CN109570948B - Automatic butt joint device of temperature measurement probe and temperature measurement gun - Google Patents
Automatic butt joint device of temperature measurement probe and temperature measurement gun Download PDFInfo
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- CN109570948B CN109570948B CN201811613127.5A CN201811613127A CN109570948B CN 109570948 B CN109570948 B CN 109570948B CN 201811613127 A CN201811613127 A CN 201811613127A CN 109570948 B CN109570948 B CN 109570948B
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- temperature measuring
- manipulator
- butt joint
- measuring probe
- probe
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
- Measuring Temperature Or Quantity Of Heat (AREA)
Abstract
The invention discloses an automatic butt joint device of a temperature measuring probe and a temperature measuring gun, and relates to an automatic butt joint device, which aims to solve the problems that the butt joint of the probe and the temperature measuring gun in the conventional iron water treatment plant is still mainly realized by manual operation, the connection of the probe and the temperature measuring gun is realized by manual butt joint, the working environment is very severe for workers and masters, certain harm is caused to human bodies, and certain potential safety hazards exist due to high molten iron temperature. The invention comprises an opening angle type mechanical arm, a translational mechanical arm, a positioning plate, a frame, a mechanical arm, two semi-conical plates and two clamping jaws; the open-angle type manipulator, the translational manipulator and the positioning plate are respectively fixed on a frame, the frame is arranged on the manipulator, the two semi-conical plates are respectively fixed on two clamping fingers of the open-angle type manipulator, and when the clamping fingers of the open-angle type manipulator are in a clamping closed state, the two semi-conical plates are butted together to form a conical cylinder; the axis of the conical cylinder is vertical to the positioning plate. The invention is suitable for the molten iron pretreatment smelting process.
Description
Technical Field
The invention relates to an automatic butt joint device, in particular to an automatic butt joint device of a temperature measuring probe and a temperature measuring gun.
Background
Dust, local high-temperature radiation (temperature measurement sampling operation holes), electromagnetic interference and the like exist in the working environment of the molten iron treatment plant, and the working environment temperature of the stokehole work for molten iron pretreatment is 37.6 ℃. The concentration of indoor dust is not more than 8mg/Nm after being purified by a dust collecting and removing system3The working environment is severe, and although the domestic steel industry is rapidly developed and the automation technology level is also obviously improved, the degree of mechanization intelligence of the production operation is still very low compared with that of the internationally developed countries. At present, the butt joint of the probe and the temperature measuring gun in the iron water treatment plant still mainly adopts manual operation, the connection of the probe and the temperature measuring gun is realized through manual butt joint, the working environment is very severe for workers, certain harm is caused to human bodies, and certain potential safety hazards also exist due to high temperature of molten iron.
Disclosure of Invention
The invention provides an automatic butt joint device of a temperature measuring probe and a temperature measuring gun, aiming at solving the problems that the butt joint of the probe and the temperature measuring gun in the prior iron water treatment plant is still mainly realized by manual operation, the connection of the probe and the temperature measuring gun is realized by manual butt joint, the working environment is very bad for workers and masters, certain harm is caused to human bodies, and certain potential safety hazards exist due to high temperature of molten iron.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the manipulator comprises an opening angle type manipulator, a translational manipulator, a positioning plate, a frame, a manipulator, two semi-conical plates and two clamping jaws;
the open-angle type manipulator, the translational manipulator and the positioning plate are respectively fixed on a frame, the frame is arranged on the manipulator, the two semi-conical plates are respectively fixed on two clamping fingers of the open-angle type manipulator, and when the clamping fingers of the open-angle type manipulator are in a clamping closed state, the two semi-conical plates are butted together to form a conical cylinder; the axis of the conical cylinder is vertical to the positioning plate, the two clamping jaws are fixed on the two clamping fingers of the translational manipulator in a one-to-one correspondence mode, and the position of the translational manipulator corresponds to that of the opening angle type manipulator.
Compared with the prior art, the invention has the following beneficial effects:
the temperature measuring probe is cylindrical, the two semi-conical plates are arranged, the two semi-conical plates are combined to form the conical barrel by using the open-angle type manipulator, the temperature measuring gun is guided by using the conical barrel after being clamped by the manipulator, the temperature measuring gun can be inserted into the temperature measuring probe, the temperature measuring probe and the temperature measuring gun are more easily butted, the locating plate is arranged to ensure that the axis of the conical barrel is perpendicular to the locating plate, the locating plate is used as a reference surface, the temperature measuring probe is ensured to be in a vertical state during butting, and the butting is more accurate.
According to the invention, the butt joint of the temperature measuring probe and the temperature measuring gun is realized by using the manipulator, so that the problems of harm and unsafety caused by manual butt joint are avoided, and the work is more convenient and faster.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a top view of FIG. 1;
fig. 3 is a schematic view of the interior of the frame 4;
fig. 4 is a side view of the open-angle type robot 1 connected with two half-tapered plates 5;
fig. 5 is a top view of the open-angle type robot 1 connected to two half-tapered plates 5;
fig. 6 is a top view of the translatory manipulator 2 in connection with two gripping jaws 6, the arrows in the figure being the feeding direction;
figure 7 is a side view of the translatory manipulator 2 in connection with two gripping jaws 6;
fig. 8 is a schematic view of the clamping jaw 6.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 5, and comprises an open-angle type manipulator 1, a translational manipulator 2, a positioning plate 3, a frame 4, a manipulator 8, two semi-conical plates 5 and two clamping jaws 6;
the open-angle type manipulator 1, the translational manipulator 2 and the positioning plate 3 are respectively fixed on a frame 4, the frame 4 is arranged on a manipulator 8, two semi-conical plates 5 are respectively fixed on two clamping fingers of the open-angle type manipulator 1, and when the clamping fingers of the open-angle type manipulator 1 are in a clamping closed state, the two semi-conical plates 5 are butted together to form a conical cylinder; the axis of the conical cylinder is vertical to the positioning plate 3, the two clamping jaws 6 are fixed on two clamping fingers of the translational manipulator 2 in a one-to-one correspondence mode, and the translational manipulator 2 is in a position corresponding to the opening angle type manipulator 1.
The flared manipulator 1 is preferably a gagger model DRG-64-90-AS.
The translatory manipulator 2 is preferably of the gagger PGN-plus type.
The robot 8 may preferably be a six-axis robot.
The locating plate 3 is parallel to the axis of the flange at the end part of the manipulator 8.
The second embodiment is as follows: in the present embodiment, the frame 4 and the robot 8 of the present embodiment are further provided with a pneumatic quick-change system 7, as described with reference to fig. 1 and 2.
The pneumatic quick-change system 7 is preferably a male-gram model SWK-160-000-SM quick-change system.
The pneumatic quick-change system 7 is applied to a molten iron pretreatment workshop, the working environment is severe, dust is large, frequent cleaning is needed, quick disassembly is indispensable, and the mechanical arm can be quickly separated from the pneumatic quick-change system.
Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: the present embodiment will be described with reference to fig. 6, and an elastic body 10 is further fixed to each of the jaws 6 in the present embodiment.
The material of the elastic body 10 may preferably be rubber.
The elastic body 10 contacts with the temperature measuring probe 12, so that the friction force of the temperature measuring probe 12 can be increased, and the temperature measuring probe 12 is prevented from sliding off in the clamping process.
Other components and connections are the same as in the first embodiment.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 6-8, each clamping jaw 6 of the embodiment is provided with a first inclined surface 6-1 and a second inclined surface 6-2, the first inclined surface 6-1 and the second inclined surface 6-2 form an inward concave notch on the clamping jaw 6, the first inclined surface 6-1 is adjacent to one side of the feeding direction, and the first inclined surface 6-1 is shorter than the second inclined surface 6-2; the elastic body 10 is fixedly connected to one side of the clamping jaw 6 on which the first inclined surface 6-1 and the second inclined surface 6-2 are processed.
Due to the arrangement, the clamping is convenient, and the motion stroke of the translational manipulator 2 is shortened.
Other compositions and connection relations are the same as those of the third embodiment.
The fifth concrete implementation mode: the present embodiment will be described with reference to fig. 3, and the positioning plate 3 of the present embodiment is provided with a position sensor 9.
The position sensor 9 is preferably a leny TCP sensor.
The port of the position sensor 9 is connected with the input port of a PLC (programmable logic controller) for controlling the manipulator 8, the temperature measuring gun to be butted is calibrated through the position sensor 9, the calibrated position is the origin of coordinates, and the manipulator 8 clamps the temperature measuring probe 12 to return to the origin of coordinates to be butted with the temperature measuring gun through the invention.
The sixth specific implementation mode: in the present embodiment, a pressure sensor 11 is further provided between the pneumatic quick-change system 7 and the robot 8 in the present embodiment, as described with reference to fig. 1.
The port of the pressure sensor 11 is connected to the input port of the PLC controlling the manipulator 8.
Set up pressure sensor 11, real-time detection manipulator 8's power prevents that manipulator 8 from transshipping, and when the power that produces surpassed 8 allowances internal forces of manipulator, the PLC output produced the relay on the signal control manipulator 8 motor, made 8 stop work of manipulator.
Other components and connection relationships are the same as those in the second embodiment.
The seventh embodiment: the present embodiment will be described with reference to fig. 1, in which the diameter of the tapered cylindrical bottom portion is smaller than the inner diameter of the temperature probe 12.
So set up, conveniently to the direction of temperature probe 12, make the inner cylinder wall of temperature probe 12 and the outer cylinder wall of toper section of thick bamboo paste, make the butt joint more accurate.
Other components and connections are the same as in the first embodiment.
Working process
The opening angle type manipulator 1 is in a closed state, two semi-conical plates 5 are combined to form a conical cylinder, meanwhile, a translation manipulator 2 opens to clamp a temperature measuring probe 12, a manipulator 8 drives the translation manipulator 2 to move to a position where the temperature measuring probe is to be clamped and clamps the temperature measuring probe, when one end, to be butted, of the temperature measuring probe 12 is attached to the conical cylinder, the translation manipulator 2 is closed to clamp the temperature measuring probe 12, the clamped temperature measuring probe 12 moves to a position, to be butted, below a temperature measuring gun, at the moment, the manipulator 8 drives the temperature measuring probe 12 to vertically move upwards, the temperature measuring gun is guided into the temperature measuring probe through the guide of the conical cylinder to complete the butt joint, and at the moment, the opening angle type manipulator 1 and the translation manipulator 2 are opened respectively to realize the separation from the temperature measuring probe 12.
Claims (6)
1. The utility model provides an automatic interfacing apparatus of temperature probe and temperature measurement rifle which characterized in that: the manipulator comprises an opening angle type manipulator (1), a translational manipulator (2), a positioning plate (3), a frame (4), a manipulator (8), two semi-conical plates (5) and two clamping jaws (6);
the open-angle type manipulator (1), the translational manipulator (2) and the positioning plate (3) are respectively fixed on a frame (4), the frame (4) is arranged on a manipulator (8), two semi-conical plates (5) are respectively fixed on two clamping fingers of the open-angle type manipulator (1), and when the clamping fingers of the open-angle type manipulator (1) are in a clamping closed state, the two semi-conical plates (5) are butted together to form a conical cylinder; the axis of the conical cylinder is vertical to the positioning plate (3), the two clamping jaws (6) are fixed on two clamping fingers of the translational manipulator (2) in a one-to-one correspondence manner, the translational manipulator (2) controls the opening and closing of the two clamping jaws (6), and the position of the translational manipulator (2) corresponds to that of the opening-angle manipulator (1); a pneumatic quick-change system (7) is also arranged between the frame (4) and the manipulator (8);
when the temperature measuring probe is in butt joint with a temperature measuring gun, the manipulator (8) drives the translational manipulator (2) to move to a position where the temperature measuring probe is to be grabbed and grab the temperature measuring probe, when one end, to be butted, of the temperature measuring probe (12) is attached to the conical barrel, two clamping jaws (6) of the translational manipulator (2) are closed to clamp the temperature measuring probe (12), the clamped temperature measuring probe (12) moves to a position, to be butted, below the temperature measuring gun, at the moment, the manipulator (8) drives the temperature measuring probe (12) to vertically move upwards, and the temperature measuring gun is guided into the temperature measuring probe through the conical barrel to complete butt joint.
2. The automatic butt joint device of the temperature measuring probe and the temperature measuring gun according to claim 1, characterized in that: each clamping jaw (6) is also fixedly connected with an elastic body (10).
3. The automatic butt joint device of the temperature measuring probe and the temperature measuring gun according to claim 2, characterized in that: each clamping jaw (6) is provided with a first inclined plane (6-1) and a second inclined plane (6-2), the first inclined plane (6-1) and the second inclined plane (6-2) form an inwards concave notch on the clamping jaw (6), the first inclined plane (6-1) is adjacent to one side of the feeding direction, and the first inclined plane (6-1) is shorter than the second inclined plane (6-2); the elastic body (10) is fixedly connected to one side of the clamping jaw (6) on which the first inclined plane (6-1) and the second inclined plane (6-2) are processed.
4. The automatic butt joint device of the temperature measuring probe and the temperature measuring gun according to claim 1, characterized in that: the positioning plate (3) is provided with a position sensor (9).
5. The automatic butt joint device of the temperature measuring probe and the temperature measuring gun according to claim 1, characterized in that: and a pressure sensor (11) is also arranged between the pneumatic quick-change system (7) and the manipulator (8).
6. The automatic butt joint device of the temperature measuring probe and the temperature measuring gun according to claim 1, characterized in that: the diameter of the bottom of the conical cylinder is smaller than the inner diameter of the temperature measuring probe (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811613127.5A CN109570948B (en) | 2018-12-27 | 2018-12-27 | Automatic butt joint device of temperature measurement probe and temperature measurement gun |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811613127.5A CN109570948B (en) | 2018-12-27 | 2018-12-27 | Automatic butt joint device of temperature measurement probe and temperature measurement gun |
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| Publication Number | Publication Date |
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| CN109570948A CN109570948A (en) | 2019-04-05 |
| CN109570948B true CN109570948B (en) | 2021-07-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811613127.5A Active CN109570948B (en) | 2018-12-27 | 2018-12-27 | Automatic butt joint device of temperature measurement probe and temperature measurement gun |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110697302B (en) * | 2019-10-11 | 2021-01-29 | 哈尔滨工业大学 | Automatic storage bin device of long stepped shaft type temperature measurement sampling rod applied to metallurgical industry |
| CN110646117B (en) * | 2019-10-31 | 2021-06-01 | 哈尔滨工业大学 | Automatic conveying temperature measurement probe device and temperature measurement probe feeding method |
| CN113686238B (en) * | 2020-05-19 | 2022-07-19 | 宝山钢铁股份有限公司 | Method for realizing sleeve joint/pull-out detection of probe of automatic metallurgical temperature measuring gun |
| CN113686239B (en) * | 2020-05-19 | 2024-06-04 | 宝山钢铁股份有限公司 | Method for detecting probe sleeving/pulling-out of automatic temperature measuring gun based on photoelectric sensor |
| CN115727976A (en) * | 2021-08-30 | 2023-03-03 | 宝山钢铁股份有限公司 | Replacement system and replacement method for metallurgical temperature measurement sampling probe |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101328524B (en) * | 2008-07-25 | 2010-06-02 | 上海宝钢工程技术有限公司 | Automatic detaching apparatus of auxiliary lance probe |
| CN201224743Y (en) * | 2008-07-25 | 2009-04-22 | 上海宝钢工程技术有限公司 | Upright installation apparatus for sublance probe |
| KR101325907B1 (en) * | 2011-12-26 | 2013-11-07 | 주식회사 우진 | Apparatus for charging the probe for hydrogen automatically |
| CN203976846U (en) * | 2014-07-25 | 2014-12-03 | 武汉钢铁(集团)公司 | Probe automatic handling device |
| CN104561439B (en) * | 2014-12-19 | 2016-09-21 | 中冶南方工程技术有限公司 | Revolving furnace sublance probe automatic handling device |
| CN108342539B (en) * | 2017-01-23 | 2021-03-30 | 宝钢工程技术集团有限公司 | Sublance probe mounting device with sampling port positioning function and using method thereof |
| CN108527429A (en) * | 2018-06-29 | 2018-09-14 | 泰州三羊重型机械有限公司 | A kind of clamping jaw for polysilicon barred body |
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