CN111811690A - Automatic temperature measurement sampling device of robot and control system thereof - Google Patents
Automatic temperature measurement sampling device of robot and control system thereof Download PDFInfo
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- CN111811690A CN111811690A CN202010509136.0A CN202010509136A CN111811690A CN 111811690 A CN111811690 A CN 111811690A CN 202010509136 A CN202010509136 A CN 202010509136A CN 111811690 A CN111811690 A CN 111811690A
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/054—Input/output
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Waste-Gas Treatment And Other Accessory Devices For Furnaces (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to an automatic temperature measurement and sampling device of a robot and a control system thereof, which comprises a support frame arranged on a furnace cover, a temperature measurement probe used for installing a temperature measurement bomb and a sampling probe used for installing a sampling bomb, wherein the support frame is provided with a swing rod, the temperature measurement probe and the sampling probe are respectively arranged at one end of the swing rod through a lifting mechanism, the lifting mechanism is used for enabling the temperature measurement probe and the sampling probe to reciprocate along the swing rod, the other end of the swing rod is hinged with the support frame, and the support frame is provided with a driving mechanism capable of enabling the swing rod to rotate along the hinged part; the support frame is also provided with an emergency pulley mechanism, and the emergency pulley mechanism is connected with the temperature measuring probe and the sampling probe through a traction rope. The device can reduce the safety risk and labor intensity of manual operation, improve the stability and precision of temperature measurement sampling, and reduce the risk of high-temperature damage of the probe due to the emergency equipment.
Description
Technical Field
The invention relates to the technical field of temperature measurement and sampling of a metallurgical LF (ladle furnace), in particular to an automatic temperature measurement and sampling device of a robot and a control system thereof.
Background
The LF furnace, namely a ladle refining furnace, is a main external refining device in steel production. In order to ensure the quality of continuous casting billets in the production process of special steel, molten steel smelted by a converter enters an LF (ladle furnace) for refining so as to eliminate impurities in the molten steel. Under the existing operation condition, a temperature measuring gun device needs to be manually inserted into an observation hole of the LF furnace to measure the temperature of the molten steel for multiple times, the temperature of the molten steel is accurately judged to provide accurate data for the next procedure, the temperature of the molten steel needs to be kept between 1530 ℃ and 1590 ℃ according to different steel grades, and the overhigh or overlow temperature of the molten steel is unfavorable for the subsequent production. Meanwhile, the molten steel components are sampled, so that the molten steel alloy proportion can be accurately adjusted, and the yield and the quality of the special steel are improved.
Temperature measurement and sampling are two processes, and the existing manual temperature measurement and sampling work needs to be carried out separately. The steelmaking process is mainly by manual operation, and the temperature measurement, sample adopt manual temperature measurement sample mode, rely on artifical dismouting bullet and hold the rifle completely and accomplish the operation, and labor efficiency is low, because the steelmaking region is high temperature high dust area, artifical temperature measurement sample needs the workman to burst high temperature and is close the LF stove and carry out the temperature measurement and sample, the LF stove can roll to the outer splash slag of stove at refining production process molten steel, still exists this operation and easily makes the slag splash lead to the fact the personal injury incident. Personnel not only need face high temperature operation when surveying temperature and taking a sample, and operation operational environment is abominable, and the workman is in the environment of high temperature, high dust for a long time, easily causes the injury to the health, is unfavorable for safety and stable production. In addition, the manual temperature measurement is different in the position of the handheld temperature measurement gun, so that the measurement data is unstable. The manual temperature measurement and sampling mode has the disadvantages of high labor intensity, low working efficiency, high safety risk and the like, and although the manual operation method has certain protection measures, the manual operation method still has larger safety risk.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an automatic temperature measuring and sampling device for a robot. The device can reduce the safety risk and labor intensity of manual operation, improve the stability and precision of temperature measurement sampling, and reduce the risk of high-temperature damage of the probe due to the emergency equipment.
The invention also provides a control system of the robot automatic temperature measurement sampling device. The system provided by the invention improves the working efficiency, can meet unmanned intelligent operation, and can provide a guarantee for handling emergency accidents through manual operation, thereby ensuring the production quality of special steel.
The technical purpose of the invention is realized by the following technical scheme: a robot automatic temperature measurement sampling device comprises a support frame arranged on a furnace cover, a temperature measurement probe used for mounting a temperature measurement bomb and a sampling probe used for mounting a sampling bomb, wherein a swing rod is arranged on the support frame, the temperature measurement probe and the sampling probe are respectively mounted at one end of the swing rod through a lifting mechanism, the lifting mechanism is used for enabling the temperature measurement probe and the sampling probe to reciprocate along the swing rod, the other end of the swing rod is hinged with the support frame, and a driving mechanism capable of enabling the swing rod to rotate along the hinged position is arranged on the support frame; the emergency pulley mechanism is connected with the temperature measuring probe and the sampling probe through a traction rope.
Furthermore, emergent pulley mechanism includes the balancing weight, set firmly in fixed pulley on the support frame and be used for making fixed pulley pivoted handle, haulage rope one end winding fixed pulley and be connected with the balancing weight, the other end is connected with temperature probe and/or sampling probe.
Furthermore, the balancing weight is two and is connected with temperature probe and sampling probe through two haulage ropes respectively, two the weight of balancing weight is unanimous with the weight of temperature probe and the sampling probe that correspond respectively.
Furthermore, a liquid level detector is arranged on the support frame corresponding to the upper part of the furnace cover.
Furthermore, the lifting mechanism comprises a first lifting motor and a first traction chain which are linked with each other, and a second lifting motor and a second traction chain which are linked with each other, wherein the first traction chain is connected with the temperature measuring probe, and the second traction chain is connected with the sampling probe; the first lifting motor and the second lifting motor are installed at one end, close to the hinged position, of the swing rod, and the first traction chain and the second traction chain are installed in the swing rod.
Furthermore, the driving mechanism comprises a driving motor and a push rod, one end of the push rod is linked with the driving motor, and the other end of the push rod is hinged with the middle part of the swinging rod.
Furthermore, a temperature measuring bullet storage rack, a sampling bullet storage rack and a mechanical arm are arranged on one side of the support frame corresponding to the temperature measuring probe and the sampling probe, and the mechanical arm is used for installing the temperature measuring bullet and the sampling bullet on the temperature measuring probe and the sampling probe respectively.
Furthermore, a temperature measuring sampling port is formed in the furnace cover, and the temperature measuring sampling port is obliquely arranged and is matched with the angle of the oscillating rod when the oscillating rod is located at the working position.
The utility model provides an automatic temperature measurement sampling device's of robot control system, includes the control chamber and locates the field operation case of support frame one side, be equipped with the host computer in the control chamber, host computer and field operation case all are connected with the PLC system, the PLC system respectively with elevating system, actuating mechanism, arm and liquid level detector signal connection.
Further, according to the liquid level position information fed back by the liquid level detector, the PLC system controls the downward detection of the temperature measuring probe and the sampling probe through the lifting mechanism and the driving mechanism, the downward detection depth of the temperature measuring probe is 235-285 mm, the downward detection depth of the sampling probe is 375-425 mm, the residence time of the temperature measuring probe under the liquid level is 4-6 seconds, and the residence time of the sampling probe in the liquid level is 2-4 seconds.
In conclusion, the invention has the following beneficial effects:
1. the automatic temperature measurement sampling device of LF stove robot and control system's application can reduce manual operation's safety risk and intensity of labour, improves the stability and the precision of temperature measurement sample, promotes work efficiency, ensures special steel production quality.
2. The device is fixedly arranged on one side above the furnace cover through the support frame, so that the temperature measuring probe and the sampling probe can be stably arranged above the furnace body, the measurement can be stably and accurately completed when needed, the device can be protected through the matching of the lifting mechanism and the driving mechanism, the device can be stored when not needed to be used, and the possibility that the probes are collided or are in a high-temperature zone for a long time is reduced.
3. This device still is equipped with emergent protection mechanism, through the effect of balancing weight and haulage rope, except can avoiding the probe to stretch out the time because the wearing and tearing fracture of chain and glide suddenly, can also be in the work when the member card is dead when the emergency, can in time pull out the probe through the manual work, avoid long-time soaking of molten steel and produce the high temperature damage probe.
4. The system of the invention can not only meet unmanned intelligent operation, but also provide the treatment guarantee for emergency accidents through manual operation, and can detect the liquid level position through the liquid level detector before measurement to provide a measurement reference and pre-protection mechanism.
Drawings
FIG. 1 is a side view of a robot automatic temperature measuring and sampling device of the present invention in situ;
FIG. 2 is a side view of a working position of the automatic robot temperature measuring and sampling device of the present invention;
FIG. 3 is a top view of a robotic automatic temperature measurement and sampling device of the present invention;
FIG. 4 is a front view of the sway bar of the present invention;
FIG. 5 is a schematic structural diagram of a control system of the automatic robot temperature measuring and sampling device of the present invention.
In the figure: 1. an operation chamber; 2. a field operation box; 3. a temperature measuring bomb storage rack; 4. a sampling bomb storage rack; 5. a mechanical arm; 6. a support frame; 7. a push rod; 8. a balancing weight; 9. a fixed pulley; 10. a hauling rope; 11. a first lift motor; 12. a swing lever; 13. a liquid level detector; 14. a first drag chain; 15. a temperature measuring probe; 16. a furnace cover; 17. a temperature measuring sampling port; 18. a second lift motor; 19. a second drag chain; 20. a sampling probe; 21. an optical fiber network line; 22. an upper computer; 23. a PLC system.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
It should be noted that all the directional terms such as "upper" and "lower" referred to herein are used with respect to the view of the drawings, and are only for convenience of description, and should not be construed as limiting the technical solution.
As shown in fig. 1-4, an automatic temperature measuring and sampling device for a robot comprises a support frame 6 arranged on a furnace cover 16, a temperature measuring probe 15 for mounting a temperature measuring bomb and a sampling probe 20 for mounting a sampling bomb, wherein the support frame 6 is provided with a swing rod 12, the temperature measuring probe 15 and the sampling probe 20 are respectively mounted at one end of the swing rod 12 through a lifting mechanism, the lifting mechanism is used for enabling the temperature measuring probe 15 and the sampling probe 20 to reciprocate along the swing rod 12, the other end of the swing rod 12 is hinged with the support frame 6, and the support frame 6 is further provided with a driving mechanism capable of enabling the swing rod 12 to rotate along the hinged part; an emergency pulley mechanism is further arranged on the support frame 6 and connected with the temperature measuring probe 15 and the sampling probe 20 through a traction rope 10. The device is fixedly arranged on one side above a furnace cover 16 through a support frame 6, so that a temperature measuring probe 15 and a sampling probe 20 can be stably arranged above a furnace body, the device is different from the prior art, double-station measurement can be realized, independent or synchronous measurement can be stably and accurately completed when needed, the device can be protected through the matching of a lifting mechanism and a driving mechanism, and a swing rod 12 can be stored on one side of the support frame 6, is far away from the upper part of the furnace body and can be stored in the swing rod 12 through control when not needed; in the use state, the swinging rod 12 is inclined, and only the probe part is required to extend into the furnace body for measurement, so that the possibility that the probe is collided or is in a high-temperature zone for a long time is reduced.
The device is also provided with an emergency pulley mechanism and a traction rope 10, wherein the emergency pulley mechanism comprises a balancing weight 8, a fixed pulley 9 fixedly arranged on the support frame 6 and a handle used for rotating the fixed pulley 9, one end of the traction rope 10 is wound on the fixed pulley and is connected with the balancing weight 8, and the other end of the traction rope is connected with a temperature measuring probe 15 and/or a sampling probe 20. The balancing weight 8 is not needed to be arranged here, the traction rope 10 can be directly fixedly connected with the support frame 6, but the emergency pulley mechanism can only be used for pulling up the probe in an emergency, and the length of the traction rope 10 is required to be reserved when the probe is placed down. If the temperature measuring probe 15 and the sampling probe 20 work substantially simultaneously, only one set of the above-mentioned mechanisms may be provided, that is, the weight balancing block 8 is connected to the two probes through the traction rope 10, and the weight of the weight balancing block 8 is the sum of the weights of the temperature measuring probe 15 and the sampling probe 20. In the embodiment, in order to adapt to emergency measures when the temperature measuring probe 15 and the sampling probe 20 are separately controlled, two balancing weights 8 are arranged and are respectively connected with the temperature measuring probe 15 and the sampling probe 20 through two pulling ropes 10, and the weights of the two balancing weights 8 are respectively consistent with the weights of the corresponding temperature measuring probe 15 and the corresponding sampling probe 20. The structure of this emergency protection is as the protection mechanism to two probes, and 8 weight of balancing weight correspond the weight of probe, make it keep balance, can avoid elevating system wearing and tearing and make two probes glide suddenly when using. Meanwhile, when the control fails and the probe cannot be withdrawn in work, the fixed pulley 9 can be rotated by manually utilizing the handle, so that the traction rope 10 is pulled, the probe is easily pulled up under the assistance of the balancing weight 8, and the influence on the quality and the service life of the probe due to high temperature caused by long-term immersion in molten steel is avoided.
In this embodiment, a liquid level detector 13 is disposed on the supporting frame 6 above the furnace cover 16. The liquid level detector 13 is used for measuring the liquid level in the furnace body in advance, sensing is carried out by using liquid level laser detection, and the position of the liquid level is determined, so that the descending depth of the temperature measuring probe 15 and the sampling probe 20 during measurement is controlled, and the measurement is more accurate, stable and safe.
In this embodiment, the lifting mechanism includes a first lifting motor 11 and a first traction chain 14 which are linked together, and a second lifting motor 18 and a second traction chain 19 which are linked together, wherein the first traction chain 14 is connected with the temperature measuring probe 15, and the second traction chain 19 is connected with the sampling probe 20; the first and second lift motors 11 and 18 are installed at one end of the swing lever 12 near the hinge, and the first and second drag chains 14 and 19 are installed in the swing lever 12. The cooperation of the motor and the chain is used, so that the probe can be more stably and accurately controlled, and the measurement of the temperature measuring probe 15 and the measurement of the sampling probe 20 are respectively controlled, so that the double-station operation mechanism is adapted. The driving mechanism comprises a driving motor and a push rod 7, one end of the push rod 7 is linked with the driving motor, and the other end of the push rod 7 is hinged with the middle part of the swing rod 12. As shown in fig. 1 and 2, the swing rod 12 is controlled by the push rod 7 to be in the original position and the working position respectively, and the motions of extending the two probes and accommodating and protecting the probes are realized by matching with the control of the lifting mechanism.
In this embodiment, a temperature measuring bomb storage rack 3, a sampling bomb storage rack 4 and a mechanical arm 5 are arranged on one side of the support frame 6 corresponding to the temperature measuring probe 15 and the sampling probe 20, and the mechanical arm 5 is used for installing the temperature measuring bombs and the sampling bombs on the temperature measuring probe 15 and the sampling probe 20 respectively. Sufficient temperature measurement bullet and sample bullet are prestored respectively to temperature measurement bullet storage rack 3, sample bullet storage rack 4, and convenient arm 5 realizes measuring whole automation to the installation of temperature measurement bullet and sample bullet during the use. The furnace cover 16 is provided with a temperature measuring sampling port 17, and the temperature measuring sampling port 17 is obliquely arranged and is matched with the angle of the oscillating rod 12 when the oscillating rod is positioned at the working position. The inclined arrangement can ensure that high-temperature molten steel in the furnace is not easy to fly out when the probe is inserted, thereby avoiding high-temperature corrosion to the supporting frame 6, the swinging rod 12 and other equipment and improving the safety performance.
As shown in FIG. 5, a control system of a robot automatic temperature measurement sampling device comprises an operation room 1 and a field operation box 2 arranged on one side of a support frame 6, wherein an upper computer 22 is arranged in the operation room 1, the upper computer 22 and the field operation box 2 are both connected with a PLC system 23, and the PLC system 23 is in signal connection with a lifting mechanism, a driving mechanism, a mechanical arm 5 and a liquid level detector 13 respectively. The system of the invention can not only meet unmanned intelligent operation, but also provide the treatment guarantee for emergency accidents through manual operation, and can detect the liquid level position through the liquid level detector 13 before measurement to provide a measurement reference and pre-protection mechanism. The system of the invention can realize the full-automatic measuring process by the upper computer 22 in the operation room 1, and can also realize the semi-automatic operation control of manual field by the field operation box 2.
According to the liquid level position information fed back by the liquid level detector 13, the PLC system 23 controls the downward detection depths of the temperature measuring probe 15 and the sampling probe 20 to be 260 mm and 400 mm respectively through the lifting mechanism and the driving mechanism, the residence time of the temperature measuring probe 15 under the liquid level is 4-6 seconds, and the residence time of the sampling probe 20 in the liquid level is 2-4 seconds.
The installation and use principle of the invention is as follows: the whole operation of the automatic temperature measurement sampling system of the LF furnace robot is that each feedback signal is collected by the PLC system 23, the operation is driven by an instruction after program logic judgment, and the automatic temperature measurement sampling system is a system integration device integrating mechanical equipment, electrical control, instrument collection and automatic program control.
A supporting frame 6 with the height of 15 meters is horizontally manufactured by taking a refining furnace cover 16 platform as a horizontal plane, and three maintenance working platforms, namely a first horizontal working platform with the height of 9.5 meters, a second horizontal working platform with the height of 12.3 meters and a third horizontal working platform with the height of 15 meters, are arranged.
A swinging rod 12, a first lifting motor 11 for mounting a temperature measuring probe and a second lifting motor 18 for mounting a sampling probe are hinged on a third horizontal working platform of the supporting frame 6, and the swinging rod 12 can swing around a mounting fixed point in a rotating mode.
And a set of emergency lifting device is also arranged on the third horizontal working platform of the support frame 6, and the device is provided with two sets of fixed pulleys 9, a balancing weight 8 and two traction ropes 10. One end of each of the two hauling ropes 10 is fixed on the temperature measuring probe 15 and the sampling probe 20, and the other end of each of the two hauling ropes 10 bypasses a set of fixed pulleys 9 and hangs down and is tied with a balancing weight 8.
A liquid level detector 13 is arranged at the top end of a first horizontal working platform of the support frame 6 and used for detecting that the distance between the highest liquid level of the molten steel of the refining furnace and the liquid level detector 13 is 4800 mm-3800 mm, when the liquid level detection exceeds the range, whether the detection is wrong or not is manually confirmed, and if the detection is wrong or the liquid level detector 13 fails, the liquid level of the molten steel can be manually set by selecting and manually observing the liquid level of the molten steel.
A swing frame electric push rod 7 is installed on a first horizontal working platform of the supporting frame 6, and the swing frame electric push rod 7 is driven by a servo motor. The electric push rod 7 of the swing frame is provided with an original position and a working position, the working position is just at a safe position 1.5 meters above the temperature measuring sampling port 17 of the refining furnace cover 16, and the electric push rod 7 of the swing frame can push the swing rod 12 out of the original position to the working position when in work. When the device works normally and automatically, the servo motor encoder of the electric push rod 7 of the swing frame provides the original position and working position data for operation, and when the encoder is in failure or is in field operation, the two limit positions of the original position and the working position are arranged to provide actual position signals.
A mechanical arm 5 is arranged on the horizontal platform and below the first horizontal working platform of the temperature measuring and sampling device platform 6, and the distance between the mechanical arm 5 and the temperature measuring and sampling port 17 of the refining furnace cover 16 is 1.5 meters.
When the temperature measuring device works, the mechanical arm 5 grabs the temperature measuring bomb and the sampling bomb are installed on the temperature measuring probe 15 and the sampling probe 20, the electric push rod 7 of the swing frame is controlled by the PLC system 23 to push the swing rod 12 to the working position, the first lifting motor 11 and the second lifting motor 18 are controlled by the PLC system 23 to rotate in the forward direction, the first traction chain 14 and the second traction chain 19 are lowered, the temperature measuring bomb and the sampling bomb carried by the temperature measuring probe 15 and the sampling probe 20 are inserted below the high level of the molten steel surface of the refining furnace through the temperature measuring sampling port 17 to carry out temperature measuring and sampling work, the lowering height is calculated by the encoders of the first lifting motor 11 and the second lifting motor 18, and the detection depth of the temperature measuring probe 15 and the sampling probe 20 under the molten steel surface is respectively set to be 260 mm and 400 mm. The detention time of the temperature measurement probe 15 and the sampling probe 20 in the molten steel for temperature measurement and sampling is respectively 5 seconds and 3 seconds, and the total time of temperature measurement and sampling can be completed within 30 seconds each time.
After the temperature measurement and sampling work is completed each time, the PLC system 23 sends an instruction to control the first lifting motor 11 and the second lifting motor 18 to rotate reversely, the first traction chain 14 and the second traction chain 19 are lifted, the temperature measurement bomb and the sampling bomb carried by the temperature measurement probe 15 and the sampling probe 20 are lifted to a safe position 1.5 meters above the temperature measurement sampling port 17 of the refining furnace cover 16, and the temperature measurement probe lifting motor 11 and the sampling probe lifting motor 18 stop running. The push rod 7 then retracts the oscillating lever 12 from the working position back to the home position.
The mechanical arm 5 respectively detaches the temperature measuring bomb and the sampling bomb from the temperature measuring probe 15 and the sampling probe 20 and places the temperature measuring bomb and the sampling bomb in the collecting hopper, temperature measuring data can be transmitted to the PLC system 23 through the optical fiber network wire 21 after being detected by the temperature measuring thermocouple and is displayed on the monitoring operation picture upper computer 22 of the operation room 1 in real time for an operator to record, and a molten steel sample in the sampling bomb is sent to a laboratory for inspection by the operator.
The external devices and the upper computer 22 for monitoring operation pictures are connected with the PLC system 23 through the optical fiber network line 21 for communication and receiving feedback signals, and the PLC system 23 sends out instructions according to the program to command the external devices to act according to the program sequence.
In the manual mode and the emergency accident state, the field operation box 2 can be used for releasing the program interlocking control, and the individual equipment can be independently operated to act, for example, the first lifting motor 11 and the second lifting motor 18 are emergently started to drive the temperature measuring probe 15 and the sampling probe 20 to ascend so as to avoid burning the equipment. The program of the PLC system 23 of the device is adjusted and perfected according to the actual field.
When the first traction chain 14 or the second traction chain 19 in the swing rod 12 is broken or power is cut off due to external reasons, the first lifting motor 11 or the second lifting motor 18 cannot drive the temperature measuring probe 15 or the sampling probe 20 to ascend, and the temperature measuring gun is burnt out due to the fact that the temperature measuring gun is soaked in molten steel for too long time. An operator immediately goes to a third horizontal working platform of the support frame 6 to manually open a corresponding motor brake, manually and clockwise shakes a handle on the fixed pulley 9, and the traction rope 10 drives a corresponding temperature measuring probe 15 or a corresponding sampling probe 20 to slowly rise under the auxiliary traction action of the respective steel wire rope counterweight block 8 until the temperature measuring probe 15 or the sampling probe 20 leaves the molten steel liquid level and returns to a safe position.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments, and all technical solutions belonging to the idea of the present invention belong to the protection scope of the present invention. It should be noted that modifications and embellishments within the scope of the invention may occur to those skilled in the art without departing from the principle of the invention, and are considered to be within the scope of the invention.
Claims (10)
1. The automatic temperature measurement and sampling device of the robot comprises a support frame (6) arranged on a furnace cover (16), and further comprises a temperature measurement probe (15) used for mounting a temperature measurement bomb and a sampling probe (20) used for mounting a sampling bomb, and is characterized in that the support frame (6) is provided with a swing rod (12), wherein the temperature measurement probe (15) and the sampling probe (20) are respectively mounted at one end of the swing rod (12) through a lifting mechanism, the lifting mechanism is used for enabling the temperature measurement probe (15) and the sampling probe (20) to reciprocate along the swing rod (12), the other end of the swing rod (12) is hinged with the support frame (6), and the support frame (6) is provided with a driving mechanism capable of enabling the swing rod (12) to rotate along the hinged position; the emergency pulley mechanism is further arranged on the support frame (6) and connected with the temperature measuring probe (15) and the sampling probe (20) through a traction rope (10).
2. The automatic temperature measuring and sampling device of the robot as claimed in claim 1, wherein the emergency pulley mechanism comprises a counterweight (8), a fixed pulley (9) fixed on the support frame (6) and a handle for rotating the fixed pulley (9), one end of the traction rope (10) is wound around the fixed pulley (9) and connected with the counterweight (8), and the other end is connected with the temperature measuring probe (15) and/or the sampling probe (20).
3. The automatic temperature measurement and sampling device of the robot according to claim 2, wherein the emergency pulley mechanisms are provided in two sets and are respectively connected with the temperature measurement probe (15) and the sampling probe (20) through two pulling ropes (10), and the weights of the two balancing weights (8) are respectively consistent with the weights of the corresponding temperature measurement probe (15) and the corresponding sampling probe (20).
4. The automatic robot temperature measuring and sampling device according to claim 1, 2 or 3, wherein a liquid level detector (13) is arranged on the support frame (6) above the corresponding furnace cover (16).
5. The robot automatic temperature measurement and sampling device according to claim 4, wherein the lifting mechanism comprises a first lifting motor (11) and a first traction chain (14) which are linked, and a second lifting motor (18) and a second traction chain (19) which are linked, wherein the first traction chain (14) is connected with the temperature measurement probe (15), and the second traction chain (19) is connected with the sampling probe (20); the first lifting motor (11) and the second lifting motor (18) are installed at one end, close to the hinged part, of the swing rod (12), and the first traction chain (14) and the second traction chain (19) are installed in the swing rod (12).
6. The robot automatic temperature measuring and sampling device according to claim 4, wherein the driving mechanism comprises a driving motor and a push rod (7), one end of the push rod (7) is linked with the driving motor, and the other end of the push rod (7) is hinged with the middle part of the swing rod (12).
7. The automatic temperature measuring and sampling device of the robot according to claim 5 or 6, wherein a temperature measuring bomb storage rack (3), a sampling bomb storage rack (4) and a mechanical arm (5) are arranged on one side of the support frame (6) corresponding to the temperature measuring probe (15) and the sampling probe (20), and the mechanical arm (5) is used for installing the temperature measuring bomb and the sampling bomb on the temperature measuring probe (15) and the sampling probe (20) respectively.
8. The automatic temperature measuring and sampling device of the robot as claimed in claim 7, wherein the furnace cover (16) is provided with a temperature measuring and sampling port (17), and the temperature measuring and sampling port (17) is obliquely arranged and is matched with the angle of the swinging rod (12) when the swinging rod is located at the working position.
9. The control system of the automatic robot temperature measuring and sampling device according to claim 8, characterized by comprising an operating room (1) and a field operating box (2) arranged on one side of the support frame (6), wherein an upper computer (22) is arranged in the operating room (1), the upper computer (22) and the field operating box (2) are both connected with a PLC system (23), and the PLC system (23) is respectively in signal connection with the lifting mechanism, the driving mechanism, the mechanical arm (5) and the liquid level detector (13).
10. The control system of the automatic temperature measuring and sampling device of the robot as claimed in claim 9, wherein according to the liquid level position information fed back by the liquid level detector (13), the PLC system (23) controls the downward probing of the temperature measuring probe (15) and the sampling probe (20) through the lifting mechanism and the driving mechanism, the downward probing depth of the temperature measuring probe (15) is 235-285 mm, the downward probing depth of the sampling probe (20) is 375-425 mm, the residence time of the temperature measuring probe (15) under the liquid level is 4-6 seconds, and the residence time of the sampling probe (20) in the liquid level is 2-4 seconds.
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| CN202010509136.0A CN111811690A (en) | 2020-06-07 | 2020-06-07 | Automatic temperature measurement sampling device of robot and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029393A (en) * | 2021-03-02 | 2021-06-25 | 攀钢集团攀枝花钢铁研究院有限公司 | Broken sediment temperature measurement sampler of molten iron |
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2020
- 2020-06-07 CN CN202010509136.0A patent/CN111811690A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029393A (en) * | 2021-03-02 | 2021-06-25 | 攀钢集团攀枝花钢铁研究院有限公司 | Broken sediment temperature measurement sampler of molten iron |
| CN113029393B (en) * | 2021-03-02 | 2022-02-15 | 攀钢集团攀枝花钢铁研究院有限公司 | Broken sediment temperature measurement sampler of molten iron |
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