CN115307783B - 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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- CN115307783B CN115307783B CN202210910754.5A CN202210910754A CN115307783B CN 115307783 B CN115307783 B CN 115307783B CN 202210910754 A CN202210910754 A CN 202210910754A CN 115307783 B CN115307783 B CN 115307783B
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- 229910000831 Steel Inorganic materials 0.000 title claims abstract description 319
- 239000010959 steel Substances 0.000 title claims abstract description 319
- 238000005070 sampling Methods 0.000 title claims abstract description 128
- 238000000034 method Methods 0.000 title claims abstract description 40
- 238000009529 body temperature measurement Methods 0.000 title claims description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 178
- 239000002893 slag Substances 0.000 claims description 122
- 230000009471 action Effects 0.000 claims description 6
- 230000008595 infiltration Effects 0.000 claims description 5
- 238000001764 infiltration Methods 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 238000000926 separation method Methods 0.000 abstract description 3
- 239000000523 sample Substances 0.000 description 129
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 8
- 230000001681 protective effect Effects 0.000 description 8
- 238000003860 storage Methods 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
- 238000009434 installation Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 4
- 229910052757 nitrogen Inorganic materials 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 238000004458 analytical method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000004861 thermometry Methods 0.000 description 2
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 1
- 238000003723 Smelting Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000009749 continuous casting Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- 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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- Engineering & Computer Science (AREA)
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- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
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- Chemical & Material Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Investigating And Analyzing Materials By Characteristic Methods (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a method and a controller for a molten steel temperature measuring and sampling system, wherein the method for the molten steel temperature measuring and sampling system comprises the following steps: controlling the multi-axis rotary mechanical arm to execute a first operation, so that the sampling paper tube stretches into molten steel; determining a steel sample in the steel sample accommodating shell; controlling the multi-axis rotary mechanical arm to execute a second operation, so that the sampling paper tube stretches into the opening of the clamping mechanism; the clamping mechanism is controlled to fold and clamp 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 stripping mechanism to execute stripping operation; determining separation of the steel sample accommodating shell and the steel sample; the peeling mechanism is controlled to pour the steel sample, sampling is completed, sampling safety is improved, and the sampled steel sample can be automatically peeled.
Description
Technical Field
The invention relates to the technical field of ferrous metallurgical equipment, in particular to a method for a molten steel temperature measuring and sampling system, a controller and the molten steel temperature measuring and sampling system.
Background
After the operation of measuring the temperature and sampling the molten steel is finished, the sampling mold is required to be taken out from the sampling probe, the steel sample is taken out from the sampling mold, and the quality of the molten steel in the ladle is judged by testing the steel sample. At present, the taking-out mode of the steel sample is used for knocking the sampling mould manually, and the upper die and the lower die of the sampling mould are knocked out, so that the steel sample is taken, and the sampling mould and the steel sample are easy to splash during knocking due to the fact that the temperature of the sampling mould is too high, so that the potential safety hazard is large.
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 the sampling safety and automatically stripping sampled steel samples.
In order to achieve the above object, a first aspect of the present invention provides a method for a molten steel temperature measuring and sampling system including a multi-axis rotating mechanical arm, a sampling paper tube detachably provided at an end of the multi-axis rotating mechanical arm and internally provided with a steel sample accommodating case, a clamping mechanism provided at one side of the multi-axis rotating 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 stretches into molten steel;
determining a steel sample in the steel sample accommodating shell;
controlling the multi-axis rotary mechanical arm to execute a second operation, so that the sampling paper tube stretches into the opening of the clamping mechanism;
the clamping mechanism is controlled to fold and clamp 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 stripping mechanism to execute stripping operation;
determining separation of the steel sample accommodating shell and the steel sample;
pouring a steel sample by controlling the stripping mechanism, and completing 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:
the deflection part is controlled to drive the stripping machine to deflect a first preset angle;
and controlling the stripping machine to rotate at a first preset rotating speed.
In an embodiment of the invention, the steel sample-containing housing comprises separable first and second housings that together form a containing cavity for containing a steel sample, determining that the steel sample-containing 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 the preset rotation time.
In an embodiment of the present invention, controlling the peeling mechanism to pour the steel sample includes:
the deflection part is controlled to drive the stripping machine to deflect a second preset angle so as to pour out the steel sample.
In an embodiment of the invention, the molten steel temperature measurement sampling system further comprises a slag breaking mechanism arranged at the tail end of the multi-axis rotating mechanical arm, and the method further comprises:
controlling the multi-axis rotating mechanical arm to execute a third operation;
controlling a slag breaking mechanism to break slag on the surface of molten steel;
determining a slag breaking position formed on the surface of molten steel;
after the slag breaking position is formed, the multi-axis rotary mechanical arm is controlled to execute a first operation.
In the embodiment of the invention, the molten steel temperature measuring and sampling system further comprises image acquisition equipment for acquiring the surface image of molten steel, and determining that the slag breaking position formed on the surface of molten steel comprises;
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 invention, the molten steel temperature measuring and sampling system further comprises a temperature measuring mechanism which is arranged at one side of the slag breaking mechanism and is used for collecting the temperature of molten steel, and the method further comprises the following steps:
after the slag breaking position is formed, controlling the multi-shaft rotary mechanical arm to execute a fourth operation so as to change 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 stretches into 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.
A second aspect of the invention provides a controller configured to perform the method for a molten steel thermometry sampling system described above.
A third aspect of the present invention provides a molten steel temperature measurement sampling system, comprising:
a multi-axis rotating mechanical arm;
the sampling paper tube is detachably arranged at the tail end of the multi-shaft rotary mechanical arm and is internally provided with a steel sample accommodating shell for molten steel infiltration;
the clamping mechanism is used for clamping the sampling paper tube and acquiring a 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.
In an embodiment of the invention, the steel-like containment housing comprises a first housing and a second housing that are separable, and the internal cavity of the peeling mechanism is provided with a protrusion for separating the first housing from the second housing.
Through the technical scheme, the molten steel temperature measurement sampling system comprises the multi-shaft rotating mechanical arm, the sampling paper tube, the clamping mechanism and the stripping mechanism, wherein the sampling paper tube is detachably arranged at the tail end of the multi-shaft rotating mechanical arm and is internally provided with the steel sample accommodating shell, the clamping mechanism is arranged on one side of the multi-shaft rotating mechanical arm, the stripping mechanism is rotatably arranged below the clamping mechanism, the multi-shaft rotating mechanical arm, the sampling paper tube, the clamping mechanism and the stripping mechanism are mutually coordinated to sample molten steel, the steel sample is stripped from the steel sample accommodating shell, an operator does not need to manually apply force to break the steel sample accommodating shell, the situation that the high-temperature steel sample and the steel sample accommodating shell splash is avoided, the sampling safety is guaranteed, and the sampling efficiency is improved.
Drawings
The accompanying drawings are included to provide a further understanding of 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, without limitation, the embodiments of the invention. In the drawings:
FIG. 1 is a flow chart of a method for a molten steel temperature measurement sampling system in an embodiment of the invention;
FIG. 2 is a schematic view of a first partial structure of a system for measuring temperature and sampling molten steel according to an embodiment of the present invention;
FIG. 3 is a schematic view showing a second partial structure of a molten steel temperature measuring and sampling system according to an embodiment of the present invention;
FIG. 4 is an exploded view of a part of a system for measuring the temperature and sampling of molten steel according to an embodiment of the present invention;
FIG. 5 is a schematic diagram showing the application of a local structure of a molten steel temperature measuring and sampling system in an embodiment of the invention;
FIG. 6 is a schematic cross-sectional view of a stripper in an embodiment of the present invention.
Description of the reference numerals
1. Multi-axis rotary mechanical arm 101 mounting plate
2. 3 fixture of sampling paper tube
4. Stripping mechanism 401 stripper
4011. Boss 402 deflector
403. Slag breaking mechanism for rotating part 5
501. Slag breaking pick 6 temperature measuring mechanism
7. Protective cover of protective panel 8
9. Fixing part 10 probe mounting rod
Detailed Description
The following describes the detailed implementation of the embodiments of the present invention with reference to the drawings. It should be understood that the detailed description and specific examples, while indicating and illustrating the invention, are not intended to limit the invention.
In an embodiment of the present invention, there is provided a method for a molten steel temperature measuring and sampling system including a multi-axis rotating mechanical arm 1, a sampling paper tube 2, a holding mechanism 3, and a peeling mechanism 4 (as shown in fig. 2 to 6), the sampling paper tube 2 being detachably provided at an end of the multi-axis rotating mechanical arm 1 and provided with a steel sample accommodating case inside, the holding mechanism 3 being provided at one side of the multi-axis rotating mechanical arm 1, the peeling mechanism 4 being rotatably provided below the holding mechanism 3, as shown in fig. 1, the method including steps S101 to S108:
step S101: the multi-axis rotary mechanical arm 1 is controlled to perform a first operation such that the sampling paper tube 2 is extended into molten steel.
Specifically, the molten steel temperature measuring and sampling system in the present embodiment further includes a controller communicatively connected to the multi-axis rotating 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 measuring and sampling system in the present embodiment. Further, the molten steel is contained in a ladle, the molten steel temperature measuring and sampling system in the embodiment further comprises a working platform, the multi-axis rotary mechanical arm 1 is arranged on the working platform and comprises a plurality of rotary arms, the plurality of rotary arms can cooperate under the control of the controller to jointly complete each operation, and the ladle is arranged on one side of the working platform; the steel sample accommodating shell for molten steel infiltration is arranged in the sampling paper tube 2, the steel sample accommodating shell comprises a first shell and a second shell which are separable, namely, the first shell and the second shell are combined together to form a molten steel accommodating cavity, after the sampling paper tube 2 stretches into molten steel of a 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 rotating mechanical arm 1, the multi-axis rotating mechanical arm 1 executes the first operation under the control of the control instruction, the sampling paper tube 2 moves synchronously along with the multi-axis rotating mechanical arm 1 when the multi-axis rotating mechanical arm 1 executes the first operation, and after the multi-axis rotating mechanical arm 1 executes the first operation, the sampling paper tube 2 stretches into the molten steel of the ladle.
Step S102: and determining the steel sample in the steel sample accommodating shell.
Specifically, after the sampling paper tube 2 stretches into molten steel, the molten steel can automatically enter the sampling paper tube 2 and enter the molten steel accommodating cavity, and further, the controller in the embodiment further comprises a timing module, the timing module starts timing after the multi-axis rotating mechanical arm 1 performs the first operation, and the steel sample accommodating shell can be determined to contain the steel sample after the timing module accumulates the preset timing time (such as 30s or 1 min).
Step S103: the multi-axis rotary mechanical arm 1 is controlled to perform a second operation so that the sampling paper tube 2 extends into the opening of the clamping mechanism 3.
Specifically, 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, an opening for the insertion of the sampling paper tube 2 is formed between the first clamping part and the second clamping part in an initial state, after the steel sample in the steel sample accommodating shell is determined, the controller controls a plurality of rotating arms of the multi-axis rotating mechanical arm 1 to mutually cooperate to execute a second operation, and after the second operation is executed, the sampling paper tube 2 is inserted into the opening between the first clamping part and the second clamping part.
Step S104: the clamping mechanism 3 is controlled to fold and clamp 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 portion and the second clamping portion, the controller controls the gripper to close (i.e., controls the first clamping portion and the second clamping portion to move toward each other) so as to clamp the sampling paper tube 2 and clamp the steel sample accommodating case accommodating the steel sample.
Step S105: the clamping mechanism 3 is controlled to open so that the steel sample receiving casing falls into the stripping mechanism 4.
Specifically, the peeling mechanism 4 is rotatably provided below the holding mechanism 3 and has an input port toward the holding mechanism 3, and after the holding mechanism 3 grips the steel sample accommodating case, the controller controls the opening of the holding mechanism 3 so that the steel sample accommodating case falls into the inside of the peeling mechanism 4 through the input port.
Step S106: the peeling mechanism 4 is controlled to perform the peeling operation.
In one 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, step S106: controlling the peeling mechanism 4 to perform the peeling operation further includes step S201 to step S202, wherein:
step S201: the deflection part 402 is controlled to drive the stripper 401 to deflect a first preset angle;
step S202: the stripper 401 is controlled to rotate at a first preset rotational speed.
Specifically, the peeling mechanism 4 further includes a rotating portion 403 disposed at the bottom of the peeling machine 401, the rotating portion 403 is a rotating motor, the rotating motor is connected with the bottom of the peeling machine 401 through a coupling and a first connecting shaft, the peeling machine 401 can be driven to synchronously rotate when the rotating motor rotates, and an input port is formed at the top end of the peeling machine 401; the stripper 401 has a protruding portion 401130 provided on an inner peripheral wall thereof, and the protruding portion 4011 has an arc-shaped tip; the deflection unit 402 includes a deflection frame, a deflection motor, and a deflector, and the rotation unit 403 is disposed on the deflection frame, one end of the deflector is in driving connection with the deflection motor, and the other end of the deflector is in driving connection with the deflection frame.
The stripper 401 is in the 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 stripper 401 to deflect by a first preset angle, the first preset angle in the embodiment is 90 degrees, the input port faces the horizontal direction at the moment, the controller controls the rotating part 403 to rotate at a first preset rotating speed, when the stripper 401 rotates, the steel sample accommodating shell rotates along with the stripper 401, and can fall onto the protruding part 4011 at the lower position from the high position under the action of gravity and collide with the protruding part, after the steel sample accommodating shell reaches a certain number of collisions, the first shell and the second shell are separated, and at the moment, the steel sample is stripped from the steel sample accommodating shell.
Step S107: the steel sample-accommodating case and the steel sample are determined to be separated.
In an embodiment of the present invention, the steel sample-containing housing includes separable first and second housings that together form a containing chamber for containing the steel sample, step S107: determining the steel sample containment case and the steel sample separation includes:
the rotational time period of the stripper 401 is accumulated, and when the rotational time period reaches a preset rotational time period, it is determined that the steel sample accommodating case is separated from the steel sample.
Specifically, the timing module in the controller counts the time when the peeling machine 401 is rotated from the rotating portion 403, after a preset period of rotation, the steel sample accommodating case has collided with the boss 4011 a sufficient number of times in the peeling machine 401 to separate the first case from the second case, and the steel sample is peeled from the steel sample accommodating case after the first case and the second case are separated.
Step S108: and (5) pouring a steel sample by controlling the stripping mechanism 4, and completing sampling.
In one embodiment of the present invention, step S108: the controlling of the peeling mechanism 4 to pour the steel sample includes:
the deflection part 402 is controlled to drive the stripper 401 to deflect a second preset angle so as to pour out the steel sample.
Specifically, after determining that the steel sample accommodating case is separated from the steel sample, the controller controls the deflection part 402 to drive the stripper 401 to deflect by a second preset angle, in this embodiment, the second preset angle is preferably 90 degrees, that is, the stripper 401 is deflected by 90 degrees again as a whole, and at this time, the input port is directed downward, so that the steel sample, the first case and the second case are poured out of the stripper 401.
Further, the molten steel temperature measurement sampling system further comprises a transmission belt (not shown in the figure) and a transmission belt driving piece which are arranged below the deflection part 402 at intervals, the transmission belt driving piece is in communication connection with the controller, and after the steel sample is peeled off, the deflection part 402 drives the peeling machine 401 to deflect downwards, so that the peeling machine 401 falls the steel sample, the first shell and the second shell on the transmission belt, and the steel sample can be prevented from falling on the ground to cause pollution, and the steel sample detection result is influenced; in this embodiment, the molten steel temperature measurement sampling system further includes a camera for collecting images on the conveyor belt, the camera sends the collected images to the controller, the controller processes and analyzes the images on the conveyor belt, if the controller knows that the conveyor belt has successfully stripped steel samples according to the analysis result, the controller controls the conveyor belt driving piece to start to act, and the conveyor belt is also convenient for directly conveying the steel samples to the laboratory for testing.
In one embodiment of the invention, the molten steel temperature measuring and sampling system further comprises a slag breaking mechanism 5 arranged at the tail end of the multi-shaft rotating mechanical arm 1, and the method further comprises the steps of S109-S112, wherein:
step S109: controlling the multi-axis rotary mechanical arm 1 to perform a third operation;
step S110: the slag breaking mechanism 5 is controlled to break slag on the surface of 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 the solidified steel slag on the surface of molten steel in the steel ladle; because the temperature difference between the environment and the molten steel is large, the surface of the molten steel in the ladle is solidified to form steel slag, so that slag breaking operation is required to be performed on the surface of the molten steel 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 positioned 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 repeatedly stretch and retract so that the slag breaking pick 501 can repeatedly strike the steel slag until the steel slag is broken by the steel slag breaking pick.
Step S111: determining a slag breaking position formed on the surface of molten steel;
step S112: after the slag breaking position is formed, the multi-axis rotary mechanical arm 1 is controlled to execute the first operation.
In one embodiment of the present invention, the molten steel temperature measuring and sampling system further includes an image acquisition device for acquiring a surface image of molten steel, step S111: determining that slag breaking positions are formed on the surface of molten steel comprises the steps S301-S302, wherein;
step S301: acquiring a surface image of molten steel;
step S302, determining a slag breaking position formed on the surface of molten steel according to the surface image.
Specifically, the image acquisition device is preferably a camera arranged above the ladle and is used for acquiring the surface image of molten steel and sending the acquired image to the controller, the controller judges whether the surface of the molten steel forms a slag breaking position according to the identification and analysis results of the image, and if the slag breaking position is not formed, the controller controls the slag breaking mechanism 5 to continuously execute slag breaking operation until the slag breaking position is formed; if it is determined that the surface of the molten steel forms a slag breaking point according to the surface image, the controller controls the slag breaking mechanism 5 to stop the slag breaking operation, and then controls the multi-axis rotary mechanical arm 1 to perform the first operation (i.e., after the slag breaking point is formed, step S101 is performed).
In one embodiment of the invention, the molten steel temperature measuring and sampling system further comprises a temperature measuring mechanism 6 arranged at one side of the slag breaking mechanism 5 and used for collecting the temperature of molten steel, and the method further comprises the steps of S113-S115, wherein:
step S113: after the slag breaking position is formed, controlling the multi-shaft rotary mechanical arm 1 to execute a fourth operation so as to change 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 stretches into molten steel at the slag breaking position to measure the temperature of the molten steel;
step S115: after determining that the temperature measurement of the molten steel is completed, the multi-axis rotary mechanical arm 1 is controlled to perform the first operation.
Specifically, in the continuous casting billet production process, the temperature of molten steel in the ladle needs to be detected, so that the problem that the quality of castings is affected due to the fact that the temperature of the molten steel does not reach the standard is avoided, 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 slag breaking position is determined to be 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 interference caused by the slag breaking mechanism 5 during temperature measurement is avoided; after the fourth operation is finished, the positions of the slag breaking mechanism 5 and the temperature measuring mechanism 6 are exchanged so that the temperature measuring mechanism 6 can execute subsequent temperature measuring operation; after the position exchange of the slag breaking mechanism 5 and the temperature measuring mechanism 6 is completed, the controller controls the multi-axis rotating mechanical arm 1 to execute a fifth operation, after the execution of the fifth operation, the temperature measuring mechanism 6 stretches into molten steel from the slag breaking position and measures the temperature of the molten steel, after the measurement of the temperature of the molten steel is completed, the temperature measuring mechanism 6 arranged at the tail end of the multi-axis rotating mechanical arm 1 is replaced by the sampling paper tube 2, and then the controller controls the multi-axis rotating mechanical arm 1 to execute a first operation (namely, after the measurement of the temperature of the molten steel is completed, 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 rotating mechanical arm 1, and the rotation angles of the rotating arms of the multi-axis rotating mechanical arm 1 in the above operation processes are set in advance in a program and stored in the controller, and only need to be directly invoked during the operation.
In another embodiment of the invention, a controller is provided that is configured to perform the method for a molten steel thermometry sampling system described above.
In another embodiment of the present invention, there is provided a molten steel temperature measuring and sampling system including:
a multi-axis rotary mechanical arm 1;
a sampling paper tube 2 detachably provided at the end of the multi-axis rotary mechanical arm 1 and provided inside with a steel sample accommodating case for infiltration of molten steel;
the clamping mechanism 3 is used for clamping the sampling paper tube 2 and acquiring a steel sample accommodating shell;
a peeling mechanism 4 rotatably provided below the holding mechanism 3 and configured to peel off the steel sample accommodating case and the steel sample; and the controller.
In the embodiment of the present invention, the steel-like housing case includes a first case and a second case which are separable, and the protruding portion 4011 for separating the first case and the second case is provided in the inner cavity of the peeling mechanism 4.
Specifically, a steel sample accommodating shell for infiltration of molten steel is arranged in the sampling paper tube 2, the steel sample accommodating shell comprises a first shell and a second shell which are separable, 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 stretches into molten steel of a ladle, the molten steel enters the interior 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 the steel sample accommodating shell is cooled for a preset time (such as 10 minutes), the sampling paper tube 2 is stretched between the first clamping part and the second clamping part, and the first clamping part and the second clamping part are controlled to be closed so as to execute clamping action, so that the sampling paper tube 2 is clamped and the steel sample accommodating shell accommodating the cooled steel sample is clamped; the peeling mechanism 4 is rotatably arranged below the clamping mechanism 3 and provided with an opening facing the clamping mechanism 3, a protruding part 4011 for peeling the first shell and the second shell is arranged in an inner cavity of the peeling mechanism 4, and the loosening operation is performed after the clamping mechanism 3 clamps the steel sample accommodating shell, so that the steel sample accommodating shell with the steel sample enters the large peeling mechanism 4 through an input port in the peeling mechanism 4, the peeling mechanism 4 rotates (rotation at the moment comprises non-intermittent rotation and intermittent rotation), the steel sample accommodating shell with the steel sample can rotate in the peeling mechanism 4 at a preset rotation speed and rotation frequency and collide with the protruding part 4011, the steel sample accommodating shell can be broken after a certain number of collisions are achieved, namely the first shell and the second shell are separated, and the steel sample is peeled from the steel sample accommodating shell at the moment.
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, the protruding portion 4011 is formed inside the stripper 401, the rotating portion 403 is a rotating motor, the rotating motor is connected with the bottom of the stripper 401 through a coupling and a first connecting shaft, and the rotating motor can drive the stripper 401 to rotate synchronously when rotating, so that the steel sample accommodating shell entering the rotating motor and provided with the steel sample can rotate and collide with the protruding portion 4011, and the first shell and the second shell are separated, so that the steel sample can be stripped from the steel sample accommodating shell.
In one embodiment of the present invention, the boss 4011 is provided on the inner peripheral wall of the stripper 401 and has an arc-shaped tip. Specifically, in this embodiment, the number of the protruding portions 4011 is plural, the plurality of protruding portions 4011 are arranged in a multi-turn layer on the inner circumference of the stripping machine 401, and each turn of layer has a plurality of protruding portions 4011 distributed at intervals in the circumferential direction, and the structural design increases the contact area between the steel sample accommodating housing and the protruding portions 4011, which is helpful for the steel sample accommodating housing to collide with the protruding portions 4011 under the action of centrifugal force when the stripping machine 401 rotates, so that the steel sample is stripped; the protruding portion 4011 comprises a cylinder and a hemispherical body, the bottom end of the cylinder is connected with the inner peripheral wall of the stripping machine 401, the hemispherical body is arranged at the top end of the cylinder, the structural design is beneficial to the protruding portion 4011 to apply collision force to the steel sample accommodating shell when contacting with the steel sample accommodating shell, namely, the steel sample accommodating shell moves from any direction, at any angle and towards the protruding portion 4011, and the protruding portion 4011 can be guaranteed to be subjected to collision force.
In one embodiment of the present invention, the deflecting unit 402 includes a deflecting frame, a deflecting motor and a steering gear, the rotating unit 403 is disposed 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 the steel sample accommodating case with the steel sample enters the stripper 401, the deflecting unit 402 is not in action, and the stripper 401 is in a vertical state as a whole and the opening is upward; when the steel sample accommodating shell with the steel sample is counted into the stripping machine 401, the deflection part 402 deflects the whole stripping machine 401 by 90 degrees, and the feeding port faces the horizontal direction at the moment, in the state, when the stripping machine 401 rotates, the steel sample accommodating shell can rotate along with the stripping machine 401 more easily, even when the rotating speed of the stripping machine 401 is set to be lower, the steel sample accommodating shell can fall onto the protruding part 4011 at the lower position from the high position under the action of gravity and collide with the protruding part 4011 at the lower position, so that the energy is saved, and the stripping efficiency of the steel sample is improved; after the steel sample is peeled off, the deflecting portion 402 deflects the entire stripper 401 by 90 degrees again, and the inlet is directed downward to pour the steel sample, the first housing, and the second housing from the stripper 401.
In one embodiment of the invention, the molten steel temperature measuring and sampling system further comprises a transmission belt (not shown in the figure) arranged below the deflection part 402 at intervals, and after the steel sample is peeled off, the deflection part 402 drives the peeling machine 401 to deflect downwards, so that the peeling machine 401 falls the steel sample, the first shell and the second shell on the transmission belt, the steel sample can be prevented from falling on the ground to cause pollution, the steel sample detection result is influenced, and the steel sample can be conveniently directly conveyed 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 arranged on the installation position of the slag breaking mechanism 5 in a telescopic way, and 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 the solidified steel slag on the surface of molten steel in the 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, so that the temperature of molten steel can be measured and known. When the molten steel temperature measuring and sampling system is used for measuring the molten steel temperature, the slag breaking mechanism 5 is firstly extended, so that the slag breaking pick 501 extends longer than the temperature measuring mechanism 6 and can be contacted with steel slag on the surface of molten steel, and the interference of the too long temperature measuring mechanism 6 on the slag breaking operation of the slag breaking pick 501 is avoided; the slag breaking mechanism 5 stretches and contracts repeatedly so that the slag breaking pick 501 can repeatedly knock the steel slag until the steel slag is broken by the slag breaking pick; 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 that of the temperature measuring mechanism 6, the interference of the slag breaking mechanism 5 to the temperature measuring operation of the temperature measuring mechanism 6 is avoided, and meanwhile, the arms of the multi-axis rotating 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 to measure the temperature of the molten steel. The molten steel temperature measurement sampling system in the embodiment has a simple scheme, does not need to manually apply force to break steel slag on the surface of the 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 the steel.
Further, the molten steel temperature measurement sampling system in this embodiment further includes an image acquisition device and a controller, where the controller is in communication connection with the image acquisition device, the multi-axis rotating mechanical arm 1, and the slag breaking mechanism 5, and the image acquisition device is configured to acquire an image of the surface of molten steel and send the acquired image to the controller, where the controller determines a slag breaking effect of the molten steel according to the identification and analysis result of the image, and then controls the slag breaking mechanism 5 and the multi-axis rotating mechanical arm 1 according to the slag breaking effect, for example, controls the slag breaking mechanism 5 to repeatedly stretch when it is identified that the molten steel slag is not broken, so that the slag breaking pick 501 can repeatedly strike the steel slag; when the steel slag is identified to be broken, each arm of the multi-shaft rotary mechanical arm 1 is controlled to be matched with the other arm in a rotating mode 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 stretches into molten steel at the slag breaking position, so that the temperature measuring mechanism 6 measures the temperature of the molten steel.
In one embodiment of the invention, the slag breaking mechanism 5 further comprises a telescopic electric cylinder and a steel drill rod arranged at the telescopic end of the telescopic electric cylinder, the slag breaking pick 501 is arranged at the tail end of the steel drill rod, the telescopic end of the telescopic electric cylinder can execute telescopic movement, the steel drill rod is driven to move together with the slag breaking pick 501 when the telescopic end moves, the extension length of the slag breaking pick 501 is adjusted, and the slag breaking pick 501 can repeatedly strike steel slag by repeatedly telescopic extension of the telescopic end.
In one embodiment of the invention, the molten steel temperature measuring and sampling system further comprises a protective cover 8 covered on the outer side of the slag breaking mechanism 5, and a round hole for the slag breaking pick 501 to extend is formed in the protective cover 8. Specifically, since the steel scraps generated by the slag breaking pick 501 when knocking the steel slag have higher temperature and fly out towards any direction, the protection cover 8 can effectively prevent all parts (such as a driving motor, a telescopic electric cylinder and the like) in the steel slag breaking pick from being smashed and burned by the flying steel scraps, and has a good protection effect on all the parts in the steel slag breaking pick.
In one embodiment of the invention, the molten steel temperature measuring and sampling system further comprises a protection panel 7 arranged between the multi-axis rotating mechanical arm 1 and the slag breaking mechanism 5 and the temperature measuring mechanism 6, specifically, the protection panel 7 has enough area so as to effectively block steel scraps flying out of the slag breaking pick 501 when the steel slag is knocked, and the damage of the steel scraps to the multi-axis rotating mechanical arm 1 and cables thereof is avoided, so that the multi-axis rotating mechanical arm 1 is effectively protected.
In one embodiment of the invention, the molten steel temperature measuring and sampling system further comprises a nitrogen source, a vent hole is arranged on the protection panel 7, 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 protection cover 8. Specifically, the molten steel in the ladle has a higher temperature, so that the slag breaking mechanism 5 is in a high-temperature working environment, if the slag breaking mechanism is not cooled, the slag breaking mechanism is easy to damage, and the vent hole in the embodiment is long-strip-shaped, so that nitrogen from a nitrogen source can flow into the inner cavity of the protective cover 8 through the vent hole, and each part (such as a driving motor, a telescopic electric cylinder and the like) in the inner cavity of the protective cover 8 is cooled, thereby being beneficial to prolonging the service life of the slag breaking mechanism 5.
In one embodiment of the invention, the molten steel temperature measuring and sampling system further comprises a probe mounting rod 10, and the temperature measuring mechanism 6 is detachably arranged on the probe mounting rod 10. Specifically, the probe mounting rod 10 is mounted on the mounting plate 101 and 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 6 can be easily detached for maintenance or replacement.
In one embodiment of the invention, the sampling paper tube 2 is removably mounted on the probe mounting bar 10. Specifically, when the molten steel needs to be sampled, the temperature measuring mechanism 6 is detached, and the sampling paper tube 2 is arranged at one end of the probe mounting rod 10 far away from the mounting plate 101, so that the molten steel is sampled, and the structure of the molten steel temperature measuring and sampling system is simplified, and meanwhile, the functionality of the molten steel temperature measuring and sampling system is increased. 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, no additional protection mechanism is required for the temperature measuring mechanism 6.
In one 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 installation rod 10 passes through the fixing piece 9, specifically, the fixing piece 9 is a fixing block arranged on the side wall of one side of the protective cover 8, which is close to the temperature measurement mechanism 6, a through hole for the probe installation rod 10 to pass through is formed in the fixing block, the installation stability of the temperature measurement mechanism 6 is enhanced by the arrangement of the fixing block, and the probe installation rod 10 is prevented from being easily bent when being accidentally knocked.
The invention provides a method, a controller and a molten steel temperature measuring and sampling system for the molten steel temperature measuring and sampling system, wherein the molten steel temperature measuring and 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 and is internally provided with a steel sample accommodating shell, the clamping mechanism is arranged at one side of the multi-shaft rotating mechanical arm, and the stripping mechanism is rotatably arranged below the clamping mechanism.
It will be appreciated by those skilled in the art that 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 one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. 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 storage media for a computer 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, which can be used to store information that can be accessed by a computing device. Computer readable media, as defined herein, does not include transitory computer 8 readable media (transmission 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 one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (8)
1. A method for a molten steel temperature measuring and sampling system, the molten steel temperature measuring and sampling system comprising a multi-axis rotating mechanical arm, a sampling paper tube, a clamping mechanism and a peeling mechanism, wherein the sampling paper tube is detachably arranged at the tail end of the multi-axis rotating mechanical arm and internally provided with a steel sample accommodating shell, the steel sample accommodating shell comprises a first shell and a second shell which are separable, the first shell and the second shell jointly form an accommodating cavity for accommodating a steel sample, the clamping mechanism is arranged at one side of the multi-axis rotating mechanical arm, and the peeling mechanism is rotatably arranged below the clamping mechanism and comprises a peeling machine and a deflection part for driving the peeling machine to deflect, and the method comprises the following steps:
controlling the multi-axis rotary mechanical arm to execute a first operation, so that the sampling paper tube stretches into molten steel;
determining a steel sample in the steel sample accommodating shell;
controlling the multi-axis rotating mechanical arm to execute a second operation, so that the sampling paper tube stretches into an opening of the clamping mechanism;
controlling the clamping mechanism to fold and clamp the sampling paper tube so as to clamp the steel sample accommodating shell in the sampling paper tube;
controlling the whole stripper to be in a vertical state, wherein the input port of the stripper faces upwards;
controlling the clamping mechanism to open so that the steel sample accommodating shell falls into the stripping mechanism;
controlling the deflection part to drive the stripper to deflect by a first preset angle;
controlling the stripper to rotate at a first preset rotating speed so that the steel sample accommodating shell rotates along with the stripper and falls onto a protruding part at a lower part from a higher part under the action of gravity;
accumulating the rotation time of the stripper, and determining that the steel sample accommodating shell is separated from the steel sample after the rotation time reaches the preset rotation time;
and controlling the deflection part to drive the stripper to deflect again until the input port faces downwards, so that the steel sample, the first shell and the second shell are poured out of the stripper, and sampling is completed.
2. The method for a molten steel temperature sensing sampling system of claim 1, wherein the controlling the stripping mechanism to pour the steel sample comprises:
and controlling the deflection part to drive the stripper to deflect a second preset angle so as to pour out the steel sample.
3. The method for a molten steel temperature measuring and sampling system according to claim 1, wherein,
the molten steel temperature measurement sampling system further comprises a slag breaking mechanism arranged at the tail end of the multi-shaft rotary mechanical arm, and the method further comprises the following steps:
controlling the multi-axis rotating 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.
4. The method for a molten steel temperature measuring and sampling system according to claim 3, further comprising an image acquisition device for acquiring a surface image of the molten steel, the determining that the surface of the molten steel forms a slag breaking point comprising;
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.
5. The method for a molten steel temperature measuring and sampling system according to claim 4, further comprising a temperature measuring mechanism provided at one side of the slag breaking mechanism for collecting the temperature of the molten steel, the method further comprising:
after the slag breaking position is formed, controlling the multi-shaft rotary mechanical arm to execute a fourth operation so as to change the positions of the slag breaking mechanism and the temperature measuring mechanism;
controlling the multi-shaft rotary mechanical arm to execute a fifth operation so that the temperature measuring mechanism stretches into 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 rotating mechanical arm to execute a first operation.
6. A controller, characterized in that it is configured to perform the method for a molten steel temperature measuring sampling system according to any one of claims 1 to 5.
7. A molten steel temperature measurement sampling system, characterized in that the molten steel temperature measurement sampling system comprises:
a multi-axis rotating mechanical arm;
the sampling paper tube is detachably arranged at the tail end of the multi-shaft rotary mechanical arm and is internally provided with a steel sample accommodating shell for molten steel infiltration;
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 6.
8. The molten steel temperature measurement sampling system of claim 7, wherein the steel sample receiving housing comprises first and second separable housings, and wherein a protrusion for separating the first and second housings is provided in an inner cavity of the stripping mechanism.
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