CN109368108A - A kind of device for expecting library automatically for making steel the sampling of refining zone thermometric - Google Patents
A kind of device for expecting library automatically for making steel the sampling of refining zone thermometric Download PDFInfo
- Publication number
- CN109368108A CN109368108A CN201811330457.3A CN201811330457A CN109368108A CN 109368108 A CN109368108 A CN 109368108A CN 201811330457 A CN201811330457 A CN 201811330457A CN 109368108 A CN109368108 A CN 109368108A
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- Prior art keywords
- gun barrel
- gun
- automatic material
- barral
- cylinder
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- 238000005070 sampling Methods 0.000 title claims abstract description 19
- 238000007670 refining Methods 0.000 title claims abstract description 15
- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 14
- 239000010959 steel Substances 0.000 title claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims description 8
- 239000007787 solid Substances 0.000 claims 1
- 238000003032 molecular docking Methods 0.000 abstract description 2
- 230000032258 transport Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 4
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000009628 steelmaking Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/12—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials
- G01K13/125—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials for siderurgical purposes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/0217—Elongated
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention proposes a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, including at least the transport platform and detection gun barrel clamping device for being mounted on cantilever tip, the transport platform is horizontally disposed and end is in lower position and is equipped with receiving mechanical arm, described receiving mechanical arm one end is movably connected on bracket and around connection spot wobble, the other end is equipped with arc and hooks slot, and the arc hooks the identical positioning gun barrel of slot；The detection gun barrel gripping apparatus grips receive the gun barrel positioned on mechanical arm.Fully automatic operation of the present invention, automatic material taking, positioning and the fixed point clipping operation of gun barrel may be implemented, guarantee the automatic material taking work of gun barrel, enter gun barrel for later period robotic gripper barral of a gun autopatching and good precondition is provided, guarantee that serialization is realized to clamp in same position consecutive tracking, substitutes the existing unfavorable factor for manually docking gun barrel and barral of a gun.
Description
Technical field
The present invention relates to a kind of for making steel the device in the automatic material library of refining zone thermometric sampling.
Background technique
There are following several respects in thermometric sampling process when the sampling of steel-making refining zone thermometric at present: (1) as general
It is high to insertion dimension precision requirement when thermometric gun barrel is attached to thermometric barral of a gun, the too deep thermocouple that can destroy bushing head, too shallowly then
It 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；(2) thermometric sampling gun pore differs smaller with the outer diameter of barral of a gun, and the precise requirements for being directed at installation are high, and barral of a gun head is easy
Bending deformation, under certain deflection, casing is difficult to accurately install with pipette tips, therefore, slightly has in the two alignment
Deviation causes barral of a gun to deform, and influences the precision of detection；(3) existing is typically all to commonly use artificial form to carry out alignment sampling,
However since the temperature of operating area is very high, and there is very big risk, and manual operation exist it is uncertain and
Continuity, therefore there is very big unfavorable factor.
Therefore, we design the thermometric sampling system of a full-automation, must but be for the precondition of the system
It need realize to gun barrel serialization automatic material taking, to guarantee that barral of a gun continuously can be inserted into gun barrel every time by robot
In.
Summary of the invention
The present invention proposes a kind of device for expecting library automatically for making steel the sampling of refining zone thermometric, and oneself of gun barrel may be implemented
Dynamic feeding, positioning and fixed point clipping operation guarantee the automatic material taking work of gun barrel, are later period robotic gripper barral of a gun autopatching
Good precondition is provided into gun barrel.
The technical scheme of the present invention is realized as follows:
It is a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, including at least being mounted on the defeated of cantilever tip
Platform 5 and detection gun barrel clamping device 6 are sent, the transport platform 5 is horizontally disposed and end is in lower position and is equipped with receiving mechanical arm
7, described 7 one end of receiving mechanical arm is movably connected on bracket and around connection spot wobble, and the other end is equipped with arc and hooks slot, the arc
Shape hooks the identical positioning gun barrel 3 of slot；The gun barrel 3 positioned on mechanical arm 7 is received in detection gun barrel clamping device 6 clamping；
Preferably, the detection gun barrel clamping device 6 includes at least and is mounted on the upper rodless cylinder vertically moved on guide rod
61 and lower rodless cylinder 65, upper fixture block 62 and lower fixture block 64 are fixed respectively on the upper rodless cylinder 61 and lower rodless cylinder 65,
The upper fixture block 62 and 64 corresponding surface of lower fixture block are all arc-shaped groove and the gun barrel 3 positioned on mechanical arm 7 is received in corresponding clamping.
Preferably, be symmetrically arranged in the upper fixture block 62 and the obverse circular groove of lower fixture block 64 two pieces it is identical
Positioning sliding block 63.
Preferably, cantilever tip is fixed on by hinge in described one end for receiving mechanical arm 7, and the other end is fixed by hinge
In the telescopic rod of the first cylinder 8, first cylinder 8 is mounted on bracket bottom end, and the telescopic rod stretching motion of the first cylinder 8 drives
Mechanical arm 7 is received to swing up and down.
Preferably, further include the magazine 1 in 5 top of transport platform, a storing channel 2 be at least set in the magazine 1,
The storing channel 2 is arranged right below blanking tipping mechanism 4, and the blanking tipping mechanism 4 is included at least to be installed by shaft
It is described to topple over 43 top of block equipped with curved support slot on blanking bracket 44 and what can be rotated around the axis topples over block 43, it is described
Curved support slot is in immediately below corresponding storing channel 2.
Preferably, described to topple over block 43 and be fixed on the one end for toppling over connecting rod 42, the other end for toppling over connecting rod 42 passes through shaft
It is movably connected on the longitudinal collapse rodless cylinder 41 being mounted on Der Laengslenker.
It preferably, further include barral of a gun centralising device 9, the barral of a gun centralising device 9 includes at least the second cylinder 92, push plate
93, connecting rod 95 and support palm 96, second cylinder 92 is vertically installed in platform 91 and flexible rod end is fixed with push plate 94,
One end of a connecting rod 95 is all fixed at 94 both ends of push plate by shaft respectively；Fixing and mounting bracket 93 is gone back in the platform 91,
96 triangular shape of support palm, two base angles end of support palm 96 pass through shaft respectively and are connected to the another of connecting rod 95
On end and mounting rack 93, supports the arc-shaped slot 97 in apex angle end of palm 96 and the arc groove 97 of two support palms 96 cooperates clamping
Barral of a gun 11, the barral of a gun 11 are corresponding with 3 head end of gun barrel that detection gun barrel clamping device 6 clamps.
The present invention the beneficial effects are as follows: fully automatic operation of the present invention, the automatic material taking of gun barrel may be implemented, position and
Clipping operation is pinpointed, guarantees the automatic material taking work of gun barrel, enters gun barrel for later period robotic gripper barral of a gun autopatching and provide
Good precondition guarantees that serialization is realized and clamps in same position consecutive tracking, substitutes existing manually by gun barrel and barral of a gun
The unfavorable factor of docking.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is schematic view of the front view of the invention.
Fig. 2 is overlooking structure diagram of the invention.
Fig. 3 is right side structural representation of the invention.
Fig. 4 is right view the schematic diagram of the section structure of the invention.
Fig. 5 is the structural scheme of mechanism of blanking tipping mechanism.
Fig. 6 is the structural schematic diagram for detecting gun barrel clamping device.
Fig. 7 is the structural schematic diagram of barral of a gun centralising device.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with the embodiment of the present invention, it is clear that retouched
The embodiment stated is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, originally
Field those of ordinary skill every other embodiment obtained without making creative work, belongs to the present invention
The range of protection.
It is a kind of for making steel the device in the automatic material library of refining zone thermometric sampling as shown in Figs. 1-5, including at least being mounted on
The transport platform 5 and detection gun barrel clamping device 6 of cantilever tip, the transport platform 5 is horizontally disposed and end is set in lower position
Have and receive mechanical arm 7, described 7 one end of receiving mechanical arm is movably connected on bracket and around connection spot wobble, and the other end is equipped with arc
Shape hooks slot, and the arc hooks the identical positioning gun barrel 3 of slot；It is positioned on the detection gun barrel clamping device 6 clamping receiving mechanical arm 7
Gun barrel 3.That is, pusher dog can be respectively set in corresponding position two sides in transport platform 5 when transport platform 5 transports gun barrel 3, adjust
The movement rate of transport platform 5 can position a gun barrel 3 every time by pusher dog and be transported.When gun barrel 3 falls transport platform 5, fall
It falls on and receives on mechanical arm 7, hook slot since end is provided with arc, gun barrel 3 can be blocked and position, by receiving mechanical arm 7
Swing, realization gun barrel is lifted and be located in corresponding position facilitates detection gun barrel clamping device 6 clamp.
It further include the magazine 1 in 5 top of transport platform in the present embodiment, it is logical that a storing is at least arranged in the magazine 1
Road 2, the storing channel 2 are arranged right below blanking tipping mechanism 4, and the blanking tipping mechanism 4, which includes at least, passes through shaft
It is installed on blanking bracket 44 and what can be rotated around the axis topples over block 43, it is described to topple over 43 top of block equipped with curved support slot,
The curved support slot is in immediately below corresponding storing channel 2.Multiple groups are arranged in storing channel 2 in this programme, and each storing is logical
2 internal diameter of road is slightly larger than the diameter of gun barrel, and therefore, several gun barrel stackings are placed in storing channel 2, guarantees to fall into every time and topples over block
The gun barrel 3 in curved support slot on 43 all only one.When needing for gun barrel 3 to be placed in transport platform 5, the rotation of block 43 is toppled over
Certain angle can drop into transport platform, while can to block storing logical for the part of curved support slot side during overturning
Road 2 exports, and when toppling over 43 cycle of block to original state, topples over block 43 since one gun barrel 3 of gravity drops into just again
In curved support slot, so recycle repeatedly.
Preferably as preferred overturning mode, topples over block 43 and be fixed on the one end for toppling over connecting rod 42, topple over connecting rod 42
The other end is movably connected on the longitudinal collapse rodless cylinder 41 being mounted on Der Laengslenker by shaft.When toppling over rodless cylinder
During 41 move up and down, realize that toppling over block 43 overturns certain angle, inclines to realize by toppling over 42 push-and-pull action of connecting rod
For the movement of rodless cylinder 41 in two extreme positions, the curved support slot for toppling over block 43 is exactly in the outlet of storing channel 2 dress
Enter 3 state of gun barrel and is exactly in the state for pouring out gun barrel 3.
It preferably, further include barral of a gun centralising device 9, the barral of a gun centralising device 9 includes at least the second cylinder 92, push plate
93, connecting rod 95 and support palm 96, second cylinder 92 is vertically installed in platform 91 and flexible rod end is fixed with push plate 94,
One end of a connecting rod 95 is all fixed at 94 both ends of push plate by shaft respectively；Fixing and mounting bracket 93 is gone back in the platform 91,
96 triangular shape of support palm, two base angles end of support palm 96 pass through shaft respectively and are connected to the another of connecting rod 95
On end and mounting rack 93, supports the arc-shaped slot 97 in apex angle end of palm 96 and the arc groove 97 of two support palms 96 cooperates clamping
Barral of a gun 11, the barral of a gun 11 are corresponding with 3 head end of gun barrel that detection gun barrel clamping device 6 clamps.Corresponding to gun barrel 3, practical one
It needs to be inserted into barral of a gun 11 in gun barrel 3 when bodyization samples, guarantees the accuracy of automatic centering in the present embodiment.Work as machine
When device people is by 11 clipping operation of barral of a gun, it is put into the middle position between two support palms 96,92 Work Promote of the second cylinder
Push plate 94 moves up, and then connecting rod 95 is driven to push two support palm 96 rotations in conjunction closed state, final two supports palm 96
On arc groove 97 just clamp barral of a gun 11, and at this time barral of a gun 11 just centering detection gun barrel clamping device 6 clamp gun barrel 3,
So that barral of a gun 11 is inserted into gun barrel 3.
In the present embodiment, detection gun barrel clamping device 6, which includes at least, is mounted on the upper rodless cylinder vertically moved on guide rod
61 and lower rodless cylinder 65, upper fixture block 62 and lower fixture block 64 are fixed respectively on the upper rodless cylinder 61 and lower rodless cylinder 65,
The upper fixture block 62 and 64 corresponding surface of lower fixture block are all arc-shaped groove and the gun barrel 3 positioned on mechanical arm 7 is received in corresponding clamping.
One end of mechanical arm 7 is received to be fixed on cantilever tip by hinge, the other end is fixed on the flexible of the first cylinder 8 by hinge
Bar, first cylinder 8 are mounted on bracket bottom end, and the telescopic rod stretching motion of the first cylinder 8, which drives, receives the bottom on mechanical arm 7
It is dynamic.Once gun barrel, which is fallen into, receives on mechanical arm 7 and be positioned at arc hook slot, the work of the first cylinder 8 will receive mechanical arm 7 to lift
So that gun barrel 3 is in the link position between upper fixture block 62 and lower fixture block 64, at this point, upper fixture block 62 and lower fixture block 64 are led to respectively
It crosses rodless cylinder 61 and the work of lower rodless cylinder 65 clamps, gun barrel is clamped.Wherein, the upper fixture block 62 and lower fixture block 64 are right
It answers and is symmetrically arranged two pieces of identical positioning sliding blocks 63 in the circular groove in face, when gun barrel 3 has phenomena such as certain inclination
When, since positioning sliding block 63 is strip setting, gun barrel 3 can be corrected automatically, it is made to guarantee scheduled horizontal linear direction.
So, it is ensured that the feeding to gun barrel is realized in serialization, may be implemented to praise after receiving 7 feeding of mechanical arm, and
Then by detection 6 positioning clamping of gun barrel clamping device, guaranteeing can be continuously in identical place when subsequent robot works
Barral of a gun is positioned, realizes that the grafting to barral of a gun and gun barrel operates, substitutes the existing adverse effect of existing manual operation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, which is characterized in that propped up including at least being mounted on
The transport platform (5) and detection gun barrel clamping device (6) on frame top, the transport platform (5) is horizontally disposed and end is below position
It has installed receiving mechanical arm (7), described receiving mechanical arm (7) one end is movably connected on bracket and around connection spot wobble, another
End is equipped with arc and hooks slot, and the arc hooks identical positioning gun barrel (3) of slot；The detection gun barrel clamping device (6) clamps receiving machine
The gun barrel (3) positioned on tool arm (7).
2. as described in claim 1 a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, which is characterized in that
Detection gun barrel clamping device (6) includes at least and is mounted on the upper rodless cylinder (61) vertically moved on guide rod and lower no bar gas
Cylinder (65) fixes upper fixture block (62) and lower fixture block (64), institute on the upper rodless cylinder (61) and lower rodless cylinder (65) respectively
It states upper fixture block (62) and lower fixture block (64) corresponding surface is all arc-shaped groove and the rifle positioned on mechanical arm (7) is received in corresponding clamping
It manages (3).
3. as claimed in claim 2 a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, which is characterized in that
Two pieces of identical positioning sliding blocks are symmetrically arranged in the upper fixture block (62) and lower fixture block (64) obverse circular groove
(63)。
4. as described in claim 1 a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, which is characterized in that
Cantilever tip is fixed on by hinge in described one end for receiving mechanical arm (7), and the other end is fixed on the first cylinder (8) by hinge
Telescopic rod, first cylinder (8) is mounted on bracket bottom end, and the telescopic rod stretching motion of the first cylinder (8) drives receiving machine
Tool arm (7) is swung up and down.
5. as described in claim 1 a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, which is characterized in that
Further include the magazine (1) above transport platform (5), a storing channel (2), the storage are at least set in the magazine (1)
Material channel (2) is arranged right below blanking tipping mechanism 4, and the blanking tipping mechanism (4) includes at least and is installed on by shaft
On blanking bracket (44) and what can be rotated around the axis topples over block (43), described to topple over block (43) top equipped with curved support slot,
The curved support slot is in immediately below corresponding storing channel (2).
6. as claimed in claim 5 a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, which is characterized in that
Described to topple over block (43) and be fixed on the one end for toppling over connecting rod (42), the other end for toppling over connecting rod (42) is movably connected on by shaft
It is mounted on the longitudinal collapse rodless cylinder (41) on Der Laengslenker.
7. as described in claim 1 a kind of for making steel the device in the automatic material library of refining zone thermometric sampling, which is characterized in that
It further include barral of a gun centralising device (9), the barral of a gun centralising device (9) includes at least the second cylinder (92), push plate (93), connecting rod
(95) and palm (96) are supported, second cylinder (92) is vertically installed on platform (91) and flexible rod end is fixed with push plate
(94), one end of a connecting rod (95) is all fixed at push plate (94) both ends by shaft respectively；It is also solid on the platform (91)
Dingan County is shelved (93), support palm (96) triangular shape, and two base angles end of support palm (96) passes through shaft respectively
It is connected on the other end and mounting rack (93) of connecting rod (95), supports the arc-shaped slot in apex angle end (97) and two branch of palm (96)
Support arc groove (97) cooperation clamping barral of a gun (11) of palm (96), the barral of a gun (11) and detection gun barrel clamping device (6) clamping
Gun barrel (3) head end it is corresponding.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811330457.3A CN109368108B (en) | 2018-11-09 | 2018-11-09 | Device for automatic temperature measurement sampling material warehouse in steelmaking refining area |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811330457.3A CN109368108B (en) | 2018-11-09 | 2018-11-09 | Device for automatic temperature measurement sampling material warehouse in steelmaking refining area |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109368108A true CN109368108A (en) | 2019-02-22 |
| CN109368108B CN109368108B (en) | 2024-05-28 |
Family
ID=65384508
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811330457.3A Active CN109368108B (en) | 2018-11-09 | 2018-11-09 | Device for automatic temperature measurement sampling material warehouse in steelmaking refining area |
Country Status (1)
| Country | Link |
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| CN (1) | CN109368108B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113465782A (en) * | 2021-06-11 | 2021-10-01 | 中国重型机械研究院股份公司 | Robot temperature measurement sampling probe automatic feed device |
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