CN117697714A - Automatic round workpiece temperature measurement and fetching robot device used in high-temperature environment - Google Patents
Automatic round workpiece temperature measurement and fetching robot device used in high-temperature environment Download PDFInfo
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- CN117697714A CN117697714A CN202410025859.1A CN202410025859A CN117697714A CN 117697714 A CN117697714 A CN 117697714A CN 202410025859 A CN202410025859 A CN 202410025859A CN 117697714 A CN117697714 A CN 117697714A
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- 238000009529 body temperature measurement Methods 0.000 title claims description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 230000033001 locomotion Effects 0.000 claims abstract description 21
- 238000001816 cooling Methods 0.000 claims abstract description 18
- 230000001174 ascending effect Effects 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 30
- 239000000498 cooling water Substances 0.000 claims description 29
- 229910045601 alloy Inorganic materials 0.000 claims description 7
- 239000000956 alloy Substances 0.000 claims description 7
- 230000001681 protective effect Effects 0.000 claims description 6
- 229910052593 corundum Inorganic materials 0.000 claims description 5
- 239000010431 corundum Substances 0.000 claims description 5
- 230000001012 protector Effects 0.000 claims description 5
- 239000010935 stainless steel Substances 0.000 claims description 4
- 229910001220 stainless steel Inorganic materials 0.000 claims description 4
- 238000005192 partition Methods 0.000 claims description 3
- 238000010791 quenching Methods 0.000 abstract description 27
- 230000000171 quenching effect Effects 0.000 abstract description 27
- 238000000034 method Methods 0.000 abstract description 22
- 230000008569 process Effects 0.000 abstract description 20
- 238000002474 experimental method Methods 0.000 abstract description 12
- 238000011160 research Methods 0.000 abstract description 11
- 238000010438 heat treatment Methods 0.000 abstract description 3
- 238000005242 forging Methods 0.000 description 6
- 238000011065 in-situ storage Methods 0.000 description 3
- 229910000601 superalloy Inorganic materials 0.000 description 3
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002826 coolant Substances 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- WABPQHHGFIMREM-UHFFFAOYSA-N lead(0) Chemical compound [Pb] WABPQHHGFIMREM-UHFFFAOYSA-N 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011946 reduction process Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of heat treatment quenching experimental equipment, in particular to a robot device for automatically measuring temperature and taking round workpieces in a high-temperature environment, which comprises the following components: the moving mechanism is used for driving the robot to move; the lifting mechanism is arranged above the moving mechanism and is used for driving the robot to do ascending or descending movement; the round workpiece taking mechanism is arranged above the lifting mechanism and is used for automatically taking a round workpiece in a high-temperature environment; the temperature measuring mechanism is connected with the round workpiece taking mechanism and is used for automatically measuring the temperature of the round workpiece; the central control platform is electrically connected with the temperature measuring mechanism, the moving mechanism, the lifting mechanism and the round workpiece taking mechanism and is used for controlling the robot and displaying the working state of the robot and real-time temperature measuring data in real time. The invention can complete the task of taking out the workpiece and measuring the temperature simultaneously, can completely measure the cooling process from taking out the workpiece from the high-temperature environment to the quenching process, and provides a complete data chain for quenching research, thereby improving the accuracy of quenching experiment research.
Description
Technical Field
The invention relates to the technical field of heat treatment quenching experimental equipment, in particular to a robot device for automatically measuring temperature and taking round workpieces in a high-temperature environment.
Background
The crystal structure of the nickel-based superalloy is optimized, residual stress is reduced, high-temperature performance of the alloy is improved, and quenching experiments are required to be carried out after the high-temperature alloy is heated to high temperature. Since the heated metal has a high temperature, it is required to be held and carried by a manual tool operation. When the superalloy of experiment is great, the manpower often clamping force is not enough, very easily leads to superalloy work piece to drop, causes the injury of smash of experimenter and equipment, has very big potential safety hazard. While the quenching temperature is one of the most important parameters in the quenching process. The workpiece is exposed to a cooling medium during a rapid cooling phase at the beginning of quenching. The temperature of the surface of the workpiece drops sharply, but in the deep layer structure the temperature drops comparatively slowly, so that the temperature gradient is particularly large. Therefore, dense temperature acquisition needs to be performed in time at the initial stage of quenching, and excessive calculation errors are avoided.
At present, the process of manually clamping and carrying the high-temperature alloy workpiece consumes a long time, the alloy workpiece is cooled before quenching and cooling experiments, and a complete quenching process temperature change curve is difficult to obtain, so that the subsequent research of the experiments is influenced.
Patent document CN215544641U relates to and presss from both sides instrument for long service life's high temperature forging, the on-line screen storage device comprises a base, fixed plate fixedly connected with sleeve is passed through at the top of base, telescopic inside grafting has the telescopic column, the top of telescopic column is connected with the interlock case through the bearing piece rotation, the right side fixedly connected with first draw runner plate at interlock case inner chamber top, this patent relates to forging processing technology field. This long service life's high temperature forging presss from both sides instrument of getting connects arc clamp frame through using curved shape frame, after carrying the forging centre gripping, can make two arc clamp frames be connected through leading pipe and guide port, start the water pump later and pour into curved shape frame with the water in the water tank through first aqueduct into, make water flow through two arc clamp frames rethread second aqueduct flow back to the water tank in, can take away the temperature on the anchor clamps with the heat conduction of water through this structure, make holistic temperature reduce to guaranteed that the anchor clamps can not suffer high temperature erosion for a long time. However, the clamping tool in the above publication mainly considers the design and movement of the arc clamp and cools the arc clamp, and does not consider clamping of a high-temperature round workpiece, and also does not consider real-time temperature measurement of the clamped workpiece, and also does not automatically design the clamping tool, so that the error of subsequent temperature measurement cannot be reduced.
Patent document CN102806298A relates to a transfer robot for hot die forging high temperature workpiece clamping, which comprises a frame and a mechanical arm capable of clamping a workpiece, and further comprises a mounting seat and a telescopic cylinder, wherein a rotary table is fixed on the frame, a linear motion module capable of enabling the mounting seat to transversely move is arranged on a rotary shaft of the rotary table through a connecting transition plate, the mechanical arm is hinged on the mounting seat, one end of the telescopic cylinder is hinged on the mounting seat, and the other end of the telescopic cylinder is hinged with the tail end of the mechanical arm. The invention has low price, large operation range and convenient combination and meets the clamping requirement of the workpiece on the hot die forging work site. However, the carrying robot in the above publication mainly considers improving the space utilization rate and the system flexibility when in use, the robot platform is fixedly placed, the movement of the robot platform is not considered, the clamping of the high-temperature round workpiece is not considered, the real-time temperature measurement of the clamped workpiece is not considered, the use scene is less, and the application range is small.
Patent document CN110586787a relates to a long-shaft complex high-temperature stamping part pickup device, comprising: the mobile device comprises a base, wherein a mobile device is arranged at the bottom of the base; the rotating seat is arranged on the upper surface of the base; the lifting device is erected on the rotating seat; the upper cross beam is fixed at the top end of the lifting device, the upper cross beam is provided with a plurality of horizontal cross bars, a mechanical grabbing device is arranged on the lower surface of one end of each horizontal cross bar far away from the lifting device, and an electric driving device is arranged at the other end of each horizontal cross bar, and the electric driving device and the mechanical grabbing device are in transmission through a connecting piece; the visual detection device is erected on one side of the base through a vertical rod. However, the pickup device in the above publication mainly considers picking up long-axis parts, avoids the use of materials which are not resistant to high temperature, and can work at higher temperature without considering clamping round workpieces, real-time temperature measurement of clamped workpieces, cooling of parts, poor high temperature resistance and low universality.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides the automatic temperature measurement and pickup robot device for round workpieces in a high-temperature environment, which can simultaneously finish pickup and temperature measurement tasks, can transfer the workpieces and measure temperature change fully automatically, safely and efficiently, can completely measure the temperature reduction process from the taking of the workpieces from the high-temperature environment to the quenching process, and provides a complete data chain for quenching research, thereby improving the accuracy of quenching experiment research.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
a robot apparatus for automatic temperature measurement and pick-up of round workpieces in a high temperature environment, comprising:
the moving mechanism is used for driving the robot to move;
the lifting mechanism is arranged above the moving mechanism and is used for driving the robot to do ascending or descending movement;
the round workpiece taking mechanism is arranged above the lifting mechanism and is used for automatically taking a round workpiece in a high-temperature environment;
the temperature measuring mechanism is connected with the round workpiece taking mechanism and is used for automatically measuring the temperature of the round workpiece;
the central control platform is electrically connected with the temperature measuring mechanism, the moving mechanism, the lifting mechanism and the round workpiece taking mechanism and is used for controlling the robot and displaying the working state of the robot and real-time temperature measuring data in real time.
Preferably, the moving mechanism comprises a chassis, a battery pack arranged on the chassis and a steering engine, wherein the battery pack is arranged at the rear end part of the chassis, and the steering engine is arranged at one side of the battery pack; the bottom of the chassis is provided with four moving wheels, and the four moving wheels are connected with the chassis through moving wheel brackets; each of the moving wheels is driven by an independent moving wheel motor; the two moving wheels at the front end are provided with tracking navigation sensors, and the two moving wheels at the rear end are connected with a steering engine.
Preferably, the lifting mechanism comprises a hydraulic lifting rod arranged on the chassis and a bearing platform, and the bearing platform is horizontally arranged above the hydraulic lifting rod.
Preferably, the round workpiece taking mechanism comprises a supporting frame arranged on a bearing platform and two telescopic arms arranged on the supporting frame, wherein the two telescopic arms are arranged at intervals, the front ends of the two telescopic arms are loaded with round workpieces, the rear ends of the two telescopic arms are connected with a cooling system, the middle ends of the two telescopic arms are provided with a furnace door, and the furnace door comprises a main furnace door and an auxiliary furnace door.
Preferably, the temperature measuring mechanism comprises a thermocouple, the front end of the thermocouple penetrates through a hole of the main furnace door and is spliced with a temperature measuring hole of the round workpiece, and the rear end of the thermocouple is connected with the central control platform through a lead protector.
Preferably, the central control platform comprises a multifunctional display screen, a motion controller, a lifting controller, a telescopic controller, a wireless transceiver and a temperature collector; the motion controller, the lifting controller, the telescopic controller, the wireless transceiver and the temperature collector are electrically connected with the multifunctional display screen.
The multifunctional display screen is used for displaying the working state of the robot and real-time temperature measurement data in real time;
the motion controller is used for controlling the moving wheel motor, the tracking navigation sensor and the steering engine and controlling the robot to move forwards, backwards, turn around in situ and the like;
the lifting controller is used for controlling the hydraulic lifting rod and controlling the lifting and the gradient of the bearing platform;
the telescopic controller is used for controlling the telescopic arm and the telescopic motor and controlling the length and the distance of the telescopic arm;
the wireless transceiver controls the robot to move by receiving the signal of the remote controller;
the temperature collector is used for receiving the electric signals of the thermocouple and converting the electric signals into temperature values.
Preferably, the cooling system comprises a water pump, a water pipe and a cooling water tank, wherein the cooling water tank is arranged below the battery pack, the water pump is arranged on one side of the cooling water tank, and the water pump is connected with the telescopic boom through the water pipe.
Preferably, be equipped with the interval regulator that is used for adjusting two flexible arms interval on the support frame, the interval regulator includes flexible motor, telescopic link, contact plate, slide rail, fixed hoop and bottom plate, the bottom plate is installed on the slide rail, fixed hoop is used for fixed flexible arm and is connected with the bottom plate, the one end of bottom plate is equipped with the contact plate, the contact plate passes through the telescopic link and is connected with flexible motor, makes the bottom plate remove along the slide rail through telescopic link push-and-pull contact plate by flexible motor drive.
Preferably, the telescopic arm is of a hollow structure, the telescopic arm is a high-temperature-resistant alloy telescopic arm, a cooling water inlet and a cooling water outlet are respectively arranged in the telescopic arm, and a partition plate is arranged between the cooling water inlet and the cooling water outlet for separation.
Preferably, the thermocouple is sleeved with a corundum protective sleeve or a stainless steel protective sleeve.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can safely and rapidly take out the workpiece from the high-temperature environment, avoids the safety problem of the traditional manual clamping, improves the workpiece taking efficiency, and solves the problem that the workpiece cannot be clamped due to insufficient manual force.
2. The invention can measure the temperature of the workpiece in the transferring process in real time, particularly can completely measure the cooling process from the taking-out of the workpiece from the high-temperature environment to the quenching process, provides a complete data chain for quenching research, and improves the accuracy of quenching experiment research.
3. The length and the interval of the telescopic arm are adjustable, so that different sizes of round workpieces can be met; meanwhile, the cooling system is arranged, so that the temperature resistance degree of the telescopic arm can be improved, the robot is prevented from being damaged by high temperature, and the service life of the robot is effectively prolonged.
4. According to the invention, the gradient of the bearing platform can be adjusted by adopting the lifting mechanism, the central control platform can display the running state and temperature measurement data of the robot in real time, full-automatic operation can be realized, and the problem of untimely temperature measurement caused by long workpiece taking process time is avoided.
5. According to the invention, the furnace door and the round workpiece are synchronously moved, the furnace door can play a role in resisting heat in the process of transferring the workpiece, so that the shelf equipment after the furnace door is prevented from being burnt out, the operation of opening and closing the furnace door is reduced, and the time and the working procedures are saved.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of the chassis of the present invention;
FIG. 3 is a top view of a load platform according to the present invention;
FIG. 4 is a schematic view of the telescopic arm according to the present invention;
FIG. 5 is a top view of the mid-distance adjuster of the present invention;
FIG. 6 is a side view of the mid-distance adjuster of the present invention;
fig. 7 is a schematic view of the structure of the oven door in the present invention.
FIG. 8 is a block diagram of a central control platform according to the present invention.
In the figure: 1, a chassis; 2, a mobile wheel motor; 3 tracking navigation sensor; 4, a battery pack; 5 steering engine; 6, a hydraulic lifting rod; 7, carrying a platform; 8, a telescopic arm; 81 a cooling water inlet; 82 a cooling water outlet; 83 a separator; 9 supporting frames; 10 a cooling system; 101, a water pump; 102 a water pipe; 103 cooling water tank; 11 pitch adjusters; a 111 telescopic motor; 112 telescoping rod; 113 contact plates; 114 sliding rails; 115 securing a ferrule; 116 a bottom plate; 12 round workpieces; 13 thermocouple; a 14-wire protector; 15 main furnace door; 151 auxiliary furnace doors; 16 a central control platform; 161 a multi-function display; 162 motion controller; 163 a lift controller; 164 a telescoping controller; 165 a wireless transceiver; a 166 temperature collector; 17 a moving wheel; 18 move the wheel carriage.
Detailed Description
The following technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, and thus the protection scope of the present invention is more clearly defined. The described embodiments of the present invention are intended to be only a few, but not all embodiments of the present invention, and all other embodiments that may be made by one of ordinary skill in the art without inventive faculty are intended to be within the scope of the present invention.
Referring to fig. 1-8, an automatic round workpiece temperature measurement and pickup robot apparatus for use in a high temperature environment, comprising:
the moving mechanism is used for driving the robot to move;
the lifting mechanism is arranged above the moving mechanism and is used for driving the robot to do ascending or descending movement;
the round workpiece taking mechanism is arranged above the lifting mechanism and is used for automatically taking the round workpiece 12 in a high-temperature environment;
the temperature measuring mechanism is connected with the round workpiece taking mechanism and is used for automatically measuring the temperature of the round workpiece 12;
the central control platform 16 is electrically connected with the temperature measuring mechanism, the moving mechanism, the lifting mechanism and the round workpiece taking mechanism and is used for controlling the robot and displaying the working state of the robot and real-time temperature measurement data in real time, and when the robot is in actual use, the central control platform 16 can be connected and controlled through a wireless remote controller or connected and controlled through a cable.
In the embodiment, the moving mechanism, the lifting mechanism, the round workpiece taking mechanism, the temperature measuring mechanism and the central control platform 16 are adopted to be mutually matched, so that the robot device can safely and quickly take out workpieces from a high-temperature environment, the safety problem that the workpieces are required to be manually clamped in the prior art is avoided, meanwhile, the workpiece taking efficiency is improved, and the problem that the workpieces cannot be clamped due to insufficient manual force is solved; meanwhile, the temperature of the workpiece in the transferring process can be measured in real time, particularly, the cooling process from the taking-out of the workpiece from the high-temperature environment to the quenching process can be completely measured, a complete data chain is provided for quenching research, and the accuracy of quenching experiment research is improved.
Specifically, referring to fig. 2, the moving mechanism includes a chassis 1, a battery pack 4 disposed on the chassis 1, and a steering engine 5, where the battery pack 4 is disposed at a rear end of the chassis 1, and the steering engine 5 is disposed at one side of the battery pack 4; the bottom of the chassis 1 is provided with four moving wheels 17, and the four moving wheels 17 are connected with the chassis 1 through moving wheel brackets 18; each of said moving wheels 17 is driven by a separate moving wheel motor 2; the front two movable wheels 17 are provided with tracking navigation sensors 3, and the rear two movable wheels 17 are connected with the steering engine 5.
In the embodiment, four moving wheels 17 at the bottom of the chassis 1 are driven by independent moving wheel motors 2, so that the whole robot device can be driven to move forwards, backwards, turn around in situ and the like; the battery pack 4 is used for providing power for the mobile wheel motor 2, the lifting mechanism, the telescopic arm 8 and the central control platform 16, the tracking navigation sensor 3 is used for navigation of the robot device, and an array is formed in front of the robot device by installing a plurality of tracking navigation sensors 3, so that the robot device can judge the current position of the robot device according to the intensity of reflected light received by the tracking navigation sensors 3, and then the running direction is adjusted accordingly; the steering engine 5 is used to control the direction of movement of the robotic device.
Specifically, referring to fig. 1, the lifting mechanism includes a hydraulic lifting rod 6 and a bearing platform 7 disposed on the chassis 1, and the bearing platform 7 is horizontally disposed above the hydraulic lifting rod 6.
In this embodiment, the hydraulic lifting rods 6 are used to connect and support the bearing platform 7, where the two hydraulic lifting rods 6 at the front end and the two hydraulic lifting rods 6 at the rear end can be controlled separately, and the height or gradient of the bearing platform 7 can be adjusted.
Specifically, referring to fig. 1, 3 and 7, the circular workpiece taking mechanism includes a supporting frame 9 disposed on the carrying platform 7, and two telescopic arms 8 mounted on the supporting frame 9, the two telescopic arms 8 are disposed at intervals, the front ends of the two telescopic arms 8 are loaded with a circular workpiece 12, the rear ends of the two telescopic arms 8 are connected with a cooling system 10, the middle ends of the two telescopic arms 8 are mounted with a furnace door, and the furnace door includes a main furnace door 15 and an auxiliary furnace door 151.
In this embodiment, during practical application, the furnace door and the round workpiece 12 can be moved synchronously, and the furnace door can play a role in heat resistance in the process of transferring the workpiece, so that the shelf equipment behind the door is prevented from being burnt out, and meanwhile, the operation of opening and closing the furnace door is reduced, and the time and the procedure are saved.
Specifically, referring to fig. 1 and 3, the temperature measuring mechanism includes a thermocouple 13, the front end of the thermocouple 13 penetrates through a hole of the main furnace door 15 and is inserted into a temperature measuring hole of the circular workpiece 12, and the rear end of the thermocouple 13 is connected with the central control platform 16 through a lead protector 14.
Specifically, referring to fig. 8, the central control platform 16 includes a multifunctional display screen 161, a motion controller 162, a lifting controller 163, a telescopic controller 164, a wireless transceiver 165 and a temperature collector 166; the motion controller 162, the elevation controller 163, the telescopic controller 164, the wireless transceiver 165 and the temperature collector 166 are electrically connected with the multifunctional display screen 161.
Wherein, the multifunctional display screen 161 is used for displaying the working state of the robot and real-time temperature measurement data in real time;
the motion controller 162 is used for controlling the moving wheel motor 2, the tracking navigation sensor 3 and the steering engine 5, and controlling the robot to perform actions such as forward, backward, turning around in situ and the like;
the lifting controller 163 is used for controlling the hydraulic lifting rod 6 and controlling the lifting and the gradient of the bearing platform 7;
the telescopic controller 164 is used for controlling the telescopic boom 8 and the telescopic motor 111, and controlling the length and the interval of the telescopic boom;
the wireless transceiver 165 controls the robot motion by receiving a signal from a remote controller;
the temperature collector 166 is used for receiving the electric signal of the thermocouple and converting the electric signal into a temperature value.
Specifically, referring to fig. 1 and 2, the cooling system 10 includes a water pump 101, a water pipe 102, and a cooling water tank 103, the cooling water tank 103 is disposed below the battery pack 4, the water pump 101 is disposed on one side of the cooling water tank 103, and the water pump 101 is connected to the telescopic arm 8 through the water pipe 102.
Specifically, referring to fig. 5 and 6, the supporting frame 9 is provided with a distance adjuster 11 for adjusting the distance between two telescopic arms 8, the distance adjuster 11 includes a telescopic motor 111, a telescopic rod 112, a contact plate 113, a sliding rail 114, a fixing hoop 115 and a bottom plate 116, the bottom plate 116 is mounted on the sliding rail 114, the fixing hoop 115 is used for fixing the telescopic arms 8 and is connected with the bottom plate 116, one end of the bottom plate 116 is provided with the contact plate 113, the contact plate 113 is connected with the telescopic motor 111 through the telescopic rod 112, and the bottom plate 116 is driven by the telescopic motor 111 to push and pull the contact plate 113 through the telescopic rod 112 so as to move along the sliding rail 114.
In the embodiment, the two telescopic arms 8 are adjustable in the length direction and the width direction so as to meet the requirement of round workpieces 12 with different sizes; when the width direction is adjusted, the bottom plate 116 is moved along the sliding rail 114 by being driven by the telescopic motor 111 and then pushing and pulling the contact plate 113 by the telescopic rod 112, so that the telescopic arms 8 on the bottom plate 116 are driven to move, and finally, the distance between the two telescopic arms 8 is adjusted. In practical application, the distance between the two telescopic arms 8 can be adjusted in an electric mode, and the distance can be adjusted by using a limit screw.
In addition, in the present embodiment, the cooling system 10 is provided to improve the temperature resistance of the telescopic arm, and also to prevent the robot from being damaged by high temperature, so as to effectively prolong the service life thereof. Specifically, the water pump 101 is connected with the telescopic boom 8 through the water pipe 102, and is used for cooling the telescopic boom 8 through the water pipe 102 by water in the cooling water tank 103; in practical application, the cooling water tank 103 is filled with water, and the cooling water tank 103 and the battery pack 4 can serve as counterweights to prevent the robot from losing balance due to overweight of the round workpiece 12. In addition, if the weight of the robot is to be reduced, the cooling system can be removed according to the actual situation.
The circular workpiece 12 may be cylindrical or spherical, and three temperature measuring holes are drilled in the circular workpiece 12, wherein the depth of each temperature measuring hole is half of the thickness of the circular workpiece 12, and the arrangement mode is vertical, so that the thermocouple 13 and the circular workpiece 12 are conveniently inserted.
Specifically, referring to fig. 4, the telescopic arm 8 is of a hollow structure, and the telescopic arm 8 is a high-temperature-resistant alloy telescopic arm, such as 310S stainless steel, and has the advantages of high structural strength, high temperature resistance and the like, so that the service life is prolonged. Wherein, the telescopic arm 8 is respectively provided with a cooling water inlet 81 and a cooling water outlet 82, and a partition plate 83 is arranged between the cooling water inlet 81 and the cooling water outlet 82 for separation.
Specifically, the thermocouple 13 is sleeved with a corundum protective sleeve or a stainless steel protective sleeve, and when in practical application, if an S-shaped thermocouple with a corundum sleeve is adopted, the thermocouple can meet the heating temperature range of a high-temperature workpiece.
The invention is used when: at the beginning, experimenters put round workpieces 12 at the front ends of telescopic arms 8, put main furnace doors 15 at the middle ends of telescopic arms 8, the distance between round workpieces 12 and main furnace doors 15 is the distance from the middle of an electric furnace hearth to the edge of a furnace mouth, S-shaped thermocouples 13 of a corundum sleeve structure are inserted into temperature measuring holes of round workpieces 12 through holes of main furnace doors 15, and lead wires of thermocouples 13 are connected into a central control platform 16 through lead wire protectors 14.
The cooling water tank is filled with water, and the cooling water tank and the battery pack can serve as a counterweight to prevent the robot from losing balance due to overweight of the round workpiece 12.
The operation robot moves to ensure that after the round workpiece 12 is aligned with the furnace hearth of the electric furnace, the operation robot moves forward to send the round workpiece 12 into the middle of the furnace hearth of the electric furnace, and the main furnace door 15 just reaches the furnace mouth. The carrying platform 7 is lowered so that the round workpiece 12 and the main furnace door 15 contact the furnace bottom, the telescopic arm 8 is shortened, the telescopic arm 8 is moved out of the electric furnace, and the auxiliary furnace door 151 is assembled.
When the round workpiece 12 is heated to 1100 ℃ in the electric furnace, the auxiliary furnace door 151 is removed, the telescopic arm 8 stretches into the electric furnace, and after the front end of the telescopic arm 8 contacts the round workpiece 12, the bearing platform 7 is lifted to lift the round workpiece 12 and the main furnace door 15. In the process, the water pump 101 starts to work to cool the telescopic boom 8.
The robot is operated to retreat, the round workpiece 12 is moved out of the electric furnace to carry out a high-speed gas quenching experiment, and at the moment, the central control platform 16 records quenching experiment temperature data in the whole process and displays the quenching experiment temperature data in real time.
In addition, when the distance between the two telescopic arms 8 is to be adjusted, as shown in fig. 5 and 6, the telescopic motor 111 can be adjusted to control the length of the telescopic rod 112, the telescopic rod 112 can control the contact plate 113 to push or pull the bottom plate 116 to move along the sliding rail 114, and the telescopic arms 8 are fixed on the bottom plate 116 through the fixing hoops 115.
In addition to manual robot movement, a movement path may be set on the ground, a program may be set, and the robot may be automatically operated by the tracking navigation sensor 3 according to the set movement path.
In addition, when the telescopic arm 8 enters the electric furnace to take the round workpiece 12, the robot can be fixed, the telescopic arm 8 stretches into the electric furnace, the length of the telescopic arm 8 can be unchanged, and the robot moves forwards to enable the telescopic arm 8 to enter the electric furnace.
In conclusion, the workpiece can be safely and rapidly taken out from the high-temperature environment, so that the safety problem of the traditional manual clamping is avoided, the workpiece taking efficiency is improved, and the problem that the workpiece cannot be clamped due to insufficient manual force is solved; meanwhile, the temperature of the workpiece in the transferring process can be measured in real time, particularly, the cooling process from the taking-out of the workpiece from the high-temperature environment to the quenching process can be completely measured, a complete data chain is provided for quenching research, and the accuracy of quenching experiment research is improved.
The description and practice of the invention disclosed herein will be readily apparent to those skilled in the art, and may be modified and adapted in several ways without departing from the principles of the invention. Accordingly, modifications or improvements may be made without departing from the spirit of the invention and are also to be considered within the scope of the invention.
Claims (10)
1. A be arranged in high temperature environment circular work piece automatic temperature measurement and get a robot device which characterized in that includes:
the moving mechanism is used for driving the robot to move;
the lifting mechanism is arranged above the moving mechanism and is used for driving the robot to do ascending or descending movement;
the round workpiece taking mechanism is arranged above the lifting mechanism and is used for automatically taking a round workpiece (12) in a high-temperature environment;
the temperature measuring mechanism is connected with the round workpiece taking mechanism and is used for automatically measuring the temperature of the round workpiece (12);
and the central control platform (16) is electrically connected with the temperature measuring mechanism, the moving mechanism, the lifting mechanism and the round workpiece taking mechanism and is used for controlling the robot and displaying the working state of the robot and real-time temperature measuring data in real time.
2. The automatic round workpiece temperature measurement and pickup robot device for the high-temperature environment according to claim 1, wherein the moving mechanism comprises a chassis (1), a battery pack (4) arranged on the chassis (1) and a steering engine (5), the battery pack (4) is arranged at the rear end part of the chassis (1), and the steering engine (5) is arranged at one side of the battery pack (4); the bottom of the chassis (1) is provided with four moving wheels (17), and the four moving wheels (17) are connected with the chassis (1) through moving wheel brackets (18); each of the moving wheels (17) is driven by an independent moving wheel motor (2); the front two movable wheels (17) are provided with tracking navigation sensors (3), and the rear two movable wheels (17) are connected with the steering engine (5).
3. The automatic round workpiece temperature measurement and pickup robot device for the high-temperature environment according to claim 2, wherein the lifting mechanism comprises a hydraulic lifting rod (6) arranged on the chassis (1) and a bearing platform (7), and the bearing platform (7) is horizontally arranged above the hydraulic lifting rod (6).
4. The automatic round workpiece temperature measurement and pickup robot device for the high-temperature environment according to claim 3, wherein the round workpiece pickup mechanism comprises a support frame (9) arranged on a bearing platform (7) and two telescopic arms (8) arranged on the support frame (9), the two telescopic arms (8) are arranged at intervals, round workpieces (12) are carried at the front ends of the two telescopic arms (8), a cooling system (10) is connected to the rear ends of the two telescopic arms (8), a furnace door is arranged at the middle ends of the two telescopic arms (8), and the furnace door comprises a main furnace door (15) and a secondary furnace door (151).
5. The automatic round workpiece temperature measuring and taking robot device for the high-temperature environment according to claim 4, wherein the temperature measuring mechanism comprises a thermocouple (13), the front end of the thermocouple (13) penetrates through a hole of a main furnace door (15) and is spliced with a temperature measuring hole of a round workpiece (12), and the rear end of the thermocouple (13) is connected with a central control platform (16) through a lead protector (14).
6. The automatic round workpiece temperature measurement and pickup robot apparatus for use in high temperature environments of claim 4, wherein the central control platform (16) comprises a multi-function display screen (161), a motion controller (162), a lift controller (163), a telescoping controller (164), a wireless transceiver (165), and a temperature collector (166); the motion controller (162), the lifting controller (163), the telescopic controller (164), the wireless transceiver (165) and the temperature collector (166) are electrically connected with the multifunctional display screen (161).
7. The automatic round workpiece temperature measurement and pickup robot device for the high-temperature environment according to claim 4, wherein the cooling system (10) comprises a water pump (101), a water pipe (102) and a cooling water tank (103), the cooling water tank (103) is arranged below the battery pack (4), the water pump (101) is arranged on one side of the cooling water tank (103), and the water pump (101) is connected with the telescopic arm (8) through the water pipe (102).
8. The automatic round workpiece temperature measurement and pickup robot device for the high-temperature environment according to claim 4, wherein the support frame (9) is provided with a distance adjuster (11) for adjusting the distance between two telescopic arms (8), the distance adjuster (11) comprises a telescopic motor (111), a telescopic rod (112), a contact plate (113), a sliding rail (114), a fixed hoop (115) and a bottom plate (116), the bottom plate (116) is installed on the sliding rail (114), the fixed hoop (115) is used for fixing the telescopic arms (8) and is connected with the bottom plate (116), one end of the bottom plate (116) is provided with the contact plate (113), the contact plate (113) is connected with the telescopic motor (111) through the telescopic rod (112), and the telescopic motor (111) drives the contact plate (113) to push and pull through the telescopic rod (112) so that the bottom plate (116) moves along the sliding rail (114).
9. The automatic round workpiece temperature measuring and taking robot device for the high-temperature environment according to claim 4, wherein the telescopic arm (8) is of a hollow structure, the telescopic arm (8) is of a high-temperature alloy telescopic arm, a cooling water inlet (81) and a cooling water outlet (82) are respectively arranged in the telescopic arm (8), and a partition plate (83) is arranged between the cooling water inlet (81) and the cooling water outlet (82) to be separated.
10. The automatic round workpiece temperature measuring and taking robot device for high-temperature environments according to claim 5, wherein the thermocouple (13) is sleeved with a corundum protective sleeve or a stainless steel protective sleeve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410025859.1A CN117697714A (en) | 2024-01-08 | 2024-01-08 | Automatic round workpiece temperature measurement and fetching robot device used in high-temperature environment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410025859.1A CN117697714A (en) | 2024-01-08 | 2024-01-08 | Automatic round workpiece temperature measurement and fetching robot device used in high-temperature environment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117697714A true CN117697714A (en) | 2024-03-15 |
Family
ID=90151726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410025859.1A Pending CN117697714A (en) | 2024-01-08 | 2024-01-08 | Automatic round workpiece temperature measurement and fetching robot device used in high-temperature environment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117697714A (en) |
-
2024
- 2024-01-08 CN CN202410025859.1A patent/CN117697714A/en active Pending
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