CN113654685A - Multifunctional measuring gun for robot temperature measurement and sampling - Google Patents
Multifunctional measuring gun for robot temperature measurement and sampling Download PDFInfo
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- CN113654685A CN113654685A CN202110955727.5A CN202110955727A CN113654685A CN 113654685 A CN113654685 A CN 113654685A CN 202110955727 A CN202110955727 A CN 202110955727A CN 113654685 A CN113654685 A CN 113654685A
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- 238000005070 sampling Methods 0.000 title claims abstract description 49
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 43
- 239000000523 sample Substances 0.000 claims abstract description 48
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000001816 cooling Methods 0.000 claims abstract description 31
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 30
- 239000010959 steel Substances 0.000 claims abstract description 30
- 239000007921 spray Substances 0.000 claims abstract description 27
- 230000000149 penetrating effect Effects 0.000 claims abstract description 6
- 239000000112 cooling gas Substances 0.000 claims description 17
- 230000008859 change Effects 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000003466 welding Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 238000009851 ferrous metallurgy Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000009434 installation Methods 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 229910052751 metal Inorganic materials 0.000 description 5
- 239000002184 metal Substances 0.000 description 5
- 238000005272 metallurgy Methods 0.000 description 5
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
- 238000003723 Smelting Methods 0.000 description 4
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 239000001301 oxygen Substances 0.000 description 4
- 229910052760 oxygen Inorganic materials 0.000 description 4
- 229910052782 aluminium Inorganic materials 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 239000007789 gas Substances 0.000 description 3
- 239000002893 slag Substances 0.000 description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000009847 ladle furnace Methods 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000007670 refining Methods 0.000 description 1
- 238000009628 steelmaking Methods 0.000 description 1
- -1 whether crooked Substances 0.000 description 1
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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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/02—Means for indicating or recording specially adapted for thermometers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/08—Protective devices, e.g. casings
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- General Physics & Mathematics (AREA)
- Investigating And Analyzing Materials By Characteristic Methods (AREA)
Abstract
The invention provides a multifunctional measuring gun for robot temperature measurement and sampling, which comprises a probe connector, a measuring gun extension rod, a measuring gun core tube, a measuring gun outer tube, a cooling spray tube and a detection assembly, wherein the cooling spray tube and the detection assembly are detachably arranged inside the measuring gun outer tube, the measuring gun core tube is arranged in the cooling spray tube in a penetrating mode along the axial direction in a sliding mode, the front end of the measuring gun core tube is connected with the measuring gun extension rod, the rear end of the measuring gun core tube is connected with the detection assembly, and the front end of the measuring gun extension rod is connected with the probe connector. The invention can be convenient for the robot to intelligently judge the operation condition, improve the success rate and the reliability of the robot operation, reduce the thermal deformation of the measuring gun core tube, extinguish the flame generated after the paper tube probe is inserted into the molten steel, improve the operation safety of the industrial robot for temperature measurement and sampling, and is beneficial to the ferrous metallurgy production.
Description
Technical Field
The invention belongs to the technical field of metallurgy, and particularly relates to a multifunctional measuring gun for robot temperature measurement and sampling.
Background
In the metallurgy production, the temperature of molten metal is measured and sampled in the smelting process so as to judge the process of the metallurgy reaction. The conventional temperature measurement sampling operation has two modes of manual temperature measurement sampling and automatic device temperature measurement sampling, the manual temperature measurement sampling is difficult to avoid the contact of an operator and high-temperature metal liquid, the production safety is low, the smelting period is long, and the yield improvement and the cost reduction are influenced; and advanced metallurgy production generally adopts an automatic device, for example, a steelmaking converter adopts a sublance to automatically measure temperature and sample without a converter-reversing operation, so that the smelting period can be saved by 2-3 min, the sublance rapidly provides the carbon content and the molten steel temperature in the process, the sublance acquires the data such as the end point carbon content, the oxygen activity and the like, and is favorable for smelting high-quality steel, the energy consumption and the cost can be reduced while the yield and the quality of the steel are improved, and the advanced metallurgy technology is widely applied.
The automatic temperature measurement sampling device replaces manual temperature measurement sampling and is widely applied to ferrous metallurgy processes of electric furnaces, ladle furnaces, converters and the like, the probe can be automatically disassembled and assembled, the insertion depth can be accurately controlled, and the failure rate of temperature measurement sampling of the automatic molten steel temperature measurement sampling device is far higher than that of manual operation. This is because the high temperature melt is likely to form lumps during the metallurgical reaction, which prevents the automatic device from inserting the temperature measuring and sampling probe into the high temperature melt along a fixed path. The intelligent industrial robot can judge and automatically plan the motion track according to the information intelligence that multiple sensor obtained, avoids the caking in the high temperature melt, consequently, intelligent industrial robot has been applied to the temperature measurement sampling operation of metallurgical production.
Some automatic temperature measurement sampling devices of current robot have realized replacing artifical operation under high temperature environment, nevertheless involve temperature measurement rifle, sampling gun and complicated actuating mechanism, lead to the automation equipment heavy and bulky, and industrial robot adopts articulated mechanical arm more, and load capacity is less, can not directly use this type of automatic temperature measurement sampling device. Even adopt the temperature measurement sampling gun of lightweight to adopt traditional rifle pole cooling method more, can not cool off extension rod and paper tube probe. The thermal deformation of the measuring gun can be caused when the measuring gun is used in a high-temperature working environment, and the operation accuracy of the robot is influenced. The measuring gun in the prior art has single function, generally only completes the insertion of a temperature measuring probe or a sampler into molten steel, can not realize multiple functions, and is difficult to accurately ensure the safety of operation.
Disclosure of Invention
In view of the above disadvantages of the prior art, an object of the present invention is to provide a multifunctional measuring gun for temperature measurement and sampling of a robot, which is used to solve the problem in the prior art that the safety of the robot is difficult to guarantee due to different working conditions during operation, so that the robot can recognize corresponding information under different working conditions, thereby implementing intelligent control.
In order to achieve the above and other related objects, the present invention provides a multifunctional measuring gun for robot temperature measurement and sampling, wherein the robot has a control system, the multifunctional measuring gun for robot temperature measurement and sampling comprises a probe connector, a measuring gun extension rod, a measuring gun core tube, a measuring gun outer tube, a cooling spray tube and a detection assembly, the cooling spray tube and the detection assembly are detachably arranged inside the measuring gun outer tube, the measuring gun core tube is axially slidably arranged in the cooling spray tube, the front end of the measuring gun core tube is connected with the measuring gun extension rod, the rear end of the measuring gun core tube is connected with the detection assembly, and the front end of the measuring gun extension rod is connected with the probe connector; the detection assembly can convert axial force applied to the extension rod of the measuring gun and the probe connector under different working conditions into an electric signal and provide the electric signal to the control system in real time to judge the working conditions; the cooling spray pipe can convert cooling gas into supersonic airflow so as to extinguish flame generated after the paper pipe probe is inserted into molten steel.
Furthermore, a supersonic generator structure is formed in a gap between the cooling spray pipe and the measuring gun core pipe, cooling gas can be accelerated to form supersonic airflow to be sprayed out, and the spraying direction of the cooling gas is the same as the axial direction of the measuring gun extension rod.
Further, the detection assembly comprises a mounting seat, a reset spring, a sliding sleeve and a proximity switch, the mounting seat comprises a body part and a first mounting part and a second mounting part which are arranged on the body part, the proximity switch is fixed on the first mounting part, the sliding sleeve is fixedly connected with the measuring gun core tube and is arranged in the second mounting part in a sliding mode, one end of the reset spring is connected to the sliding sleeve, and the other end of the reset spring is connected to the second mounting part.
Further, when the gun measuring core tube is subjected to an axial force, the sliding sleeve is pushed to compress the return spring to generate displacement so as to trigger the proximity switch to change an electric signal; and the reset spring pushes the measuring gun core tube and the measuring gun extension rod to reset after the axial force disappears so as to trigger the proximity switch again to change the electric signal.
Further, the detection assembly is a force sensor, and the force sensor detects the axial force applied to the gun core tube and continuously outputs an electric signal so that the control system can judge the axial force of the gun core tube.
Further, the outer tube of the measuring gun is a hollow square thin-wall tube or a circular thin-wall tube.
Furthermore, the outer pipe of the measuring gun is an integral straight pipe or an elbow pipe with a section of straight pipe at the front end, and the cooling spray pipe and the detection assembly are arranged on the straight pipe part outside the measuring gun.
Furthermore, the rear end of the outer pipe of the measuring gun is welded with a connecting flange, and the connecting flange is coaxially connected with the outer pipe of the measuring gun or is vertically connected with the outer pipe of the measuring gun.
Furthermore, the interior of the measuring gun core tube is of a hollow structure, the front end of the measuring gun core tube is provided with an internal thread interface to be in threaded connection with the measuring gun extension rod, the rear end of the measuring gun core tube is provided with an external thread interface to be in threaded connection with the detection assembly, the cable of the probe connector is arranged in the hollow structure of the measuring gun core tube in a penetrating mode, and the cable is connected with the threaded connection position between the measuring gun core tube and the measuring gun extension rod through a quick-plug connector.
Further, the probe connector is inserted into the front end of the extension rod of the measuring gun and connected through an elastic pin.
As mentioned above, the multifunctional measuring gun for robot temperature measurement and sampling has the following beneficial effects:
1) the detection assembly converts the axial force applied to the extension rod of the measuring gun and the connector into an electric signal and provides the electric signal to the control system of the robot in real time, so that the control system of the robot can judge the operation state in combination with the real-time working condition of the operation of the robot, and the autonomous intelligent control function is realized;
2) the cooling spray pipe forms a sliding support for the measuring gun core pipe, so that the measuring gun core pipe is prevented from shaking, the stability and rigidity of the measuring gun core pipe are ensured, and the influence on normal operation caused by vibration of an extension rod of the measuring gun is avoided;
3) when the multifunctional measuring gun is filled with high-pressure cooling gas, the cooling gas is converted into supersonic airflow by the cooling spray pipe, so that the heat of the paper tube probe is taken away quickly, and the effect of extinguishing flame is achieved;
4) the cooling gas flows along the gap between the measuring gun outer tube and the measuring gun core tube to cool the measuring gun core tube, and is finally discharged from the front end of the measuring gun outer tube, so that the thermal deformation of the measuring gun core tube and the measuring gun extension rod is reduced, and the service life of the measuring gun extension rod is obviously prolonged.
Drawings
FIG. 1 is a schematic structural view of a multifunctional measuring gun for temperature measurement and sampling of a robot according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a detecting assembly according to an embodiment of the present invention;
FIG. 3 is a schematic view of a cooling nozzle structure according to an embodiment of the present invention.
Description of reference numerals
1-probe connector; 11-a resilient pin; 12-a cable; 2-measuring the extension rod of the gun; 21-a quick-plug connector; 3-measuring a gun core pipe; 4-measuring the outer tube of the gun; 41-a connecting flange; 5-cooling the spray pipe; 6-a detection component; 61-a mounting seat; 611-a body portion; 612-a first mounting portion; 613-second mounting part; 62-a return spring; 63-sliding sleeves; 631-a boss portion; 64-proximity switches; 65-a sliding sleeve pressing plate; 66-a slip nut; 67-core tube nut.
Detailed Description
The following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
In this example, the rear end and the front end are referred to as the distance from the molten metal level in the furnace, the end close to the molten metal level is the front end, and the end far from the molten metal level is the rear end.
Referring to fig. 1, the invention provides a robot temperature-measuring and sampling multifunctional measuring gun, the robot has a control system, and the robot temperature-measuring and sampling multifunctional measuring gun comprises a probe connector 1, a measuring gun extension rod 2, a measuring gun core tube 3, a measuring gun outer tube 4, a cooling spray tube 5 and a detection assembly 6. The cooling spray pipe 5 and the detection assembly 6 are detachably arranged inside the measuring gun outer pipe 4, the measuring gun core pipe 3 is arranged in the cooling spray pipe 5 in a penetrating mode in an axial sliding mode, the front end of the measuring gun core pipe 3 is connected with the measuring gun extension rod 2, the rear end of the measuring gun core pipe is connected with the detection assembly 6, and the front end of the measuring gun extension rod 2 is connected with the probe connector 1; the detection assembly 6 can convert axial force applied to the extension rod 2 of the measuring gun and the probe connector 1 under different working conditions into an electric signal and provide the electric signal to the control system in real time to judge the working conditions; the cooling nozzle 5 can convert cooling gas into supersonic airflow so as to extinguish flame generated after the paper tube probe is inserted into molten steel.
The probe connector 1 directly inserts the probe into the molten steel by connecting the sensitive devices of different probes through the spatial motion of the multi-joint arm of the robot, and the detection information is transmitted through the high-temperature resistant cable 12, the robot realizes multiple functions of measuring the temperature of the molten steel, measuring the aluminum and determining the oxygen in the molten steel, taking a molten steel sample, taking a steel slag sample, taking a molten steel gas sample and the like in the operation process, the multifunctional measuring gun has multiple functions of intelligently judging whether the paper tube probe is correctly inserted into the molten steel, whether the extension rod 2 of the measuring gun is bent, whether the paper tube probe is lost and the like by combining instant working conditions and signals of the detecting assembly 6 by the aid of acting forces generated under various different working conditions such as buoyancy generated after the paper tube probe is inserted into the molten steel, thrust generated after the probe connector 1 touches an obstacle, friction generated after the extension rod 2 of the measuring gun is inserted into the paper tube and the like and by pushing the detecting assembly 6 to trigger an electrical signal.
Wherein, the probe connector 1 is inserted into the front end of the extension rod 2 of the measuring gun and is connected with the extension rod through an elastic pin 11. Therefore, the probe connector 1 with the service life expired can be quickly replaced according to actual working conditions.
Survey rifle extension rod 2 and survey rifle core pipe 3 and be hollow structure, adopt threaded connection between survey rifle extension rod 2 and the survey rifle core pipe 3, it is concrete, the front end of survey rifle core pipe 3 has the internal thread interface in order to with 2 threaded connection of survey rifle extension rod, the rear end have the external thread interface in order to with 6 threaded connection of determine module. By the structure, the measuring gun core tube 3 can be conveniently and rapidly connected and detached with the measuring gun extension rod 2 and the detection assembly 6 respectively.
The cable 12 of the probe connector 1 is arranged in the hollow structure of the measuring gun core tube 3 in a penetrating way and penetrates out from the tail part of the multifunctional measuring gun, so that the cable 12 is protected. Because adopt threaded connection between survey rifle extension rod 2 and the survey rifle core pipe 3, cable 12 adopts quick plug connector 21 to connect in the threaded connection department between survey rifle core pipe 3 and survey rifle extension rod 2, can be convenient for quick replacement when survey rifle extension rod 2 damages.
Referring to fig. 1 and 3, the rear end of the lance core tube 3 passes through the cooling nozzle 5 and is connected to the detection assembly 6, and the cooling nozzle 5 and the detection assembly 6 are both fixedly installed inside the lance outer tube 4 so as to be protected by the lance outer tube 4. The gap between the cooling spray pipe 5 and the measuring gun core pipe 3 forms a supersonic generator structure, cooling gas can be accelerated to form supersonic airflow to be sprayed out, and the spraying direction of the cooling gas is the same as the axial direction of the measuring gun extension rod 2. Specifically, the two ends of the supersonic generator structure are in a bell mouth shape and gradually decrease from the two ends to the middle, high-pressure cooling gas (such as nitrogen) can be accelerated to a speed more than 1 time of the sound speed and blown out along the axial direction of the measuring gun extension rod 2, a paper tube probe, a paper tube sampler and the like sleeved outside the measuring gun extension rod 2 are rapidly cooled, and flame burnt by the paper tube probe due to the fact that the paper tube probe is inserted into high-temperature molten steel is extinguished. The measuring gun core pipe 3 is cooled in the process that the cooling gas flows along the gap between the measuring gun outer pipe 4 and the measuring gun core pipe 3 and is finally discharged from the front end of the measuring gun outer pipe 4, so that the thermal deformation of the measuring gun core pipe 3 and the measuring gun extension rod 2 is reduced, and the service life of the measuring gun extension rod 2 is prolonged; meanwhile, before the multifunctional measuring gun is inserted into molten steel, compressed air or high-pressure nitrogen and other cooling gases are introduced into the outer tube 4 of the measuring gun and sprayed out from the cooling spray tube 5, and the structure of the cooling spray tube 5 meets the conditions of a supersonic jet spray tube, so that the sprayed cooling gases quickly take away the heat of the paper tube to generate a fire extinguishing effect. In addition, the cooling spray pipe 5 can also play a role in sliding support of the measuring gun core pipe 3, so that the measuring gun core pipe 3 is prevented from shaking, the stability and the rigidity of the measuring gun core pipe 3 are ensured, and the influence on normal operation caused by trembling of the measuring gun extension rod 2 is avoided.
In this embodiment, referring to fig. 2, the detecting assembly 6 includes an installation base 61, a return spring 62, a sliding sleeve 63, and a proximity switch 64, where the installation base 61 includes a body portion 611, and a first installation portion 612 and a second installation portion 613 disposed on the body portion 611, the proximity switch 64 is fixed on the first installation portion 612, the sliding sleeve 63 is fixedly connected with the gun barrel 3 and slidably disposed in the second installation portion 613, one end of the return spring 62 is connected to the sliding sleeve 63, and the other end is connected to the second installation portion 613. The structure enables the displacement of the sliding sleeve 63 along with the movement of the gun barrel 3 to trigger the proximity switch 64 to change the electric signal. Specifically, the first mounting part 612 is located at the front end of the body part 611, the second mounting part 613 is located on the upper surface of the body part 611, the sliding sleeve 63 is sleeved outside the measuring gun core tube 3 and is in threaded connection with the measuring gun core tube 3, a mounting hole for mounting the measuring gun core tube 3 is formed in the second mounting part 613, the sliding sleeve 63 is slidably arranged in the mounting hole, a sliding sleeve nut 66 is sleeved on the rear portion of the sliding sleeve 63, a sliding sleeve pressing plate 65 is arranged between the sliding sleeve nut 66 and the second mounting part 613, and the rear end of the sliding sleeve 63 is axially limited by a core tube nut 67 arranged on the measuring gun core tube 3; . One end of the sliding sleeve 63 near the proximity switch 64 is provided with a boss portion 631, and the proximity switch 64 is sensed by the boss portion 631. The return spring 62 is fitted around the outside of the sliding sleeve 63, and has one end connected to the boss portion 631 of the sliding sleeve 63 and the other end connected to the second mounting portion 613.
When the gun measuring core tube 3 is subjected to an axial force, the sliding sleeve 63 is pushed to compress the return spring 62 to generate displacement so as to trigger the proximity switch 64 to change an electric signal; the reset spring 62 pushes the gun core tube 3 and the gun extension rod 2 to reset after the axial force disappears, so as to trigger the approach switch 64 again to change the electric signal. So, can make the robot system possess the signal that combines instant operating mode and determine module 6, whether intelligent judgement paper tube probe correctly inserts multiple functions such as molten steel, whether crooked, paper tube probe whether lack of measuring rifle extension rod 2.
In another embodiment, the detecting component 6 is a force sensor, which detects the axial force applied to the gun core tube 3 and continuously outputs an electrical signal, so that a control system can determine the axial force of the gun core tube 3.
The outer tube 4 of the measuring gun is a hollow square thin-wall tube or a circular thin-wall tube, which does not affect the use of the multifunctional gun and can be specifically arranged according to actual requirements.
The outer pipe 4 of the measuring gun is an integral straight pipe or an elbow pipe with a section of straight pipe at the front end, and the cooling spray pipe 5 and the detection component 6 are arranged on the straight pipe part outside the measuring gun. Specifically, the structure ensures that the installation of the cooling spray pipe 5 and the detection assembly 6 does not influence the use of the bent multifunctional measuring gun in the temperature measurement sampling of the electric furnace.
In addition, a connecting flange 41 is welded at the rear end of the measuring gun outer tube 4. Specifically, the connecting flange 41 is used for being connected with a flange at the tail end of a multi-joint arm of a robot, different probe detection sensitive devices sleeved on the extension rod 2 of the measuring gun are directly inserted into molten steel by means of spatial movement of the multi-joint arm of the robot, and detection information is transmitted through the high-temperature-resistant cable 12, so that multiple operation functions of measuring temperature of the molten steel, measuring aluminum and determining oxygen in the molten steel, sampling a steel slag sample, sampling a molten steel gas sample and the like are achieved. The outer tube 4 of the measuring gun in the bending form can enable the sensitive device to reach a detection point which cannot be reached by the measuring gun in the shape of the straight tube in a limited space.
The connecting flange 41 is coaxially connected with the outer tube 4 of the measuring gun or is vertically connected with the outer tube 4 of the measuring gun. Wherein, different connection modes can influence the reachable range of the robot operation, and the reachable range of the vertically connected robot is larger than that of the coaxial connection.
In summary, in the multifunctional measuring gun for temperature measurement and sampling of the robot provided by the embodiment of the invention, various operation functions such as temperature measurement of molten steel, aluminum measurement and oxygen determination of molten steel, sampling of steel slag, sampling of molten steel gas and the like can be realized, and the multifunctional measuring gun also has an intelligent control function of intelligently judging operation conditions and automatically deciding an operation process, so that the success rate and the reliability of the operation of the robot are improved; the multifunctional measuring gun can cool the gun body automatically, reduces the thermal deformation of a measuring gun core tube and the thermal deformation in a high-temperature environment, and can extinguish flame generated after a paper tube probe is inserted into molten steel by means of high-speed cooling gas, so that the operation safety of an industrial robot intelligent temperature measuring and sampling workstation is improved, and the multifunctional measuring gun is favorable for ferrous metallurgy production.
The multifunctional measuring gun for temperature measurement and sampling can be arranged on automatic temperature measurement and sampling devices of various high-temperature melts, such as an automatic temperature measurement and sampling device for molten iron desulphurization, a converter sublance temperature measurement and sampling device, an automatic temperature measurement and sampling device for LF refining furnaces, an automatic temperature measurement and sampling device for RH vacuum furnaces, an automatic temperature measurement and sampling device for electric furnaces and the like, and has wide application prospects.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. The utility model provides a robot temperature measurement sample is with multi-functional rifle that surveys, the robot has control system, its characterized in that: the cooling spray pipe and the detection assembly are detachably arranged inside the measuring gun outer pipe, the measuring gun core pipe is arranged in the cooling spray pipe in a penetrating mode along the axial direction in a sliding mode, the front end of the measuring gun core pipe is connected with the measuring gun extension rod, the rear end of the measuring gun core pipe is connected with the detection assembly, and the front end of the measuring gun extension rod is connected with the probe connector; the detection assembly can convert axial force applied to the extension rod of the measuring gun and the probe connector under different working conditions into an electric signal and provide the electric signal to the control system in real time to judge the working conditions; the cooling spray pipe can convert cooling gas into supersonic airflow so as to extinguish flame generated after the paper pipe probe is inserted into molten steel.
2. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 1, characterized in that: the gap between the cooling spray pipe and the measuring gun core pipe forms a supersonic generator structure, cooling gas can be accelerated to form supersonic airflow to be sprayed out, and the spraying direction of the cooling gas is the same as the axial direction of the measuring gun extension rod.
3. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 1, characterized in that: the detection assembly comprises a mounting seat, a reset spring, a sliding sleeve and a proximity switch, the mounting seat comprises a body part and a first mounting part and a second mounting part which are arranged on the body part, the proximity switch is fixed on the first mounting part, the sliding sleeve is fixedly connected with the measuring gun core tube and is arranged in the second mounting part in a sliding mode, one end of the reset spring is connected to the sliding sleeve, and the other end of the reset spring is connected to the second mounting part.
4. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 3, characterized in that: when the gun measuring core tube is subjected to axial force, the sliding sleeve is pushed to compress the reset spring to generate displacement so as to trigger the proximity switch to change an electric signal; and the reset spring pushes the measuring gun core tube and the measuring gun extension rod to reset after the axial force disappears so as to trigger the proximity switch again to change the electric signal.
5. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 1, characterized in that: the detection assembly is a force sensor, and the force sensor detects the axial force applied to the gun core tube and continuously outputs an electric signal so that a control system can judge the axial force of the gun core tube.
6. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 1, characterized in that: the outer tube of the measuring gun is a hollow square thin-wall tube or a circular thin-wall tube.
7. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 6, characterized in that: the outer pipe of the measuring gun is an integral straight pipe or an elbow pipe with a section of straight pipe at the front end, and the cooling spray pipe and the detection assembly are arranged on the straight pipe part outside the measuring gun.
8. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 6, characterized in that: the rear end welding of survey rifle outer tube has flange, flange and survey rifle outer tube coaxial coupling or with survey the perpendicular connection of rifle outer tube.
9. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 1, characterized in that: the interior of the measuring gun core pipe is of a hollow structure, the front end of the measuring gun core pipe is provided with an internal thread interface to be in threaded connection with the measuring gun extension rod, the rear end of the measuring gun core pipe is provided with an external thread interface to be in threaded connection with the detection assembly, the cable of the probe connector is arranged in the hollow structure of the measuring gun core pipe in a penetrating mode, and the cable is connected with the threaded connection portion between the measuring gun core pipe and the measuring gun extension rod through a quick-plug connector.
10. The multifunctional measuring gun for robot temperature measurement and sampling according to claim 1, characterized in that: the probe connector is inserted into the front end of the extension rod of the measuring gun and is connected with the front end of the extension rod of the measuring gun through an elastic pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110955727.5A CN113654685A (en) | 2021-08-19 | 2021-08-19 | Multifunctional measuring gun for robot temperature measurement and sampling |
Applications Claiming Priority (1)
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