CN114526675B

CN114526675B - Automatic device of billet positioning and measuring manipulator

Info

Publication number: CN114526675B
Application number: CN202210148776.2A
Authority: CN
Inventors: 程煌; 章海东
Original assignee: Shanghai Dongzhen Metallurgy Engineering Technology Co ltd
Current assignee: Shanghai Dongzhen Metallurgy Engineering Technology Co ltd
Priority date: 2022-02-18
Filing date: 2022-02-18
Publication date: 2023-05-26
Anticipated expiration: 2042-02-18
Also published as: CN114526675A

Abstract

The invention relates to a billet positioning and measuring manipulator automation device which comprises a manipulator, a laser range finder, a hydraulic station and a control cabinet, wherein the manipulator comprises a mounting seat, two oil cylinders, a large mechanical arm, a small mechanical arm and three pull rods, the hydraulic station comprises two hydraulic pumps, two hydraulic pump motors, an oil tank, a heater, two pressure sensors, two proportional direction regulating valves, an electromagnetic reversing valve, an overflow valve, an oil return filter, a high oil level gauge and a low oil level gauge, a PLC (programmable logic controller), a circuit breaker, a contactor and a thermal relay are arranged in the control cabinet, the surface of the control cabinet is provided with an indicator lamp and a button, and a PLC (programmable logic controller) in the control cabinet is connected with the two pressure sensors, the oil return filter, the high oil level gauge and the low oil level gauge of the hydraulic station, the two proportional direction regulating valves, the electromagnetic reversing valve and the overflow valve and is also connected with the laser range finder on the manipulator to form an automatic control system. The invention has high automation degree, can be operated without manual work, greatly improves labor production efficiency, reduces waste caused by measurement errors, and saves labor cost and material cost.

Description

Automatic device of billet positioning and measuring manipulator

Technical Field

The invention belongs to the technical field of metallurgical electromechanical integrated engineering equipment, and particularly relates to a high-precision and reliable-adjustment type automatic device for a steel billet positioning and measuring manipulator, which is used for precisely measuring a position of a high-temperature steel billet by utilizing laser.

Background

In the process of preheating the head of the steel billet, the flame cleaning machine needs to manually judge that the head of the steel billet is positioned relative to the burner to position the steel billet, which is time-consuming and labor-consuming, has large measurement error, and is improved to the laser ranging device to position the steel billet instead of manually positioning in order to reduce the waste caused by the measurement error. The laser range finder is fixed on the manipulator, and the manipulator stretches out when laser ranges, withdraws after ranging is completed, so that the cleaned steel billet is avoided. The mechanical hand working range is telescopic in two-dimensional directions, and the stability of the laser range finder must be ensured during working.

Disclosure of Invention

The invention aims to provide a billet positioning and measuring manipulator automation device.

The invention provides a billet positioning and measuring manipulator automation device which consists of a manipulator, a laser range finder, a hydraulic station and a control cabinet, wherein:

the manipulator comprises mount pad, two hydro-cylinders, big arm, little arm and three pull rod, wherein: the large mechanical arm is connected to the mounting seat through a connecting shaft, one end of the large mechanical arm is connected with the small mechanical arm through a connecting shaft, and the other end of the small mechanical arm is connected with the laser range finder; one end of the first oil cylinder is connected to the mounting seat through a connecting shaft, and the other end of the first oil cylinder is connected to the large mechanical arm through a connecting shaft, so that the first oil cylinder is controlled to extend and retract, and the large mechanical arm can be driven to rotate along the connecting shaft around the mounting seat; one end of the second oil cylinder is connected to the mounting seat through a connecting shaft, the other end of the second oil cylinder is connected to the power arm through a connecting shaft, the other end of the power arm is connected with the second pull rod through a connecting shaft, the other end of the second pull rod is connected with the small mechanical arm through a connecting shaft, the extension and retraction of the second oil cylinder are controlled, the power arm can be driven to rotate, the second pull rod is driven to move up and down, and finally the small mechanical arm is driven to rotate with the connecting shaft of the large mechanical arm; the first pull rod is connected to the mounting seat through a connecting shaft, the other end of the first pull rod is connected with the connecting plate, the other end of the connecting plate is connected with the third pull rod, the other end of the connecting plate is connected with the laser range finder, and the first pull rod, the connecting plate and the third pull rod are additionally arranged to play a role of balancing the mechanical arm; the first oil cylinder and the second oil cylinder are controlled to extend and retract, so that the laser range finder is driven to reach a measuring position from a standby position, and laser range finding is completed;

the hydraulic station consists of a first hydraulic pump, a second hydraulic pump, a first hydraulic pump motor, a second hydraulic pump motor, an oil tank, a heater, a first pressure sensor, a second pressure sensor, a first proportional direction regulating valve, a second proportional direction regulating valve, an electromagnetic reversing valve, an overflow valve, an oil return filter, a high oil level gauge and a low oil level gauge, wherein the high oil level gauge, the low oil level gauge and the heater are arranged in the oil tank; two loops are arranged in the hydraulic station, and the first loop is that: the oil tank is respectively connected with the first hydraulic pump and the second hydraulic pump through pipelines, the output ends of the first hydraulic pump and the second hydraulic pump are respectively connected with the input end of a first proportional direction regulating valve through pipelines, the output end of the first proportional direction regulating valve is connected with a first pressure sensor through a bypass pressure guiding pipe, the output end of the first proportional direction regulating valve is connected with one end of a first oil cylinder of the manipulator through a pipeline, the other end of the first oil cylinder of the manipulator is connected with the first proportional direction regulating valve through a pipeline, the first proportional regulating valve is connected with an electromagnetic reversing valve through a pipeline, the electromagnetic reversing valve is connected with an overflow valve through a pipeline, and the overflow valve is connected with the oil tank through a pipeline; and a second strip: the oil tank is respectively connected with the first hydraulic pump and the second hydraulic pump through pipelines, the output ends of the first hydraulic pump and the second hydraulic pump are respectively connected with a second proportional direction regulating valve through pipelines, the second proportional direction regulating valve is connected with a second pressure sensor through a pipeline and a bypass pressure guiding pipe, the output end of the second proportional direction regulating valve is connected with one end of a second oil cylinder of the manipulator through a pipeline, hydraulic oil at the other end of the second oil cylinder of the manipulator is connected with the second proportional direction regulating valve through a pipeline, the second proportional direction regulating valve is connected with an electromagnetic reversing valve through a pipeline, the electromagnetic reversing valve is connected with an overflow valve through a pipeline, and the overflow valve is connected with the oil tank through a pipeline;

the control cabinet is internally provided with a PLC, a circuit breaker, a contactor and a thermal relay, the surface of the control cabinet is provided with an indicator lamp and a button, and the control cabinet is internally provided with a control loop and a control main loop; the PLC of the control loop is respectively connected with the indicator lamp and the button; the first circuit breaker, the first contactor and the first thermal relay of the main circuit in the cabinet are connected through a large-section wire in sequence; the second circuit breaker, the second contactor and the second thermal relay of the main circuit in the cabinet are connected through a large-section wire in sequence; the third circuit breaker and the third contactor of the main circuit in the cabinet are connected through a large-section wire in sequence;

the PLC in the control cabinet is respectively connected with a first pressure sensor, a second pressure sensor, an oil return filter, a high oil level gauge and a low oil level gauge of the hydraulic station through control cables, and signals of the first pressure sensor, the second pressure sensor, the oil return filter, the high oil level gauge and the low oil level gauge are fed back to the PLC; the PLC in the control cabinet is respectively connected with a first proportional direction regulating valve, a second proportional direction regulating valve, an electromagnetic reversing valve and an overflow valve of the hydraulic station through control cables, and the PLC sends control signals to the valves; the first thermal relay of the main loop in the cabinet is connected with a first hydraulic pump motor of the hydraulic station sequentially through a main loop cable; the second thermal relay of the main loop in the cabinet is connected with a second hydraulic pump motor of the hydraulic station sequentially through a main loop cable; the third contactor of the main loop in the cabinet is connected with the hydraulic station heater through a main loop cable;

the PLC is connected with a laser range finder on the manipulator through a cable, and a laser range finding signal is fed back to the PLC.

In the invention, the first oil cylinder and the second oil cylinder are both hydraulic oil cylinders.

In the invention, the laser range finder is used for measuring the distance to the billet, and the parameters of the laser range finder are as follows:

measurement range: 0.2-155 m, 6% reflectance

0.2-460 m, 90% reflectance

Resolution ratio; 0.001-100 mm

Response time: 3-384 ms

Maximum surface temperature: +1,400 DEG C

Maximum moving speed: 128 m/s

Analog output: 4-20 mA.

In the invention, the first hydraulic pump and the second hydraulic pump provide power for extending and retracting for the first oil cylinder and the second oil cylinder of the manipulator. The hydraulic station oil tank is filled with hydraulic oil to provide power output medium for the oil cylinder, and the oil tank is filled with an oil level gauge for detecting the high and low of the oil level, and the signal is uploaded to the control cabinet to display the high and low of the oil level. The heater and the temperature control device ensure that the hydraulic oil works in a proper temperature range. The pressure sensor collects the output pressure of the hydraulic pump. The proportional direction regulating valve can control the extension or retraction of the oil cylinder, and can also control the speed of the movement of the hydraulic oil cylinder through the opening degree regulation of the valve. The oil tank is provided with a sensor for detecting the blockage of the oil return filter, and when the oil return filter is blocked, a signal is uploaded to the control cabinet for blocking alarm display.

In the invention, the control cabinet is internally provided with a PLC, a breaker, a contactor, a thermal relay and other elements, the cabinet surface is provided with an indicator lamp, a button and other elements, the operation of the hydraulic pump and the heater of the oil tank can be controlled by operating the button on the control cabinet, the PLC controls the hydraulic proportional direction regulating valve through analog quantity signals, thereby controlling the direction of hydraulic oil which is transmitted to two oil cylinders of the manipulator to enable the manipulator to complete the actions such as extending, stopping and retracting, and the opening of the hydraulic proportional direction regulating valve can also be regulated to regulate the action speed of the manipulator.

The invention has the beneficial effects that: the invention is mainly applied to a billet positioning link in preheating in a flame billet cleaning production line in the metallurgical industry, can realize high-precision, rapid and high-reliability positioning measurement by utilizing the advantages of combining a manipulator and a laser measuring device with high-speed operation and control of a PLC, has wide adaptability, and can measure billets of different specifications by selecting different control menus. Because degree of automation is high, can not need the manual work to operate, compare with manual positioning, improve labor production efficiency greatly, reduce because the waste that measuring error arouses, practice thrift human cost and material cost.

Drawings

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic diagram of a standby position of the present invention;

FIG. 3 is a schematic view of the present invention moved to an intermediate position;

FIG. 4 is a schematic view of a measuring position according to the present invention;

FIG. 5 is a graph of cylinder motion;

FIG. 6 is a schematic structural illustration of a hydraulic station;

FIG. 7 is a structural illustration of a control cabinet;

FIG. 8 is a diagram of the connection between a hydraulic station and a control cabinet and a manipulator;

reference numerals in the drawings: 1. the hydraulic control system comprises a mounting seat, 2, a first oil cylinder, 3, a second oil cylinder, 4, a first pull rod, 5, a large mechanical arm, 6, a connecting plate, 7, a second pull rod, 8, a small mechanical arm, 9, a third pull rod, 10, a laser range finder, 11, a power arm, 12, a first pressure sensor, 13, a second pressure sensor, 14, a first proportional direction regulating valve, 15, a second proportional direction regulating valve, 16, an overflow valve, 17, an electromagnetic reversing valve, 18, a first hydraulic pump, 19, a first hydraulic pump motor, 20, a second hydraulic pump, 21, a second hydraulic pump motor, 22, an oil return filter, 23, a high oil level gauge, 24, a low oil level gauge, 25, a heater, 26, an oil tank, 27, a PLC,28, a first circuit breaker, 29, a second circuit breaker, 30, a third circuit breaker, 31, a first contactor, 32, a second contactor, 33, a third contactor, 34, a first thermal relay, 35, a second thermal relay, 36, an indicator lamp, 37 and a button.

Detailed Description

The invention is further illustrated by the following examples in connection with the accompanying drawings.

Example 1:

the whole measuring process of the measuring manipulator is that the measuring manipulator firstly moves from a standby position (see fig. 2) to a middle position (fig. 3), then moves from the middle position to a measuring position, and is measured by a laser range finder, and after the measurement is completed, the measuring manipulator firstly returns to the middle position (fig. 3) and then returns to the standby position (fig. 2), and the measuring process is finished. The angles and ram extension of fig. 2-4 are plotted.

The detailed working process of the measuring manipulator is as follows:

(1) Measuring manipulator movement to measuring position

The first step: the robot arm moves from the standby position (fig. 2) to the intermediate position (fig. 3). The conveying roller control system sends out a measurement command, the second oil cylinder 3 stretches out firstly, so that the small mechanical arm 8 rotates anticlockwise around the connecting shaft with the large mechanical arm 5 and gradually lifts up the height of the conveying roller along the stippled line, collision of the laser range finder 10 and the conveying roller can be avoided, the position where the laser range finder collides with the conveying roller and the included angle between the laser range finder 10 and the large mechanical arm 5 is about 53 degrees, and the position stops (at the moment, the second oil cylinder 3 stretches out to about 898.5 mm), as shown in fig. 3.

And a second step of: the measuring robot moves from the intermediate position (fig. 3) to the measuring position (fig. 4). When the second cylinder 3 is extended to about 898.5mm (the second cylinder 3 sends out a measurement position signal), the first cylinder 2 starts to extend, so that the large mechanical arm 5 rotates clockwise around the connecting shaft with the mounting seat 1 to a position with an included angle of about 41 DEG with the vertical (when the first cylinder 2 extends to about 1044.2 mm), the second cylinder 3 is kept stationary, and as the large mechanical arm 5 rotates clockwise around the connecting shaft with the mounting seat 1 and the distance limiting function of the second pull rod 7 on the right side of the large mechanical arm, the included angle between the small mechanical arm 8 and the large mechanical arm 5 is gradually increased to about 104 DEG, at the moment, the laser distance meter 10 is sent by the mechanical arm to reach the measurement position (the first cylinder 2 sends out a measurement position signal), as shown in fig. 4, the laser distance meter 10 starts to perform laser distance measurement, and the laser distance meter 10 sends out a distance 4-20 mA signal.

(2) Returning the measuring manipulator to the standby position

The first step: the conveying roller control system sends a command for returning to the standby position, the first oil cylinder 2 firstly retracts (the second oil cylinder 3 firstly retracts to enable the large mechanical arm 5 to drive the laser range finder 10 on the small mechanical arm 8 to be lifted, the laser range finder 10 collides with the conveying roller when the small mechanical arm 8 retracts, the second oil cylinder 3 is kept stationary, the large mechanical arm 5 rotates anticlockwise around a connecting shaft with the mounting seat 1 to a position with an included angle of about-10 degrees (at the moment, the first oil cylinder 2 completely retracts to send a standby position signal) and stops.

And a second step of: the second cylinder 3 starts to retract, the second cylinder 3 pulls the small mechanical arm to rotate clockwise to about 53 degrees around the connecting shaft with the large mechanical arm (at the moment, the second cylinder 3 is completely retracted and sends out a standby position signal), at the moment, the laser range finder 10 is sent back to the standby position by the mechanical arm, see fig. 2, a signal that the measuring mechanical arm returns to the standby position is sent to the conveying roller control system, the conveying roller can convey billets, and at the moment, the measuring mechanical arm distance measuring process is finished.

PLC control description:

(1) One travel switch is respectively arranged at the retraction position (standby position) and the extension position (measurement position) of the first oil cylinder 2, when the first oil cylinder 2 reaches the standby or measurement position, the travel switch is closed, a position signal is sent to a PLC, the PLC controls a hydraulic proportional directional valve, an oil way of the first oil cylinder 2 is cut off, and the first oil cylinder 2 stops advancing.

(2) One travel switch is respectively arranged at the retraction position (standby position) and the extension position (measurement position) of the second oil cylinder 3, when the second oil cylinder 3 reaches the standby or measurement position, the travel switch is closed, a position signal is sent to a PLC, the PLC controls a hydraulic proportional directional valve, an oil way of the second oil cylinder 3 is cut off, and the second oil cylinder 3 stops advancing.

(3) When the PLC controls the hydraulic proportional direction valve, the proportional valve is gradually opened or reduced by gradually increasing or reducing the signal current value output to the proportional valve, so that the oil cylinder has an acceleration or deceleration process, and the vibration of a manipulator can be avoided. The motion curve is shown in fig. 5.

In the invention, the travel switch arranged on the first oil cylinder 2 or the second oil cylinder 3 can be correspondingly adjusted according to different measuring objects.

As shown in fig. 6, the hydraulic station is composed of a first hydraulic pump 18, a second hydraulic pump 20, a first hydraulic pump motor 19, a second hydraulic pump motor 21, an oil tank 26, a heater 25, a first pressure sensor 12, a second pressure sensor 13, a first proportional direction regulating valve 14, a second proportional direction regulating valve 15, an electromagnetic directional valve 17, an overflow valve 16, an oil return filter 22, a high oil level gauge 23, a low oil level gauge 24, and pipes, and the oil tank 26 houses the high oil level gauge 23, the low oil level gauge 24, and the heater 25. Two loops are arranged in the hydraulic station: (1) The oil tank 26 is respectively connected with the first hydraulic pump 18 and the second hydraulic pump 20 through pipelines, is connected with the first proportional direction regulating valve 14 through a pipeline, is output through a pipeline, is connected with the first pressure sensor 12 through a bypass pressure guiding pipe in front of the pipeline output port, is output to the first oil cylinder 2 of the manipulator through a pipeline, is connected with the first proportional direction regulating valve 14 through a pipeline, is connected with the electromagnetic directional valve 17 through a pipeline, is connected with the overflow valve 16 through a pipeline, and is connected with the oil tank 26 through a pipeline; (2) The oil tank 26 is connected with the first hydraulic pump 18 and the second hydraulic pump 20 through pipelines, is connected with the second proportional direction regulating valve 15 through pipelines, is output through the pipelines, is connected with the second pressure sensor 13 through a bypass pressure guiding pipe in front of the pipeline output port, is output to the second oil cylinder 3 of the manipulator through the pipelines, is connected with the second proportional direction regulating valve 15 through the pipelines, is connected with the electromagnetic reversing valve 17 through the pipelines, is connected with the overflow valve 16 through the pipelines, and is connected with the oil tank 26 through the pipelines.

As shown in fig. 7, the control cabinet is internally provided with a PLC27, a first circuit breaker 28, a second circuit breaker 29, a third circuit breaker 30, a first contactor 31, a second contactor 32, a third contactor 33, a first thermal relay 34, a second thermal relay 35, and an indicator light 36 and a button 37 on the surface of the control cabinet. (1) The PLC27 of the control loop is respectively connected with an indicator light 36 and a button 37 of the counter surface; (2) The first circuit breaker 28, the first contactor 31 and the first thermal relay 34 of the main circuit in the cabinet are connected by a large-section wire in sequence; (3) The second circuit breaker 29, the second contactor 32 and the second thermal relay 35 of the main circuit in the cabinet are connected in sequence through a large-section wire; (4) The third circuit breaker 30 and the third contactor 33 of the main circuit in the cabinet are connected in sequence through a large-section wire.

As shown in fig. 8, the control cabinet is connected with the hydraulic station:

(1) The PLC27 in the control cabinet is connected with the first pressure sensor 12, the second pressure sensor 13, the oil return filter 22, the high oil level gauge 23 and the low oil level gauge 24 of the hydraulic station through control cables, and the signals are fed back to the PLC27; (2) The PLC27 in the control cabinet is connected with the first proportional direction regulating valve 14, the second proportional direction regulating valve 15, the electromagnetic reversing valve 17 and the overflow valve 16 of the hydraulic station through control cables, and the PLC27 sends control signals to the obtained signal valve; (3) The first thermal relay 34 of the main loop in the cabinet is connected with the first hydraulic pump motor 19 of the hydraulic station sequentially through a main loop cable; (3) The first thermal relay 34 of the main loop in the cabinet is connected with the second hydraulic pump motor 20 of the hydraulic station sequentially through a main loop cable; (4) The third contactor 33 of the main circuit in the cabinet is connected to the hydraulic station heater 25 by a main circuit cable.

As shown in fig. 8, the control cabinet is connected with the manipulator:

the PLC27 is connected with the laser range finder 10 on the manipulator through a cable, and a laser range finding signal is fed back to the PLC27.

As shown in fig. 8, the hydraulic station is connected with the manipulator:

(1) The hydraulic oil of the hydraulic station passes through the first proportional direction regulating valve 14, is output to one end of the first oil cylinder 2 of the manipulator through a pipeline, returns from the other end of the first oil cylinder 2 of the manipulator, is connected with the first proportional direction regulating valve 14 through a pipeline, is connected with the electromagnetic directional valve 17 through a pipeline, is connected with the overflow valve 16 through a pipeline, and returns to the oil tank 26 through a pipeline; (2) The hydraulic oil of the hydraulic station is output to one end of the second oil cylinder 3 of the manipulator through the second proportional direction regulating valve 15 and then returns from the other end of the second oil cylinder 3 of the manipulator through a pipeline, is connected with the second proportional direction regulating valve 15 through a pipeline, is connected with the electromagnetic directional valve 17 through a pipeline, is connected with the overflow valve 16 through a pipeline, and returns to the oil tank 26 through a pipeline.

Claims

1. The utility model provides a steel billet location measurement manipulator automation equipment, comprises manipulator, laser rangefinder, hydraulic pressure station and switch board, its characterized in that:

the hydraulic station consists of a first hydraulic pump, a second hydraulic pump, a first hydraulic pump motor, a second hydraulic pump motor, an oil tank, a heater, a first pressure sensor, a second pressure sensor, a first proportional direction regulating valve, a second proportional direction regulating valve, an electromagnetic reversing valve, an overflow valve, an oil return filter, a high oil level gauge and a low oil level gauge, wherein the high oil level gauge, the low oil level gauge and the heater are arranged in the oil tank; two loops are arranged in the hydraulic station, and the first loop is that: the oil tank is respectively connected with the first hydraulic pump and the second hydraulic pump through pipelines, the output ends of the first hydraulic pump and the second hydraulic pump are respectively connected with the input end of a first proportional direction regulating valve through pipelines, the output end of the first proportional direction regulating valve is connected with a first pressure sensor through a bypass pressure guiding pipe, the output end of the first proportional direction regulating valve is connected with one end of a first oil cylinder of the manipulator through a pipeline, hydraulic oil at the other end of the first oil cylinder of the manipulator is connected with the first proportional direction regulating valve through a pipeline, the first proportional regulating valve is connected with an electromagnetic reversing valve through a pipeline, the electromagnetic reversing valve is connected with an overflow valve through a pipeline, and the overflow valve is connected with the oil tank through a pipeline; and a second strip: the oil tank is respectively connected with the first hydraulic pump and the second hydraulic pump through pipelines, the output ends of the first hydraulic pump and the second hydraulic pump are respectively connected with a second proportional direction regulating valve through pipelines, the second proportional direction regulating valve is connected with a second pressure sensor through a pipeline and a bypass pressure guiding pipe, the output end of the second proportional direction regulating valve is connected with one end of a second oil cylinder of the manipulator through a pipeline, hydraulic oil at the other end of the second oil cylinder of the manipulator is connected with the second proportional direction regulating valve through a pipeline, the second proportional direction regulating valve is connected with an electromagnetic reversing valve through a pipeline, the electromagnetic reversing valve is connected with an overflow valve through a pipeline, and the overflow valve is connected with the oil tank through a pipeline;

2. The billet positioning measurement robot automated device of claim 1, wherein: the first oil cylinder and the second oil cylinder are both hydraulic oil cylinders.