CN113701499A - Movable mechanical arm system for detecting temperature of smelting furnace and working method - Google Patents
Movable mechanical arm system for detecting temperature of smelting furnace and working method Download PDFInfo
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- CN113701499A CN113701499A CN202111074260.XA CN202111074260A CN113701499A CN 113701499 A CN113701499 A CN 113701499A CN 202111074260 A CN202111074260 A CN 202111074260A CN 113701499 A CN113701499 A CN 113701499A
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- 238000003723 Smelting Methods 0.000 title claims abstract description 106
- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000009529 body temperature measurement Methods 0.000 claims abstract description 32
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 239000012535 impurity Substances 0.000 claims abstract description 15
- 239000007788 liquid Substances 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims description 25
- 230000008569 process Effects 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
- 241001062472 Stokellia anisodon Species 0.000 abstract description 4
- 239000002184 metal Substances 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000005259 measurement Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 239000002699 waste material Substances 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 210000000245 forearm Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000002844 melting Methods 0.000 description 2
- 230000008018 melting Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 206010053615 Thermal burn Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
- 238000004861 thermometry Methods 0.000 description 1
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27B—FURNACES, KILNS, OVENS, OR RETORTS IN GENERAL; OPEN SINTERING OR LIKE APPARATUS
- F27B14/00—Crucible or pot furnaces
- F27B14/08—Details peculiar to crucible or pot furnaces
- F27B14/20—Arrangement of controlling, monitoring, alarm or like devices
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27M—INDEXING SCHEME RELATING TO ASPECTS OF THE CHARGES OR FURNACES, KILNS, OVENS OR RETORTS
- F27M2003/00—Type of treatment of the charge
- F27M2003/13—Smelting
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Abstract
The invention discloses a movable mechanical arm system for detecting the temperature of a smelting furnace and a working method, which belong to the field of smelting furnace temperature measuring systems and aim to solve the problems that the automation degree of the temperature measuring work of the existing smelting furnace is low and the temperature measuring accuracy is easily influenced by impurities on the surface of a smelting liquid, and the technical scheme is as follows: including moving platform, the moving platform top sets up the arm, and the arm tip sets up temperature measurement module, and temperature measurement module includes telescopic tube and slewing mechanism, and telescopic tube connects in the arm below, and telescopic tube inside sets firmly temperature measurement component, and slewing mechanism connects in the arm end in order to clear away smelt liquid surface impurity in order to rotate soon before the temperature measurement.
Description
Technical Field
The invention relates to the field of smelting furnace temperature measurement systems, in particular to a movable mechanical arm system for smelting furnace temperature detection and a working method.
Background
The statements herein merely provide background information related to the present disclosure and may not necessarily constitute prior art.
In the metal smelting process, the temperature is one of important parameters to be measured, if the temperature is measured inaccurately, the pouring quality is influenced, and cast ingots are scrapped seriously.
The thermocouple is a temperature measuring element commonly used in the industry for measuring temperature, can directly measure the temperature and convert a temperature signal into an electric signal so as to measure the detected temperature, and generally comprises main parts such as a hot electrode, an insulating sleeve protection tube, a junction box and the like.
The inventor finds that in the smelting of the recycled metal, the surface of the waste metal is covered with a large amount of impurities, the waste metal is easy to float on the surface of the solution in the smelting process, and the direct insertion measurement of the thermocouple can cause the surface of the thermocouple to be covered with the impurities, so that the measurement result is influenced.
Among the prior art, the smelting furnace temperature measurement relies on manual operation and locomotive to measure, and manual operation's the time that consumes is longer, can cause the thermocouple to damage when the operation is improper, pollutes the metal solution, and the workman has certain scald risk moreover.
The adoption locomotive measurement needs the installation guide rail above every smelting furnace, and the cost is higher, can't clear away the impurity on solution surface simultaneously, and measuring error is great.
And the thermocouple needs the workman in time to look over the state, mainly relies on the experience of workman to change, can cause the temperature measurement inaccurate when the thermocouple is changed late, can cause the waste of thermocouple when the thermocouple is changed earlier.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a movable mechanical arm system for detecting the temperature of a smelting furnace and a working method thereof, which can enable the movable mechanical arm to carry out temperature measurement on the smelting furnace according to a planned path under the control of an upper computer, can remove impurities on the surface of the smelting liquid through the rotation action of a rotating mechanism during temperature measurement, and solves the problems that the temperature measurement work of the existing smelting furnace is low in automation degree and the temperature measurement accuracy is easily influenced by the impurities on the surface of the smelting liquid.
In order to achieve the purpose, the invention is realized by the following technical scheme:
in a first aspect, the invention provides a mobile mechanical arm system for detecting the temperature of a smelting furnace, which comprises a mobile platform, wherein a mechanical arm is arranged at the top of the mobile platform, a temperature measuring module is arranged at the end part of the mechanical arm, the temperature measuring module comprises a telescopic sleeve and a rotating mechanism, the telescopic sleeve is connected below the mechanical arm, a temperature measuring element is fixedly arranged in the telescopic sleeve, and the rotating mechanism is connected to the tail end of the mechanical arm to rotate before temperature measurement so as to remove impurities on the surface of the smelting liquid.
As a further technical scheme, a label reader is arranged at the bottom of the mobile platform to read the position information of the positioning label, and universal wheels and directional wheels are fixedly arranged at the bottom of the mobile platform.
As a further technical scheme, a laser sensor is arranged on the side of the moving platform to acquire position information between the moving platform and the smelting furnace.
As a further technical scheme, an ultrasonic sensor is further arranged on the side of the mobile platform to acquire the position information of the mobile platform and the obstacles on the moving path.
As a further technical scheme, a camera is further arranged on the side of the mobile platform to acquire identity information of the smelting furnace.
As a further technical scheme, the temperature measuring module, the laser sensor, the ultrasonic sensor and the camera are all communicated with the control module.
In a second aspect, the present invention further provides a working method for measuring the temperature of a melting furnace by using the above-mentioned mobile mechanical arm system, including the following steps:
determining the position of a smelting furnace to be detected, moving a mobile platform to a set area, and planning a path in real time in the moving process;
finely adjusting the position of the moving platform to align the position of the smelting furnace;
acquiring identity information of a smelting furnace, moving a mechanical arm into the smelting furnace after a sealing cover of the smelting furnace is opened, rotating a rotating mechanism for a set time, and detecting the temperature of the smelting liquid in the smelting furnace by a temperature measuring element;
and after the current smelting furnace is detected, determining the position of the next smelting furnace to be detected, and repeating the steps to complete the detection of the temperature of all the smelting furnaces.
As a further technical scheme, the moving steps of the mobile platform are as follows:
acquiring the coordinates of the current position of the mobile platform to obtain a traveling route from the mobile platform to the smelting furnace to be detected;
and adjusting the angle of the moving platform to move towards the smelting furnace to be detected, acquiring the label position information of the moving position in the moving process, and adjusting the angle and the speed of the moving platform in real time until the smelting furnace moves to a set area.
As a further technical scheme, the step process of the fine adjustment of the position of the mobile platform is as follows:
the laser sensor emits laser, the positioning beacon reflects the laser to obtain the position of the mobile platform receiving the returned laser, the deviation of the mobile platform is calculated according to the center of the laser, and the mobile platform rotates when the deviation occurs; and controlling the moving platform to move back and forth according to the optimal distance between the moving platform and the smelting furnace until the moving platform reaches the designated position.
As a further technical scheme, the detection data of the temperature measuring element is transmitted to the control module, and after the detection is completed each time, the mechanical arm is retracted to a non-working state, and the sealing cover of the smelting furnace is closed.
The beneficial effects of the invention are as follows:
(1) according to the invention, the mobile mechanical arm is positioned in real time through the acquired position information of the ground positioning label and the smelting furnace positioning label, and the moving path of the mobile mechanical arm is planned in real time according to the position information, so that the mobile mechanical arm can automatically move to a specified smelting furnace, the automation is realized, and the strain capacity of the mobile mechanical arm is improved.
(2) The ultrasonic sensor and the laser sensor are arranged on the moving platform, so that the obstacles on the moving path can be effectively detected, the position relation between the moving platform and the target smelting furnace can be determined, and the moving mechanical arm can safely and quickly reach the designated position.
(3) The rotating mechanism is arranged on the moving platform, so that impurities on the surface of the molten metal can be removed through the rotating action of the rotating mechanism without manual operation in the temperature measurement work of the molten metal, the influence of the impurities on the surface of the molten metal on the measurement accuracy is effectively avoided, the measurement accuracy of the thermocouple is improved, and the personal safety of workers is ensured.
(4) The identity of the smelting furnace is identified through the identity identification information, the identity information of the smelting furnace can be obtained after the two-dimensional code of the smelting furnace is identified, the temperature measurement times of the mobile platform and the temperature measurement time of each smelting furnace can be accurately recorded during temperature measurement, the service life of the thermocouple is calculated through the data, the accuracy of the thermocouple replacement time is ensured, and the thermocouple waste is avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.
FIG. 1 is a schematic diagram of the overall architecture of a mobile robotic arm system according to one or more embodiments of the present disclosure;
FIG. 2 is a schematic diagram of a mobile robotic arm according to one or more embodiments of the present invention;
FIG. 3 is a schematic diagram of a mobile robot thermometry module according to one or more embodiments of the present disclosure;
FIG. 4 is a flow diagram illustrating a path planning process for a mobile robot according to one or more embodiments of the invention;
FIG. 5 is a flow diagram illustrating a precise docking of a mobile robotic arm according to one or more embodiments of the present disclosure;
FIG. 6 is a schematic flow diagram illustrating a temperature measurement of a mobile robot according to one or more embodiments of the present disclosure;
in the figure: the mutual spacing or size is exaggerated to show the position of each part, and the schematic diagram is only used for illustration;
wherein, 1, an upper computer; 2. a control module; 3. a drive module; 4. a sensing module; 5. a first communication module; 6. a second communication module; 7. a smelting furnace; 8. a mobile platform; 9. a mechanical arm; 10. a rotating mechanism; 11. a telescopic sleeve; 12. a laser sensor; 13. an ultrasonic sensor; 14. a high-definition camera; 15. a tag reader; 16. a thermocouple; 17. a universal wheel; 18. a directional wheel; 19. a large arm; 20. a small arm; 21. moving the robotic arm load device; 22. and (4) smelting liquid.
Detailed Description
It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
As introduced in the background art, the invention provides a movable mechanical arm system for detecting the temperature of a smelting furnace and a working method thereof, aiming at solving the technical problems that the automation degree of the temperature measurement of the smelting furnace is low and the temperature measurement work of a thermocouple is easily influenced by impurities on the surface of the smelting liquid in the prior art.
Example 1
In a typical embodiment of the present invention, as shown in fig. 1 to 3, a mobile mechanical arm system for detecting a temperature of a smelting furnace is provided, which includes an upper computer 1 and a mobile mechanical arm, and the mobile mechanical arm system drives a temperature measuring device to detect a temperature of a smelting furnace 7.
The mobile mechanical arm is composed of a sensing module 4, a mobile platform 8, a mechanical arm 9, a rotating mechanism 10, a telescopic pipe 11, mobile mechanical arm load equipment 21 and wheels, wherein the sensing module, the mechanical arm and the mobile mechanical arm load equipment are all arranged on the mobile platform, the wheels are arranged at the bottom of the mobile platform, and the rotating mechanism and the telescopic pipe are all arranged on the mechanical arm.
The four wheels are respectively two universal wheels 17 and two directional wheels 18, the two universal wheels are used as driving wheels and are arranged in front of the moving platform, and the two directional wheels are used as driven wheels and are arranged behind the moving platform.
The mobile mechanical arm load equipment is composed of a control module 2, a driving module 3, a communication module and a power supply, wherein the power supply is used for electric power support of work of each module, the communication module comprises a first communication module 5 and a second communication module 6, an upper computer sends an instruction to the mobile mechanical arm through the first communication module, the mobile mechanical arm goes to a specified smelting furnace, and the mobile mechanical arm is in communication control with the smelting furnace through the second communication module.
The control module plays a role in master control, transmits and receives information with the upper computer through the first communication module, and controls the driving module according to the received control instruction so as to drive the movement of the movable mechanical arm and the driving of the mechanical arm.
The sensing module is mainly used for collecting information, the mobile mechanical arm collects position information, obstacle information and smelting furnace information through the sensing module and transmits the information to the control module, the control module transmits the information to the upper computer through the first communication module, the upper computer determines a control instruction according to the information and transmits the control instruction to the mobile mechanical arm, and therefore the mobile mechanical arm is controlled to act according to the control instruction.
Specifically, the perception module includes laser sensor 12, ultrasonic sensor 13, high definition digtal camera 14, label reader 15 and thermocouple 16, wherein, laser sensor, ultrasonic sensor and high definition digtal camera all set up the place ahead at moving platform, be used for acquireing the positional information between removal arm and the smelting furnace respectively, the positional information of barrier and the identity information of smelting furnace on removal arm and the removal route, label reader sets up the below at moving platform, a positional information for reading installation ground location label, thermocouple detachable sets up on the arm, and fix the top at moving platform through the arm.
Wherein, the arm comprises big arm 19 and forearm 20, big arm setting is in moving platform's top, the big arm rotatable coupling of forearm one end, the other end is equipped with slewing mechanism 10, slewing mechanism's effect is through the impurity removal on rotatory action with smelt 22 surfaces, the fixed telescope tube that is equipped with in below of forearm, the detachable thermocouple that is provided with in the telescope tube, the thermocouple lead-out wire is connected through the terminal box of telescope tube end-to-end connection, the telescope tube can drive the thermocouple and carry out concertina movement to adapt to the smelt of the different degree of depth.
Specifically, when the mechanical arm is moved to measure the temperature, the mechanical arm is moved to the front of a smelting furnace, the small arm is moved to smelting liquid, the rotating mechanism removes impurities on the surface of the smelting liquid, the telescopic sleeve extends into the smelting liquid, the thermocouple measures the temperature, and after the temperature measurement is finished, the telescopic sleeve is retracted and the small arm is retracted.
It is understood that the rotating mechanism is of an existing structure, and is not limited to a particular structure as long as impurities on the surface of the molten metal can be removed by the rotating action.
The above-described robot arm has four degrees of freedom, that is, the large arm can perform rotation and pitching motion, the small arm can perform supination motion, and the end rotating mechanism can perform rotation motion.
The ground positioning label is arranged on the ground, when the mobile mechanical arm moves, the mobile mechanical arm can be used for acquiring position information of the mobile mechanical arm through the positioning label arranged on the ground, the angle sensor is further arranged on the mechanical arm, the angle information of the mobile mechanical arm relative to the ground positioning label can be determined through the angle sensor, the angle information is transmitted to the upper computer through the first communication module, and the mobile mechanical arm moving path and the angle rotation planning are realized under the action of the upper computer.
The place ahead of smelting furnace is installed the location beacon, and this location beacon adopts high temperature resistant glass to make to prevent the damage of high temperature messenger location beacon, when the removal arm reachs the assigned position, can carry out the calibration of position according to the location beacon.
Specifically, laser sensor 12 is installed in moving platform's the place ahead, can launch and receive the laser that returns, when moving smelting furnace the place ahead, take place laser through laser sensor, laser reflects back the mobile manipulator under the effect of location beacon, laser sensor is through receiving the signal that returns, and export signal information to the host computer through first communication module, the relative position of mobile manipulator and smelting furnace can be calculated through the angle and the time of returning laser to the host computer, and transmit control command to mobile manipulator through first communication module, control module control mobile manipulator accurate berth at the assigned position.
The smelting furnace is characterized in that a two-dimensional code for identity recognition is further installed in front of the smelting furnace, the two-dimensional code is made of high-temperature-resistant materials and used for moving a mechanical arm to read and record identity information of the smelting furnace, and the moving mechanical arm sends an instruction to the smelting furnace through a second communication module to control a furnace cover of the smelting furnace to be opened.
Example 2
In another exemplary embodiment of the present application, as shown in fig. 4 to 6, an operating method of a mobile mechanical arm system for detecting the temperature of a smelting furnace is provided, which specifically comprises the following steps:
step 1: after the upper computer receives the temperature measurement instruction, the upper computer sends the temperature measurement instruction to remove the arm through first communication module, removes the arm and begins to move, and real-time detection ground location label in the motion process to upload to the upper computer, the upper computer carries out route planning in real time, and send the instruction to remove the arm, concrete step as follows:
step 1.1: the upper computer marks the next smelting furnace to be measured, calculates a required path and plans a moving path of the moving mechanical arm;
step 1.2: firstly, the mobile mechanical arm reads the label at the nearest position to obtain the coordinate of the current position of the mobile mechanical arm, and the coordinate is marked as (x)0，y0)；
Step 1.3: aiming at a route needing to be advanced, the current angle is obtained through an angle sensor, a control module sends an instruction to a driver, and the angle of the movable mechanical arm is adjusted;
step 1.4: the mobile mechanical arm moves towards the target direction, when the tag reader reads the next tag, the current tag position is recorded, and the current coordinate (x) is obtained1，y1)；
Step 1.5: calculating to obtain the advancing direction of the mobile mechanical arm according to the read label information
Reading the value of the angle sensor, according to the targetThe advancing direction of the mechanical arm is adjusted by position, and the advancing speed of the movable mechanical arm is obtained by calculation
Adjusting the speed of the movable mechanical arm;
step 1.6: the mobile mechanical arm moves towards the target direction, when the tag reader reads the next tag, the current tag position is recorded, and the current coordinate (x) is obtainedn，yn)；
Step 1.7: calculating to obtain the advancing direction of the mobile mechanical arm according to the read label information
Reading the value of the angle sensor, adjusting the advancing direction of the mechanical arm according to the target position, and calculating to obtain the advancing speed of the movable mechanical arm
Adjusting the speed of the movable mechanical arm;
step 1.8: when the mobile mechanical arm reads the label at the designated position, the motion is stopped.
When the mobile mechanical arm moves according to a planned path, because a plurality of sundries exist on the ground of a smelting furnace factory, the movement of the mobile mechanical arm can be influenced, therefore, the mobile mechanical arm can detect the distance d from a barrier through an ultrasonic sensor arranged in front of a mobile platform, and set a distance threshold value from the barrier, and the distance d detected by the ultrasonic sensor is compared with the threshold value to adjust the movement of the mobile mechanical arm, and the method comprises the following specific steps:
step 1.1.1: when the ultrasonic sensor detects that the distance between the obstacles is the first threshold value d1, the mobile mechanical arm starts to decelerate and continues to move in the current direction;
step 1.1.2: when the ultrasonic sensor detects that the distance between the obstacles is the second threshold value d2, the mobile mechanical arm starts to decelerate until the mobile mechanical arm stops, and continues to move after turning left or right;
step 1.1.3: when the ultrasonic sensor detects that the distance between the obstacles is smaller than a third threshold d3, the mobile mechanical arm stops moving forwards and moves backwards until the threshold is larger than d3, and then turns left or right and continues moving;
step 1.1.4: when the tag reader reads the current position information, the current position information is sent to the upper computer through the first communication module, the upper computer carries out path planning again, and an instruction is sent to the mobile mechanical arm.
Step 2: after the mobile mechanical arm reaches a designated area, the position of the mobile mechanical arm is adjusted, so that the mobile mechanical arm can successfully measure the temperature of the smelting furnace; a laser sensor is arranged in front of the movable mechanical arm and can transmit and receive returned laser, and a circular positioning beacon is arranged in front of the smelting furnace and can reflect the laser transmitted by the movable mechanical arm. The positioning beacon is made of high-temperature-resistant glass, the laser sensor calculates the relative position of the smelting furnace through the angle and time of returning laser light by receiving the returned signal, and fine adjustment is carried out on the movable mechanical arm, so that the movable mechanical arm is accurately parked at a specified position. The method comprises the following specific steps:
step 2.1: a laser sensor in front of the mobile mechanical arm emits laser, and a positioning beacon reflects the laser;
step 2.2: the positions (a, b) and the time t of the mobile mechanical arm receiving the returned laser;
step 2.3: with laser at the center (a)0，b0) Calculating delta a-a0When a is equal to Δ a>When 0, the mobile robot arm rotates to the left, when Δ a<When 0, the mobile mechanical arm rotates rightwards;
step 2.4: when the delta a is equal to 0, the mobile mechanical arm stops moving;
step 2.5: calculating the distance between the movable mechanical arm and the smelting furnace, and setting the optimal distance0When l is<l0When moving the arm backwards, when>l0When the moving mechanical arm moves forwards, when l is equal to l0When the robot arm moves, the robot arm stops moving;
step 2.6: after the mobile mechanical arm reaches the designated position, the identity information of the smelting furnace is scanned through the high-definition camera, and the serial number of the designated smelting furnace is recorded.
And step 3: reach assigned position and accurate stopping at the motion of removal arm, carry out the temperature measurement to appointed smelting furnace, remove the high definition digtal camera scanning smelting furnace's that the arm is through carrying two-dimensional code, record smelting furnace information to reach the host computer through first communication module, after successful discernment smelting furnace identity information, smelt the bell and open, remove the arm and begin the temperature measurement. The method comprises the following specific steps:
step 3.1: the mobile mechanical arm reads identity information of the smelting furnace and records the serial number of the smelting furnace;
step 3.2: the mobile mechanical arm sends an instruction to the smelting furnace through the second communication module, and a sealing cover of the smelting furnace is opened;
step 3.3: moving the small arm of the mechanical arm to the solution, and starting to rotate the rotating mechanism;
step 3.4: after the rotating mechanism rotates for 3 seconds, the telescopic sleeve below the small arm extends into the solution, and temperature measurement is started;
step 3.5: the thermocouple converts the measured temperature signal into a voltage signal to be output, and the digital signal is sent to the control module through the DA converter;
step 3.6: the control module sends the measured temperature value to the upper computer through the first communication module;
step 3.7: after the upper computer receives the measured temperature information, sending an instruction to the mobile mechanical arm through the first communication module, and withdrawing the telescopic sleeve of the mobile mechanical arm;
step 3.8: the mechanical arm is moved to be retracted to a non-working state;
step 3.9: the mobile mechanical arm sends a signal to the smelting furnace through the second communication module;
step 3.10: the melting furnace closes the cover.
And 4, step 4: the mobile mechanical arm is used for measuring the temperature of a specified smelting furnace and uploading the measured temperature to the upper computer through the first communication module, the upper computer issues a next smelting furnace temperature measurement instruction to the mobile mechanical arm through the first communication module, a path is planned, and the steps 1-3 are repeated.
And 5: when all the smelting furnaces are completely measured and no measurement task is available temporarily, the upper computer sends an instruction to the movable mechanical arm, and the movable mechanical arm stops at a specified stopping position.
Step 6: the movable mechanical arm uploads the temperature measurement time and times to the upper computer in real time, and when the thermocouple reaches the service life, the movable mechanical arm stops at a specified position and is manually used for replacing the thermocouple.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a remove arm system for smelting furnace temperature detection, characterized by, including moving platform, the moving platform top sets up the arm, and the arm tip sets up temperature measurement module, and temperature measurement module includes telescopic tube and slewing mechanism, and telescopic tube connects in the arm below, and telescopic tube inside sets firmly temperature measurement component, and slewing mechanism connects in the arm end in order to clear away the smelting liquid surface impurity in order to rotate before the temperature measurement.
2. The mobile robotic arm system of claim 1, wherein a tag reader is disposed on a bottom of the mobile platform to read position information of the positioning tag, and a universal wheel and an orientation wheel are disposed on the bottom of the mobile platform.
3. The mobile robotic arm system of claim 1, wherein a laser sensor is provided on a side of the mobile platform to obtain positional information between the mobile platform and the furnace.
4. The mobile robotic arm system of claim 1, wherein the side of the mobile platform is further configured with an ultrasonic sensor to obtain position information of the mobile platform and an obstacle in the path of travel.
5. The mobile robotic arm system of claim 1, wherein a camera is further provided on a side of the mobile platform to obtain identity information of the furnace.
6. The mobile robotic arm system of claim 1, wherein the temperature measurement module, the laser sensor, the ultrasonic sensor, and the camera are in communication with the control module.
7. The working method for measuring the temperature of a smelting furnace by using the mobile mechanical arm system according to any one of claims 1 to 6 is characterized by comprising the following steps:
determining the position of a smelting furnace to be detected, moving a mobile platform to a set area, and planning a path in real time in the moving process;
finely adjusting the position of the moving platform to align the position of the smelting furnace;
acquiring identity information of a smelting furnace, moving a mechanical arm into the smelting furnace after a sealing cover of the smelting furnace is opened, rotating a rotating mechanism for a set time, and detecting the temperature of the smelting liquid in the smelting furnace by a temperature measuring element;
and after the current smelting furnace is detected, determining the position of the next smelting furnace to be detected, and repeating the steps to complete the detection of the temperature of all the smelting furnaces.
8. The method of claim 7, wherein the step of moving the movable platform comprises the steps of:
acquiring the coordinates of the current position of the mobile platform to obtain a traveling route from the mobile platform to the smelting furnace to be detected;
and adjusting the angle of the moving platform to move towards the smelting furnace to be detected, acquiring the label position information of the moving position in the moving process, and adjusting the angle and the speed of the moving platform in real time until the smelting furnace moves to a set area.
9. The method of claim 7, wherein the step of moving the platform to fine-tune the position comprises the steps of:
the laser sensor emits laser, the positioning beacon reflects the laser to obtain the position of the mobile platform receiving the returned laser, the deviation of the mobile platform is calculated according to the center of the laser, and the mobile platform rotates when the deviation occurs; and controlling the moving platform to move back and forth according to the optimal distance between the moving platform and the smelting furnace until the moving platform reaches the designated position.
10. The method of claim 7, wherein the data from the temperature sensing element is transmitted to the control module, and each time the sensing is completed, the robotic arm is retracted to a non-operational state and the furnace lid is closed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111074260.XA CN113701499B (en) | 2021-09-14 | 2021-09-14 | Movable mechanical arm system for detecting temperature of smelting furnace and working method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111074260.XA CN113701499B (en) | 2021-09-14 | 2021-09-14 | Movable mechanical arm system for detecting temperature of smelting furnace and working method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113701499A true CN113701499A (en) | 2021-11-26 |
| CN113701499B CN113701499B (en) | 2024-01-19 |
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| GB2104423A (en) * | 1981-08-20 | 1983-03-09 | Cabot Corp | Esr hollows molten metal/slag interface detection |
| CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
| CN205506219U (en) * | 2016-03-16 | 2016-08-24 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Air blowing type quick temperature measurement rifle |
| CN108034840A (en) * | 2017-11-30 | 2018-05-15 | 安徽省恒伟铋业有限公司 | A kind of thick bismuth automation rectification systems and its operating method |
| CN108746516A (en) * | 2018-06-07 | 2018-11-06 | 武汉科技大学 | A kind of ladle thermometric sampler |
| CN213515026U (en) * | 2020-11-22 | 2021-06-22 | 湖南化工职业技术学院（湖南工业高级技工学校） | Temperature measuring device of magnesium smelting reduction furnace |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2104423A (en) * | 1981-08-20 | 1983-03-09 | Cabot Corp | Esr hollows molten metal/slag interface detection |
| CN105500406A (en) * | 2015-12-25 | 2016-04-20 | 山东建筑大学 | Transformer substation switch box operation mobile robot, working method and system |
| CN205506219U (en) * | 2016-03-16 | 2016-08-24 | 甘肃酒钢集团宏兴钢铁股份有限公司 | Air blowing type quick temperature measurement rifle |
| CN108034840A (en) * | 2017-11-30 | 2018-05-15 | 安徽省恒伟铋业有限公司 | A kind of thick bismuth automation rectification systems and its operating method |
| CN108746516A (en) * | 2018-06-07 | 2018-11-06 | 武汉科技大学 | A kind of ladle thermometric sampler |
| CN213515026U (en) * | 2020-11-22 | 2021-06-22 | 湖南化工职业技术学院（湖南工业高级技工学校） | Temperature measuring device of magnesium smelting reduction furnace |
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