CN115307783A - Method and controller for molten steel temperature measurement sampling system - Google Patents
Method and controller for molten steel temperature measurement sampling system Download PDFInfo
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- CN115307783A CN115307783A CN202210910754.5A CN202210910754A CN115307783A CN 115307783 A CN115307783 A CN 115307783A CN 202210910754 A CN202210910754 A CN 202210910754A CN 115307783 A CN115307783 A CN 115307783A
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 324
- 239000010959 steel Substances 0.000 title claims abstract description 324
- 238000005070 sampling Methods 0.000 title claims abstract description 128
- 238000009529 body temperature measurement Methods 0.000 title claims abstract description 56
- 238000000034 method Methods 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 178
- 239000002893 slag Substances 0.000 claims description 117
- 239000012466 permeate Substances 0.000 claims description 5
- 238000004861 thermometry Methods 0.000 claims description 4
- 239000000523 sample Substances 0.000 description 137
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- 238000003723 Smelting Methods 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
- G01K13/12—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials
- G01K13/125—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials for siderurgical purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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Abstract
The invention discloses a method and a controller for a molten steel temperature measurement sampling system, wherein the method for the molten steel temperature measurement sampling system comprises the following steps: controlling the multi-axis rotary mechanical arm to execute a first operation, so that the sampling paper tube extends into molten steel; determining the steel sample contained in the steel sample containing shell; controlling the multi-axis rotary mechanical arm to execute a second operation, so that the sampling paper tube extends into the opening of the clamping mechanism; controlling the clamping mechanism to fold and break the sampling paper tube so as to clamp the steel sample accommodating shell in the sampling paper tube; controlling the clamping mechanism to open so that the steel sample accommodating shell falls into the stripping mechanism; controlling a stripping mechanism to execute a stripping operation; determining that the steel sample accommodating shell is separated from the steel sample; the control peeling mechanism pours out the steel sample, and the sample is accomplished, has promoted the sample security, can peel off automatically to the steel sample after the sample.
Description
Technical Field
The invention relates to the technical field of ferrous metallurgy equipment, in particular to a method and a controller for a molten steel temperature measurement sampling system and the molten steel temperature measurement sampling system.
Background
After the temperature measurement and sampling operation of the molten steel is completed, the sampling mold needs to be taken out of the sampling probe, the steel sample is taken out of the sampling mold, and the quality of the molten steel in the steel ladle is judged through the test of the steel sample. The mode of taking out of steel sample at present is for artifical the sampling mould that strikes, and the upper and lower mould of mould that will sample is knocked open to take out the steel sample, because sampling mould high temperature appears the condition that sampling mould and steel sample splashes easily when knocking, have great potential safety hazard.
Disclosure of Invention
The invention aims to provide a method, a controller and a molten steel temperature measuring and sampling system for the molten steel temperature measuring and sampling system, which have the advantages of improving sampling safety and automatically stripping a sampled steel sample.
In order to achieve the above object, a first aspect of the present invention provides a method for a molten steel temperature measurement sampling system including a multi-axis rotary mechanical arm, a sampling paper tube detachably provided at a distal end of the multi-axis rotary mechanical arm and provided with a steel sample accommodating case inside, a clamping mechanism provided at one side of the multi-axis rotary mechanical arm, and a peeling mechanism rotatably provided below the clamping mechanism, the method comprising:
controlling the multi-axis rotary mechanical arm to execute a first operation, so that the sampling paper tube extends into molten steel;
determining the steel sample contained in the steel sample containing shell;
controlling the multi-axis rotary mechanical arm to execute a second operation, so that the sampling paper tube extends into the opening of the clamping mechanism;
controlling the clamping mechanism to fold and break the sampling paper tube so as to clamp the steel sample accommodating shell in the sampling paper tube;
controlling the clamping mechanism to open so that the steel sample accommodating shell falls into the stripping mechanism;
controlling a stripping mechanism to execute a stripping operation;
determining that the steel sample accommodating shell is separated from the steel sample;
and controlling the stripping mechanism to pour out the steel sample, and finishing sampling.
In an embodiment of the present invention, the peeling mechanism includes a peeling machine and a deflecting portion for driving the peeling machine to deflect, and controlling the peeling mechanism to perform the peeling operation includes:
controlling a deflection part to drive a stripping machine to deflect a first preset angle;
controlling the stripping machine to rotate at a first preset rotating speed.
In an embodiment of the present invention, the steel sample accommodating case includes a first case and a second case which are separable, the first case and the second case together form an accommodating chamber for accommodating the steel sample, and determining the steel sample accommodating case and the separation of the steel sample includes:
and accumulating the rotation time of the stripping machine, and determining that the steel sample accommodating shell is separated from the steel sample when the rotation time reaches the preset rotation time.
In an embodiment of the present invention, controlling the stripping mechanism to pour the steel sample comprises:
and controlling the deflection part to drive the stripping machine to deflect a second preset angle so as to pour out the steel sample.
In an embodiment of the present invention, the molten steel temperature measurement sampling system further includes a slag breaking mechanism disposed at a distal end of the multi-axis rotary mechanical arm, and the method further includes:
controlling the multi-axis rotary mechanical arm to execute a third operation;
controlling a slag breaking mechanism to break slag on the surface of the molten steel;
determining a slag breaking position formed on the surface of the molten steel;
and after the slag breaking position is formed, controlling the multi-axis rotary mechanical arm to execute a first operation.
In the embodiment of the invention, the molten steel temperature measurement sampling system further comprises an image acquisition device for acquiring a surface image of the molten steel, and determining that a slag breaking part is formed on the surface of the molten steel;
acquiring a surface image of molten steel;
and determining a slag breaking position formed on the surface of the molten steel according to the surface image.
In an embodiment of the present invention, the molten steel temperature measurement sampling system further includes a temperature measurement mechanism disposed at one side of the slag breaking mechanism and configured to collect a temperature of the molten steel, and the method further includes:
after the slag breaking position is formed, controlling the multi-axis rotary mechanical arm to execute a fourth operation so as to exchange the positions of the slag breaking mechanism and the temperature measuring mechanism;
controlling the multi-axis rotary mechanical arm to execute a fifth operation so that the temperature measuring mechanism extends into the molten steel at the slag breaking position to measure the temperature of the molten steel;
and after the temperature measurement of the molten steel is determined to be finished, controlling the multi-axis rotary mechanical arm to execute a first operation.
A second aspect of the invention provides a controller configured to perform the above method for a molten steel thermometry sampling system.
The third aspect of the present invention provides a molten steel temperature measurement sampling system, including:
a multi-axis rotary mechanical arm;
the sampling paper tube is detachably arranged at the tail end of the multi-axis rotary mechanical arm and internally provided with a steel sample accommodating shell for molten steel to permeate;
the clamping mechanism is used for clamping and breaking the sampling paper tube and obtaining the steel sample accommodating shell;
the stripping mechanism is rotatably arranged below the clamping mechanism and is used for stripping the steel sample accommodating shell from the steel sample; and the controller described above.
In an embodiment of the invention, the steel sample accommodating shell comprises a first shell and a second shell which are separable, and a bulge part for separating the first shell from the second shell is arranged in an inner cavity of the stripping mechanism.
According to the technical scheme, the molten steel temperature measurement sampling system comprises a multi-shaft rotary mechanical arm, a sampling paper tube, a clamping mechanism and a stripping mechanism, wherein the sampling paper tube is detachably arranged at the tail end of the multi-shaft rotary mechanical arm and internally provided with a steel sample containing shell, the clamping mechanism is arranged on one side of the multi-shaft rotary mechanical arm, the stripping mechanism is rotatably arranged below the clamping mechanism, the multi-shaft rotary mechanical arm in the method, the sampling paper tube, the clamping mechanism and the stripping mechanism are mutually coordinated and matched to sample molten steel, the steel sample is also stripped out of the steel sample containing shell, the steel sample containing shell is broken without manual force application of an operator, the situation that the high-temperature steel sample and the steel sample containing shell splash is avoided, the sampling safety is guaranteed, and the sampling efficiency is improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
FIG. 1 is a schematic flow chart illustrating a method for a molten steel temperature measurement sampling system according to an embodiment of the present invention;
FIG. 2 is a schematic view of a first partial structure of a molten steel temperature measuring and sampling system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a second partial structure of a molten steel temperature measurement and sampling system according to an embodiment of the present invention;
FIG. 4 is an exploded view of a part of a molten steel temperature measurement and sampling system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating a partial structure of a molten steel temperature measuring and sampling system according to an embodiment of the present invention;
FIG. 6 is a schematic cross-sectional view of a peeler in an embodiment of the present invention.
Description of the reference numerals
1. Multi-axis rotating mechanical arm 101 mounting plate
2. Sampling paper tube 3 clamping mechanism
4. Peeling mechanism 401 peeling machine
4011. Raised portion 402 deflection portion
403. Rotating part 5 slag breaking mechanism
501. 6 temperature measuring mechanisms of broken sediment pickaxe
7. Protective panel 8 protective cover
9. Fixing member 10 probe installation rod
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating embodiments of the invention, are given by way of illustration and explanation only, not limitation.
In an embodiment of the present invention, there is provided a method for a molten steel temperature measurement sampling system, the molten steel temperature measurement sampling system including a multi-axis rotary mechanical arm 1, a sampling paper tube 2, a clamping mechanism 3, and a peeling mechanism 4 (as shown in fig. 2 to 6), the sampling paper tube 2 being detachably disposed at a distal end of the multi-axis rotary mechanical arm 1 and having a steel sample accommodating case disposed therein, the clamping mechanism 3 being disposed at one side of the multi-axis rotary mechanical arm 1, and the peeling mechanism 4 being rotatably disposed below the clamping mechanism 3, as shown in fig. 1, the method including step S101-step S108:
step S101: and controlling the multi-axis rotary mechanical arm 1 to execute a first operation, so that the sampling paper tube 2 extends into molten steel.
Specifically, the molten steel temperature measurement sampling system in the present embodiment further includes a controller in communication with the multi-axis rotary mechanical arm 1, the clamping mechanism 3, and the peeling mechanism 4, the controller being configured to execute the method for the molten steel temperature measurement sampling system in the present embodiment. Furthermore, the molten steel is contained in a ladle, the molten steel temperature measurement sampling system in the embodiment further comprises an operation platform, the multi-axis rotary mechanical arm 1 is arranged on the operation platform and comprises a plurality of rotating arms, the plurality of rotating arms can cooperate under the control of the controller to jointly complete each operation, and the ladle is arranged on one side of the operation platform; the sampling paper tube 2 is internally provided with a steel sample accommodating shell for molten steel to permeate, the steel sample accommodating shell comprises a first shell and a second shell which can be separated, namely, the first shell and the second shell are combined together to form a molten steel accommodating cavity, after the sampling paper tube 2 extends into molten steel of a steel ladle, the molten steel enters the inside of the sampling paper tube 2 and enters the molten steel accommodating cavity, when the molten steel needs to be sampled, a controller sends a control instruction of a first operation to the multi-axis rotary mechanical arm 1, the multi-axis rotary mechanical arm 1 executes the first operation under the control of the control instruction, when the multi-axis rotary mechanical arm 1 executes the first operation, the sampling paper tube 2 can synchronously move along with the multi-axis rotary mechanical arm 1, and after the multi-axis rotary mechanical arm 1 executes the first operation, the sampling paper tube 2 extends into the molten steel of the steel ladle.
Step S102: and determining the steel sample in the steel sample containing shell.
Specifically, after the sampling paper tube 2 extends into the molten steel, the molten steel can automatically enter the inside of the sampling paper tube 2 and enter the molten steel accommodating cavity, further, the controller in this embodiment further includes a timing module, the timing module starts timing after the multi-axis rotary mechanical arm 1 performs the first operation, and when the timing module accumulates a preset timing duration (such as 30s or 1 min), it can be determined that the steel sample accommodating shell contains the steel sample.
Step S103: and controlling the multi-axis rotary mechanical arm 1 to execute a second operation, so that the sampling paper tube 2 extends into the opening of the clamping mechanism 3.
Specifically, fixture 3 is used for pressing from both sides broken sampling paper pipe 2 and obtains the steel sample and holds the casing, fixture 3 includes first clamping part and the second clamping part that can open and shut, when initial condition, have between first clamping part and the second clamping part and supply sampling paper pipe 2 male opening, after confirming that the steel sample holds and contains in the casing, a plurality of swinging arms of controller control multiaxis rotary mechanical arm 1 mutually support in order to carry out the second operation, after the second operation was carried out, sampling paper pipe 2 has inserted the opening part between first clamping part and the second clamping part.
Step S104: and controlling the clamping mechanism 3 to fold and break the sampling paper tube 2 so as to clamp the steel sample accommodating shell in the sampling paper tube 2.
After the sampling paper tube 2 is inserted into the opening between the first clamping part and the second clamping part, the controller controls the clamp to close (namely controls the first clamping part and the second clamping part to move towards each other) so as to break the sampling paper tube 2 and clamp the steel sample accommodating shell accommodating the steel samples.
Step S105: the clamping mechanism 3 is controlled to open so that the steel sample accommodating shell falls into the peeling mechanism 4.
Specifically, the peeling mechanism 4 is rotatably disposed below the holding mechanism 3 and has an inlet toward the holding mechanism 3, and after the holding mechanism 3 grips the sample accommodating case, the controller controls the holding mechanism 3 to open so that the sample accommodating case falls into the inside of the peeling mechanism 4 through the inlet.
Step S106: the peeling mechanism 4 is controlled to perform the peeling operation.
In an embodiment of the present invention, the peeling mechanism 4 includes a peeling machine 401 and a deflecting portion 402 for deflecting the peeling machine 401, and step S106: controlling the peeling mechanism 4 to perform the peeling operation further includes steps S201 to S202, in which:
step S201: controlling a deflection part 402 to drive a stripping machine 401 to deflect a first preset angle;
step S202: the peeling machine 401 is controlled to rotate at a first preset rotation speed.
Specifically, the peeling mechanism 4 further comprises a rotating part 403 arranged at the bottom of the peeling machine 401, the rotating part 403 is a rotating motor, the rotating motor is connected with the bottom of the peeling machine 401 through a coupler and a first connecting shaft, the rotating motor can drive the peeling machine 401 to rotate synchronously when rotating, and an inlet is formed at the top end of the peeling machine 401; a boss 401130 is arranged on the inner peripheral wall of the stripping machine 401, and the boss 4011 has an arc-shaped top end; the deflection part 402 includes a deflection frame, a deflection motor, and a steering gear, the rotation part 403 is disposed on the deflection frame, one end of the steering gear is drivingly connected to the deflection motor, and the other end of the steering gear is drivingly connected to the deflection frame.
The stripping machine 401 is in a vertical state initially, when the steel sample accommodating shell falls into the stripping mechanism 4 through the input port, the controller controls the deflection part 402 to drive the stripping machine 401 to deflect by a first preset angle, in the embodiment, the first preset angle is 90 degrees, at the moment, the input port faces to the horizontal direction, then the controller controls the rotation part 403 to rotate at a first preset rotating speed, when the stripping machine 401 rotates, the steel sample accommodating shell rotates along with the stripping machine 401, can fall from a high position to a low position on the boss 4011 and collide with the boss, when the steel sample accommodating shell reaches a certain number of collisions, the steel sample can be broken, namely, the first shell and the second shell are separated, and at the moment, the steel sample is also stripped from the steel sample accommodating shell.
Step S107: and determining that the steel sample accommodating shell is separated from the steel sample.
In an embodiment of the present invention, the steel sample accommodating case includes a first case and a second case which are separable, and the first case and the second case together form an accommodating chamber for accommodating the steel sample, and the step S107: determining that the steel sample accommodating case and the steel sample are separated includes:
the rotation time of the stripping machine 401 is accumulated, and when the rotation time reaches a preset rotation time, it is determined that the steel sample accommodating shell is separated from the steel sample.
Specifically, when the timing module in the controller starts timing when the rotating part 403 drives the stripping machine 401 to rotate, after a preset rotating time period, the steel sample accommodating shell in the stripping machine 401 collides with the boss 4011 for a sufficient number of times to separate the first shell from the second shell, and the steel sample is stripped from the steel sample accommodating shell after the first shell is separated from the second shell.
Step S108: and controlling the stripping mechanism 4 to pour out the steel sample, and finishing sampling.
In one embodiment of the present invention, step S108: controlling the stripping mechanism 4 to pour out the steel sample includes:
and controlling the deflection part 402 to drive the stripping machine 401 to deflect a second preset angle so as to pour out the steel sample.
Specifically, after determining that the steel sample accommodating shell is separated from the steel sample, the controller controls the deflection part 402 to drive the stripping machine 401 to deflect by a second preset angle, in this embodiment, the second preset angle is preferably 90 degrees, that is, the stripping machine 401 is deflected by 90 degrees again as a whole, and at this time, the input port faces downward, so as to pour the steel sample, the first shell and the second shell out of the stripping machine 401.
Furthermore, the molten steel temperature measurement sampling system also comprises a transmission belt (not shown in the figure) and a transmission belt driving part which are arranged below the deflection part 402 at intervals, the transmission belt driving part is in communication connection with the controller, after the steel sample is stripped, the deflection part 402 drives the stripping machine 401 to deflect downwards, so that the stripping machine 401 pours the steel sample, the first shell and the second shell onto the transmission belt, and the steel sample can be prevented from falling on the ground to cause pollution and influence on the steel sample detection result; in this embodiment, molten steel temperature measurement sampling system still includes the camera that is used for gathering the image on the drive belt, and the camera sends the image of gathering to the controller, and the controller is handled, is analyzed to the image on the conveyer belt, if learn to have the steel sample that peels off successfully on the conveyer belt according to the result of analysis, then the controller control conveyer belt driving piece begins the action, also is convenient for the conveyer belt directly to convey the steel sample to the laboratory and carry out the chemical examination.
In an embodiment of the present invention, the molten steel temperature measurement sampling system further includes a slag breaking mechanism 5 disposed at the distal end of the multi-axis rotary mechanical arm 1, and the method further includes steps S109 to S112, where:
step S109: controlling the multi-axis rotary mechanical arm 1 to execute a third operation;
step S110: and controlling the slag breaking mechanism 5 to break slag on the surface of the molten steel.
Specifically, the slag breaking mechanism 5 is telescopically arranged at the tail end of the multi-shaft rotary mechanical arm 1 and is provided with a pointed slag breaking pick 501, and the slag breaking pick 501 is in communication connection with the controller and can break steel slag solidified on the surface of molten steel in a steel ladle; because the temperature difference between the environment and the molten steel is large, the molten steel surface in the ladle is solidified to form steel slag, and therefore, the slag breaking operation needs to be performed on the molten steel surface before the molten steel is sampled; before slag breaking, the multi-axis rotary mechanical arm 1 is controlled to execute a third operation, so that the slag breaking mechanism 5 located at the tail end of the multi-axis rotary mechanical arm 1 reaches a preset position suitable for slag breaking operation, and then the controller controls the slag breaking mechanism 5 to stretch and retract repeatedly, so that the slag breaking pick 501 can strike the steel slag repeatedly until the steel slag is broken.
Step S111: determining a slag breaking position formed on the surface of the molten steel;
step S112: after the slag breaking position is formed, the multi-axis rotary mechanical arm 1 is controlled to perform the first operation.
In an embodiment of the present invention, the molten steel thermometry sampling system further includes an image capturing device for capturing an image of a surface of molten steel, and the step S111: determining a slag breaking part formed on the surface of the molten steel comprises the steps of S301-S302, wherein;
step S301: acquiring a surface image of molten steel;
step S302 determines the slag breaking position formed on the surface of the molten steel according to the surface image.
Specifically, the image acquisition device is preferably a camera arranged above the ladle and used for acquiring a surface image of the molten steel and sending the acquired image to the controller, the controller judges whether a slag breaking part is formed on the surface of the molten steel according to the recognition and analysis results of the image, and if the slag breaking part is not formed, the controller controls the slag breaking mechanism 5 to continuously execute slag breaking operation until the slag breaking part is formed; if it is determined from the surface image that a slag breaking point is formed on the surface of the molten steel, the controller controls the slag breaking mechanism 5 to stop the slag breaking operation, and then controls the multi-axis rotary robot 1 to perform the first operation (i.e., after the slag breaking point is formed, step S101 is performed).
In an embodiment of the present invention, the molten steel temperature measurement sampling system further includes a temperature measurement mechanism 6 disposed at one side of the slag breaking mechanism 5 and configured to collect a temperature of molten steel, and the method further includes steps S113 to S115, where:
step S113: after the slag breaking position is formed, controlling the multi-axis rotary mechanical arm 1 to execute a fourth operation so as to exchange the positions of the slag breaking mechanism 5 and the temperature measuring mechanism 6;
step S114: controlling the multi-axis rotary mechanical arm 1 to execute a fifth operation so that the temperature measuring mechanism 6 extends into the molten steel at the slag breaking position to measure the temperature of the molten steel;
step S115: after the temperature measurement of the molten steel is determined to be completed, the multi-axis rotary mechanical arm 1 is controlled to perform the first operation.
Specifically, in the production process of the continuous casting slab, the temperature of the molten steel in the ladle needs to be detected, so that the quality of a casting is prevented from being affected due to the fact that the temperature of the molten steel does not reach the standard, and the temperature of the molten steel needs to be measured.
Further, the temperature measuring mechanism 6 is arranged at the tail end of the multi-axis rotary mechanical arm 1 and is distributed in parallel with the slag breaking mechanism 5, and after the controller determines that a slag breaking position is formed, the controller firstly controls the slag breaking mechanism 5 to retract, so that the slag breaking mechanism 5 is shorter than the temperature measuring mechanism 6, and the interference caused by the slag breaking mechanism 5 during temperature measurement is avoided; then the controller controls the multi-axis rotary mechanical arm 1 to execute a fourth operation, and after the fourth operation is executed, the positions of the slag breaking mechanism 5 and the temperature measuring mechanism 6 are changed so that the temperature measuring mechanism 6 can execute subsequent temperature measuring operation; after the positions of the slag breaking mechanism 5 and the temperature measuring mechanism 6 are exchanged, the controller controls the multi-axis rotary mechanical arm 1 to execute a fifth operation, after the fifth operation is executed, the temperature measuring mechanism 6 extends into molten steel from a slag breaking position and measures the temperature of the molten steel, after the temperature of the molten steel is measured, the temperature measuring mechanism 6 arranged at the tail end of the multi-axis rotary mechanical arm 1 is replaced by the sampling paper tube 2, and then the controller controls the multi-axis rotary mechanical arm 1 to execute the first operation (namely, after the temperature of the molten steel is measured, the step S101 is executed).
In the embodiment of the present invention, the first operation, the second operation, the third operation, the fourth operation, and the fifth operation are all performed by the multi-axis rotary robot 1, and the rotation angle of each rotating arm of the multi-axis rotary robot 1 during each operation is set in advance in a program and stored in a controller, and is called directly during the operation.
In another embodiment of the present invention, a controller is provided that is configured to perform the above-described method for a molten steel thermometry sampling system.
Another embodiment of the present invention provides a molten steel temperature measurement sampling system, including:
a multi-axis rotary robot arm 1;
the sampling paper tube 2 is detachably arranged at the tail end of the multi-axis rotary mechanical arm 1 and internally provided with a steel sample accommodating shell for molten steel to permeate;
the clamping mechanism 3 is used for clamping and breaking the sampling paper tube 2 and obtaining a steel sample accommodating shell;
the stripping mechanism 4 is rotatably arranged below the clamping mechanism 3 and is used for stripping the steel sample accommodating shell from the steel sample; and the controller described above.
In the embodiment of the present invention, the steel sample accommodating case includes a first case and a second case which are separable, and a boss 4011 for separating the first case from the second case is provided in the inner cavity of the peeling mechanism 4.
Specifically, a steel sample accommodating shell for molten steel to permeate is arranged in the sampling paper tube 2, the steel sample accommodating shell comprises a first shell and a second shell which can be separated, namely, the first shell and the second shell form a molten steel accommodating cavity together when being combined together, and after the sampling paper tube 2 extends into molten steel of a steel ladle, the molten steel enters the inside of the sampling paper tube 2 and enters the molten steel accommodating cavity; the clamping mechanism 3 is used for clamping the sampling paper tube 2 and obtaining a steel sample accommodating shell, the clamping mechanism 3 comprises a first clamping part and a second clamping part which can be opened and closed, after molten steel sampling is completed and cooling is carried out for a preset time (such as 10 minutes), the sampling paper tube 2 is extended between the first clamping part and the second clamping part, the first clamping part and the second clamping part are controlled to be closed to carry out clamping action, and therefore the sampling paper tube 2 is clamped and the steel sample accommodating shell accommodating the cooled steel sample is clamped; the stripping mechanism 4 is rotatably arranged below the clamping mechanism 3 and provided with an opening facing the clamping mechanism 3, a protruding portion 4011 used for stripping the first shell and the second shell is arranged in an inner cavity of the stripping mechanism 4, the clamping mechanism 3 clamps the steel sample accommodating shell and then performs loosening operation, so that the steel sample accommodating shell with the steel sample enters the inside of the large stripping mechanism 4 through an input port on the stripping mechanism 4, the stripping mechanism 4 rotates (the rotation comprises non-intermittent rotation and intermittent rotation), under the preset rotation speed and rotation frequency, the steel sample accommodating shell with the steel sample can rotate inside the stripping mechanism 4 and collides with the protruding portion 4011, the steel sample accommodating shell can be broken after reaching a certain number of collisions, namely the first shell and the second shell are separated, the steel sample is also stripped from the steel sample accommodating shell, the steel sample accommodating shell is not required to be manually broken by an operator, the splashing situation of the high-temperature steel sample accommodating shell is avoided, the safety of sampling is ensured, and the sampling efficiency is improved.
In one embodiment of the present invention, the peeling mechanism 4 includes a peeling machine 401 and a rotating portion 403 provided at the bottom of the peeling machine 401 and drivingly connected to the peeling machine 401. Specifically, boss 4011 forms in the inside of peeling off machine 401, and rotation portion 403 is the rotation motor, and this rotation motor passes through the shaft coupling, first connecting axle is connected with the bottom of peeling off machine 401, can drive when rotating the motor and peel off machine 401 synchronous rotation for the steel sample that gets into wherein and have the steel sample holds the casing and is rotary motion and form the collision with boss 4011, and then makes first casing and second casing take off, so that peel off the steel sample from the steel sample holds the casing.
In one embodiment of the present invention, the boss 4011 is provided on the inner peripheral wall of the peeler 401 and has a tip end in a circular arc shape. Specifically, the number of the convex parts 4011 in this embodiment is multiple, the multiple convex parts 4011 are arranged in multiple layers on the inner circumference of the stripping machine 401, each layer has multiple convex parts 4011 distributed at intervals in the circumferential direction, the structural design increases the contact area between the steel sample accommodating shell and the convex parts 4011, and when the stripping machine 401 rotates, the steel sample accommodating shell collides with the convex parts 4011 under the action of centrifugal force to strip the steel sample; boss 4011 includes cylinder and hemisphere, and the bottom of cylinder and the internal perisporium of peeling machine 401 are connected, and the hemisphere setting is on the top of cylinder, and this kind of structural design helps boss 4011 to hold the casing to the steel sample and apply the impact when holding the casing contact with the steel sample, and the steel sample holds the casing promptly from arbitrary direction, with arbitrary angle and to the boss 4011 motion, can both guarantee that it receives the impact.
In one embodiment of the invention, the deflecting part 402 comprises a deflecting frame, a deflecting motor and a steering gear, the rotating part 403 is arranged on the deflecting frame, one end of the steering gear is in driving connection with the deflecting motor, and the other end of the steering gear is in driving connection with the deflecting frame, in this embodiment, when a steel sample accommodating shell with a steel sample enters the stripping machine 401, the deflecting part 402 is not used, and the stripping machine 401 is in a vertical state as a whole and has an upward opening; when the steel sample accommodating shell with the steel sample is counted into the stripping machine 401, the deflection part 402 enables the stripping machine 401 to deflect by 90 degrees integrally, at the moment, the input port faces to the horizontal direction, in this state, when the stripping machine 401 rotates, the steel sample accommodating shell can rotate along with the stripping machine 401 more easily, even if the rotating speed of the stripping machine 401 is set to be low, the steel sample accommodating shell can fall onto the boss 4011 at the lower part from the high part and collide with the boss, energy is saved, and the efficiency of steel sample stripping is improved; after the steel sample is stripped, the deflecting part 402 deflects the whole stripping machine 401 by 90 degrees, and the feeding port faces downwards so as to pour the steel sample, the first shell and the second shell out of the stripping machine 401.
In an embodiment of the invention, the molten steel temperature measurement sampling system further comprises a transmission belt (not shown in the figure) arranged below the deflection part 402 at intervals, after the steel sample is stripped, the deflection part 402 drives the stripping machine 401 to deflect downwards, so that the stripping machine 401 falls the steel sample, the first shell and the second shell onto the transmission belt, and therefore, the steel sample can be prevented from falling on the ground to cause pollution and influence on a steel sample detection result, and the steel sample can be conveniently and directly transmitted to a laboratory for testing.
In one embodiment of the invention, the tail end of the multi-axis rotary mechanical arm 1 is provided with a mounting plate 101, and the mounting plate 101 is provided with a slag breaking mechanism 5 mounting position and a temperature measuring mechanism 6 mounting position; the slag breaking mechanism 5 is telescopically arranged on the installation position of the slag breaking mechanism 5, a pointed slag breaking pick 501 is arranged at the tail end of the slag breaking mechanism, and the slag breaking pick 501 can break steel slag solidified on the surface of molten steel in a steel ladle; the temperature measuring mechanism 6 is arranged on the installation position of the temperature measuring mechanism 6 and is distributed in parallel with the slag breaking mechanism 5, and the temperature of the molten steel can be measured. When the molten steel temperature measurement sampling system measures the temperature of molten steel, the slag breaking mechanism 5 is firstly extended, so that the extended length of the slag breaking pick 501 is longer than that of the temperature measuring mechanism 6 and can be contacted with steel slag on the surface of the molten steel, and the interference of the long temperature measuring mechanism 6 on the slag breaking operation of the slag breaking pick 501 is avoided; the slag breaking mechanism 5 repeatedly extends and retracts so that the slag breaking pick 501 can repeatedly knock the steel slag until the steel slag is broken; after the steel slag is broken, the slag breaking mechanism 5 is controlled to retract, so that the extending length of the slag breaking pick 501 is shorter than the length of the temperature measuring mechanism 6, the interference of the too long slag breaking mechanism 5 on the temperature measuring operation of the temperature measuring mechanism 6 is avoided, meanwhile, the arms of the multi-shaft rotary mechanical arm 1 are in running fit to adjust the positions of the temperature measuring mechanism 6 and the slag breaking mechanism 5, and the temperature measuring end of the temperature measuring mechanism 6 extends into the molten steel at the slag breaking position, so that the temperature of the molten steel is measured. The molten steel temperature measurement sampling system in the embodiment has a simple scheme, does not need manual force application to break steel slag on the surface of molten steel, reduces the manual labor intensity, effectively improves the temperature measurement efficiency of the molten steel, and is beneficial to improving the smelting efficiency of steel.
Further, the molten steel temperature measurement sampling system in this embodiment further includes an image acquisition device and a controller, the controller is in communication connection with the image acquisition device, the multi-axis rotary mechanical arm 1 and the slag breaking mechanism 5, the image acquisition device is used for acquiring an image of the surface of the molten steel and sending the acquired image to the controller, the controller determines the slag breaking effect of the molten steel according to the recognition and analysis results of the image, and then controls the slag breaking mechanism 5 and the multi-axis rotary mechanical arm 1 according to the slag breaking effect, if the tapping slag is not recognized to be broken, the slag breaking mechanism 5 is controlled to repeatedly extend and retract, so that the slag breaking pick 501 can repeatedly strike the steel slag; when steel slag is identified to be broken, the arms of the multi-axis rotary mechanical arm 1 are controlled to be in running fit again so as to adjust the positions of the temperature measuring mechanism 6 and the slag breaking mechanism 5, and the temperature measuring end of the temperature measuring mechanism 6 extends into molten steel at the slag breaking position, so that the temperature measuring mechanism 6 can measure the temperature of the molten steel.
In an embodiment of the present invention, the slag breaking mechanism 5 further includes a telescopic electric cylinder and a steel rod disposed at a telescopic end of the telescopic electric cylinder, the slag breaking pick 501 is disposed at a tail end of the steel rod, the telescopic end of the telescopic electric cylinder can perform telescopic movement, the steel rod and the slag breaking pick 501 are driven to move together when the telescopic end moves, an extending length of the slag breaking pick 501 is adjusted, and repeated telescopic movement of the telescopic end can enable the slag breaking pick 501 to repeatedly knock on the steel slag.
In an embodiment of the invention, the molten steel temperature measurement sampling system further comprises a protective cover 8 covering the slag breaking mechanism 5, and a circular hole for the slag breaking pick 501 to extend out is formed on the protective cover 8. Specifically, because the steel scrap generated by the slag breaking pick 501 when knocking steel slag has a high temperature and can fly out in any direction, the protective cover 8 can effectively prevent each internal part (such as a driving motor, a telescopic electric cylinder and the like) from being smashed and burned by the flying steel scrap, and can well protect each internal part.
In an embodiment of the invention, the molten steel temperature measurement and sampling system further comprises a protective panel 7 arranged between the multi-axis rotary mechanical arm 1 and the slag breaking mechanism 5 and the temperature measuring mechanism 6, and specifically, the protective panel 7 has a sufficient area so that the protective panel can effectively block steel scraps flying out of the slag breaking pick 501 when the slag breaking pick strikes steel slag, the multi-axis rotary mechanical arm 1 and cables thereof are prevented from being damaged by the steel scraps, and the multi-axis rotary mechanical arm 1 is effectively protected.
In one embodiment of the invention, the molten steel temperature measurement sampling system further comprises a nitrogen source, the protective panel 7 is provided with a vent hole, one side of the vent hole is communicated with the nitrogen source, and the other side of the vent hole is communicated with the inner cavity of the protective cover 8. Specifically, the molten steel in the ladle has a high temperature, so that the slag breaking mechanism 5 is in a high-temperature working environment, and is easily damaged if the temperature of the slag breaking mechanism is not reduced, and the vent hole in the embodiment is long, so that nitrogen from a nitrogen source can flow into the inner cavity of the protective cover 8 through the vent hole, and each component (such as a driving motor, a telescopic electric cylinder and the like) in the inner cavity of the protective cover 8 can be cooled, and the service life of the slag breaking mechanism 5 can be prolonged.
In one embodiment of the invention, the molten steel temperature measurement sampling system further comprises a probe mounting rod 10, and the temperature measurement mechanism 6 is detachably mounted on the probe mounting rod 10. Specifically, the probe mounting rod 10 is mounted on the mounting plate 101 and is parallel to the slag breaking mechanism 5, the temperature measuring mechanism 6 is detachably mounted at one end of the probe mounting rod 10 far away from the mounting plate 101, when the temperature of molten steel needs to be measured, the temperature measuring mechanism 6 is mounted on the probe mounting rod 10, and when the temperature measuring mechanism 6 is damaged, the temperature measuring mechanism can be easily detached for maintenance or replacement.
In one embodiment of the present invention, the sampling paper tube 2 is detachably mounted on the probe mounting bar 10. Specifically, when molten steel needs to be sampled, the temperature measuring mechanism 6 is detached, and the sampling paper tube 2 is mounted at one end of the probe mounting rod 10 far away from the mounting plate 101, so that molten steel can be sampled, and the functionality of the molten steel temperature measuring and sampling system is increased while the structure of the molten steel temperature measuring and sampling system is simplified. Similarly, when the sampling paper tube 2 is damaged, it can be easily removed and repaired or replaced.
In one embodiment of the present invention, the probe mounting rod 10 is made of steel, so that the temperature measuring mechanism 6 is not easily damaged by high temperature, and therefore, a protection mechanism is not required to be additionally arranged for the temperature measuring mechanism 6.
In an embodiment of the invention, the molten steel temperature measurement sampling system further comprises a fixing piece 9 arranged on the protective cover 8, the probe mounting rod 10 penetrates through the fixing piece 9, specifically, the fixing piece 9 is a fixing block arranged on the side wall of the protective cover 8 close to the temperature measurement mechanism 6, a through hole for the probe mounting rod 10 to penetrate through is formed in the fixing block, and the arrangement of the fixing block enhances the mounting stability of the temperature measurement mechanism 6 and prevents the probe mounting rod 10 from being easily bent when the probe mounting rod is accidentally knocked.
The invention provides a method, a controller and a molten steel temperature measurement sampling system for the molten steel temperature measurement sampling system, wherein the molten steel temperature measurement sampling system comprises a multi-shaft rotating mechanical arm, a sampling paper tube, a clamping mechanism and a stripping mechanism, the sampling paper tube is detachably arranged at the tail end of the multi-shaft rotating mechanical arm, a steel sample containing shell is arranged in the sampling paper tube, the clamping mechanism is arranged on one side of the multi-shaft rotating mechanical arm, and the stripping mechanism is rotatably arranged below the clamping mechanism.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include transitory computer 8 readable media (transient media) such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A method for a molten steel temperature measurement sampling system, comprising a multi-axis rotary mechanical arm, a sampling paper tube detachably provided at a distal end of the multi-axis rotary mechanical arm and provided with a steel pattern accommodating case inside, a clamping mechanism provided at one side of the multi-axis rotary mechanical arm, and a peeling mechanism rotatably provided below the clamping mechanism, the method comprising:
controlling the multi-axis rotary mechanical arm to execute a first operation, so that the sampling paper tube extends into molten steel;
determining the steel sample contained in the steel sample containing shell;
controlling the multi-axis rotating mechanical arm to execute a second operation, so that the sampling paper tube extends into the opening of the clamping mechanism;
controlling the clamping mechanism to close and break the sampling paper tube so as to clamp the steel sample accommodating shell in the sampling paper tube;
controlling the clamping mechanism to open so that the steel sample accommodating shell falls into the stripping mechanism;
controlling the peeling mechanism to perform a peeling operation;
determining that the steel sample accommodating shell is separated from the steel sample;
and controlling the stripping mechanism to pour out the steel sample, and finishing sampling.
2. The method for molten steel thermometric sampling according to claim 1, wherein the stripping mechanism comprises a stripping machine and a deflecting portion for driving the stripping machine to deflect, and the controlling the stripping mechanism to perform the stripping operation comprises:
controlling the deflection part to drive the stripping machine to deflect by a first preset angle;
and controlling the stripping machine to rotate at a first preset rotating speed.
3. The method for molten steel thermometric sampling according to claim 2, wherein the steel sample receiving housing comprises first and second separable housings which together form a receiving chamber for receiving the steel sample, and the determining that the steel sample receiving housing and the steel sample are separated comprises:
and accumulating the rotation time of the stripping machine, and determining that the steel sample accommodating shell is separated from the steel sample after the rotation time reaches a preset rotation time.
4. The method for molten steel thermometric sampling system of claim 2, wherein said controlling the stripping mechanism to pour the steel sample comprises:
and controlling the deflection part to drive the stripping machine to deflect a second preset angle so as to pour out the steel sample.
5. The method for molten steel temperature measurement sampling system according to claim 1, further comprising a slag breaking mechanism provided at a tip of the multi-axis rotary robot arm, the method further comprising:
controlling the multi-axis rotary mechanical arm to execute a third operation;
controlling the slag breaking mechanism to break slag on the surface of the molten steel;
determining a slag breaking position formed on the surface of the molten steel;
and after the slag breaking position is formed, controlling the multi-axis rotary mechanical arm to execute a first operation.
6. The method for the molten steel temperature measurement sampling system according to claim 5, wherein the molten steel temperature measurement sampling system further comprises an image acquisition device for acquiring a surface image of the molten steel, and the determining that the surface of the molten steel forms a slag breaking place comprises;
acquiring a surface image of the molten steel;
and determining a slag breaking position formed on the surface of the molten steel according to the surface image.
7. The method for the molten steel temperature measurement and sampling system according to claim 6, further comprising a temperature measurement mechanism disposed at one side of the slag breaking mechanism and collecting a temperature of the molten steel, the method further comprising:
after the slag breaking position is formed, controlling the multi-axis rotary mechanical arm to execute a fourth operation so as to exchange the positions of the slag breaking mechanism and the temperature measuring mechanism;
controlling the multi-axis rotary mechanical arm to execute a fifth operation so that the temperature measuring mechanism extends into the molten steel at the slag breaking position to measure the temperature of the molten steel;
and after the temperature measurement of the molten steel is determined to be completed, controlling the multi-axis rotary mechanical arm to execute a first operation.
8. A controller, characterized in that the controller is configured to perform the method for molten steel thermometry sampling system according to any one of claims 1 to 7.
9. The molten steel temperature measurement sampling system is characterized by comprising:
a multi-axis rotary mechanical arm;
the sampling paper tube is detachably arranged at the tail end of the multi-axis rotary mechanical arm and internally provided with a steel sample accommodating shell for molten steel to permeate;
the clamping mechanism is used for clamping the sampling paper tube and acquiring the steel sample accommodating shell;
the stripping mechanism is rotatably arranged below the clamping mechanism and is used for stripping the steel sample accommodating shell from the steel sample; and
the controller of claim 8.
10. The molten steel temperature measurement and sampling system according to claim 9, wherein the steel sample accommodating shell comprises a first shell and a second shell which are separable, and a boss portion for separating the first shell from the second shell is arranged in an inner cavity of the stripping mechanism.
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