gun (13-2) head, and the deflection is mentioned
Supply equipment people；
S12. traverse displacement unit takes temperature-measuring gun (13-1) and sampling gun (13-2) to casing dismounting position；
S13. robot (9) relevant casing of crawl from casing magazine (10) is installed on corresponding barral of a gun；
S14. one action process terminates, wait in the position next time process start.
2. the stokehold automatic temperature measurement and sampling method, feature of a kind of steelmaking converter (1) molten steel according to claim 1 exist
In: the NI Vision Builder for Automated Inspection includes memory subsystem and computing subsystem；The memory subsystem has pre-saved default seat
Mark collection, the default mark collection that does includes multiple preset coordinate points, and the memory subsystem is further used for what storage was measured
The head position of practical temperature-measuring gun (13-1) and sampling gun (13-2)；The computing subsystem is according to the head position detected
It sets, compares multiple preset coordinate points that the preset coordinate is concentrated, choose and the immediate default seat of the head position
Point on the basis of punctuate, calculates the deflection of the temperature-measuring gun and sampling hammerhead according to the datum mark, and by the deflection
It is transmitted to robot.
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| CN111855025B (en) * | 2020-07-24 | 2022-02-11 | 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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| JPS601560A (en) * | 1983-06-20 | 1985-01-07 | Sumitomo Metal Ind Ltd | Molten iron sampling method |
| CN2407014Y (en) * | 2000-01-24 | 2000-11-22 | 首钢总公司 | Temperature sampler for converter |
| CN201837542U (en) * | 2010-09-20 | 2011-05-18 | 河北省首钢迁安钢铁有限责任公司 | Sampling device capable of automatically measuring temperature and determining oxygen |
| CN104697813B (en) * | 2015-03-23 | 2017-11-17 | 中冶南方工程技术有限公司 | Full-automatic measuring temp of molten steel sampler |
| CN204903227U (en) * | 2015-09-21 | 2015-12-23 | 唐山瑞丰钢铁（集团）有限公司 | Automatic temperature measurement sampling device of molten steel |
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2018
- 2018-03-20 CN CN201810229602.2A patent/CN108359767B/en active Active
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