CN203785798U - Device for determining position of contact rod on probe frame in metallurgical technology - Google Patents
Device for determining position of contact rod on probe frame in metallurgical technology Download PDFInfo
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- CN203785798U CN203785798U CN201290000413.4U CN201290000413U CN203785798U CN 203785798 U CN203785798 U CN 203785798U CN 201290000413 U CN201290000413 U CN 201290000413U CN 203785798 U CN203785798 U CN 203785798U
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- China
- Prior art keywords
- contact rod
- probe
- probe carriage
- measurement mechanism
- detector
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
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- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
- C21C5/28—Manufacture of steel in the converter
- C21C5/42—Constructional features of converters
- C21C5/46—Details or accessories
- C21C5/4606—Lances or injectors
- C21C5/462—Means for handling, e.g. adjusting, changing, coupling
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/14—Supports; Fastening devices; Arrangements for mounting thermometers in particular locations
- G01K1/146—Supports; Fastening devices; Arrangements for mounting thermometers in particular locations arrangements for moving thermometers to or from a measuring position
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/12—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials
- G01K13/125—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials for siderurgical purposes
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
-
- 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
- G01N1/12—Dippers; Dredgers
- G01N1/125—Dippers; Dredgers adapted for sampling molten metals
Abstract
The utility model relates to a method for determining the position of the free end of a contact rod on a probe frame (2) in the metallurgical technology. The movement of the probe frame (2) and/or a measurement apparatus (11) is achieved along three spatial directions to such extent. A detector of the measurement apparatus (11) is triggered along each direction of the three spatial directions through the contact rod (4), or the movement at the maximum amplitude along at least one of the three spatial directions is achieved and the detector of the measurement apparatus (11) is not triggered. Therefore, the movement amplitude, achieved through a maintaining and moving device (8), of the probe frame (2) and/or the movement amplitude of the measurement apparatus (11) is obtained in each of the three spatial directions till a moment when the detector is triggered. The utility model also relates to a device executing the method provided by the utility model.
Description
Technical field
The utility model relates to a kind of for determining the method for position of the free end of the contact rod on the probe carriage of the probe of metallurgical technology.
The utility model also relates to a kind of for implementing by the device of the utility model method.
Background technology
The sample that extracts liquid metal when manufacturing iron, steel and other metal, carries out temperature detection etc.For this task is used the probe of metallurgical technology, this probe to have probe longitudinal axis and opens wide on distolateral at one.Other distolateral on this probe sealing.Probe conventionally only uses once and removes subsequently.
In the prior art, probe set installs on the probe carriage of measuring rifle, or probe carriage inserts in probe.This probe carriage has so-called contact rod on its end, and this contact rod is connected the signal line in the probe of suit with the signal line in probe carriage.Contact rod has formed the straight prolongation of end regions of the contact rod side of probe carriage.Signal line in probe carriage continues to be connected with the signal line of measuring in gun main body.By this signal line by the information by probe measurement for example the temperature of liquid metal pass to signal processing apparatus.If probe set is installed on probe carriage, probe just sinks in the molten metal of liquid metal and so makes probe realize its intention so.Probe is pulled out from molten metal by the motion of sub-rifle (Sublanze) subsequently.Then probe is removed from probe carriage.
Known in the state of the art, staff takes out each from tank to be had probe to be used and manually overlaps and install on the probe carriage with contact rod.This is trouble, laboriously, and because service condition severe in metallurgical technology equipment will be avoided this situation as far as possible.So pursue automatic solution.Yet for the realization of automatic solution, substantially there are in the prior art two problems.
The frequent plastic bending of probe carriage described on the one hand when probe immerses in molten metal.The amplitude of plastic bending can change.The probe carriage of (have end) in the insertion probe of contact rod measurement rifle and probe must be when suit probe location mutually very accurately, thereby when suit probe, avoid the fracture of contact rod.Relatively the contact rod of thin-walled easily ruptured in the masterpiece used time.Therefore when suit, should so locate described probe, make its form as far as possible probe carriage-and thus contact rod-the straight prolongation of the end regions of contact rod side.In this location, can probe be shifted onto on probe carriage by contact rod, and need not apply significant power to contact rod.The very little bending of probe carriage is difficult to make probe automatically to overlap and install on probe carriage.Therefore this is because the position of probe and the motion of pegging graft (it can realize no problem suit when probe carriage is not crooked, and the not power effect from probe to contact rod) can cause that when probe carriage is crooked probe is to the power effect on contact rod.
Yet in order to realize automatic solution, known use centring means in the prior art, this centring means has the funnel area of contact rod side and the funnel area of probe side, and these two regions merge each other in its narrow positions.By the probe carriage with contact rod being inserted in the funnel area of contact rod side and probe being inserted in the funnel area of probe side, by the distolateral mutual centering of opening wide of the end regions of the contact rod side of probe carriage and probe, probe can be shifted onto on probe carriage through contact rod, and do not apply significant power to contact rod.
Known centring means must positive opening, although because otherwise having the probe carriage of contact rod can pull out after inserting probe from probe again, can not take out from centring means together with the probe being set with.Therefore, known centring means must comprise corresponding topworks, corresponding moving component, power supply and control device.Therefore, this is more complicated and costliness on the one hand, and because service condition severe in metallurgical technology equipment compares, is easier to break down on the other hand.
Probe carriage or measure the end regions that is provided with probe carriage of rifle, be called the measurement rifle head that carry probe carriage in addition is often for example subject to the pollution of residue and molten metal in measuring movement.Making thus new probe be difficult to cover installs on probe carriage or stops this suit.When manually changing probe, executor must manually remove foul by probe carriage if desired.Because probe carriage as mention often plastic bending and can change the amplitude of plastic bending, institute is so that the with clearly defined objective ground of cleaning device imports the difficulty that becomes in probe carriage automatically.Automatically import that to take the understanding of locus of end of contact rod side of probe carriage be precondition.
Utility model content
Task of the present utility model be realize a kind of can be simply and determine reliably the scheme of the end position of contact rod.The automatic operation that this has realized on end on the end of the contact rod side of probe carriage, for example, automatically insert probe carriage in probe or by cleaning device and guide probe carriage into.
This task is by for determining that the method for position of the free end of the contact rod on probe carriage is resolved, and wherein probe carriage is by means of keeping and telecontrol equipment keeps movingly,
It is characterized in that, the method comprises the following steps:
The free end of-contact rod in the situation that keep and telecontrol equipment be adjusted to the measurement starting position of maintenance and telecontrol equipment in the measured zone of insertion measuring device,
In the measurement starting position of wherein said measurement mechanism in measurement mechanism,
And along three direction in spaces, mutually so degree realize moving of probe carriage and/or measurement mechanism subsequently, until
-or by contact rod, trigger the detector of measurement mechanism along each direction of three direction in spaces,
-or at least one direction in space in described three direction in spaces surpasses predefined maximum range of motion, and do not trigger the detector of measurement mechanism,
Wherein for each direction of three direction in spaces, try to achieve until while triggering detector probe carriage by means of keeping and the motion amplitude of telecontrol equipment realization and/or the motion amplitude of measurement mechanism.
Described contact rod has two ends.One of described end is connected with probe carriage.The other end of contact rod is called the free end of contact rod.
Advantageous effects of the present utility model:
By this way, having realized described probe carriage can automatically insert in probe reliably, or can realize cleaning device and automatically guide probe carriage into.
When power is applied on contact rod, especially in power, along its longitudinal axis, do not do the used time, this contact rod ratio is easier to fracture.Therefore this contact rod conventionally can be not crooked under power effect, but fracture.Therefore, think thus, when there is contact rod-while namely not rupturing, this contact rod is not crooked.In this case, described contact rod has formed the straight prolongation of end regions of the contact rod side of probe carriage.Correspondingly can from the position of the free end of contact rod, infer simply the position of end regions of the contact rod side of probe carriage.On the end regions of this contact rod side of probe carriage, be set with this probe or acted on cleaning device.
By by method of the present utility model, try to achieve the free end of contact rod to the detector of measurement mechanism-or to when entering area of space, trigger the border of this area of space of detector-distance.This detector-or when entering area of space, trigger this area of space of detector-position be known.Measurement mechanism in measurement starting position in measurement mechanism in keep and the measurement starting position of telecontrol equipment in maintenance and the locus of telecontrol equipment be known equally.
Described detector for example can trigger when contacting by contact rod-for example, in the situation that the border of measured zone is provided with electrical contact, or can be when contact rod enters the area of space by detector monitors-for example there is in the detector of grating or ultrasound wave grid-triggering described detector.
Example below should be for explanation: when keeping and telecontrol equipment is keeping unbending contact rod, the end of contact rod-be positioned in the measurement starting position of maintenance and telecontrol equipment in maintenance and telecontrol equipment, and when measurement mechanism is positioned in the measurement starting position of measurement mechanism-along the direction of the x axle of three-dimensional cartesian coordinate system leave detector-or towards the border of this area of space of triggering detector when entering area of space away from-a cm, along the y direction of principal axis of three-dimensional cartesian coordinate system leave detector-or towards the border of this area of space of triggering detector when entering area of space away from-b cm, and along the z direction of principal axis of three-dimensional cartesian coordinate system leave detector-or towards the border of this area of space of triggering detector when entering area of space away from-c cm.In the measurement mechanism not moving, described contact rod must move with the amplitude limiting along three direction in spaces by means of maintenance and the telecontrol equipment of probe carriage, with this, along each direction in space, triggers detector.The amplitude of this motion is along x direction of principal axis a cm in this example, along y direction of principal axis b cm and along z direction of principal axis c cm.By trying to achieve until the motion amplitude while triggering detector provides these values, can derive the tip of described contact rod-keeping and telecontrol equipment is positioned in the measurement starting position of maintenance and telecontrol equipment, and measurement mechanism while being positioned in the measurement starting position of measurement mechanism-with this distance is from detector-or away from the border of triggering this area of space of detector when entering area of space.
In the probe carriage along one or more direction in space bendings, after motion more greatly or more by a small margin, trigger detector.
In order to trigger detector, can carry out motion contact rod by motion probe carriage, and measurement mechanism keeps not moving.Also can movement measuring device, and the probe carriage with contact rod keeps not moving.Also can not only move with probe carriage but also the movement measuring device of contact rod.
So degree relatively realizes and has the probe carriage of contact rod and/or moving of measurement mechanism along three direction in spaces, until trigger described detector along all three direction in spaces.At this, can successively along each direction in space, move with probe carriage and/or the measurement mechanism of contact rod, until trigger detector along each direction in space.Also can be simultaneously along two or three direction in spaces, move with probe carriage and/or the measurement mechanism of contact rod.
The movement limit of probe carriage and/or measurement mechanism is on can be by the predefined amplitude peak of method executor.If surpassed predefined maximum range of motion, and do not triggered detector, stop so motion.The disappearance that detector triggers means, bending that probe carriage or contact rod exceed acceptable amplitude, otherwise so crooked, make contact rod not in measurement range, or substantially do not have contact rod, for example, because it has ruptured.Need in this case to change and there is the probe carriage of contact rod and/or change contact rod.
The motion of amplitude peak can be selected and be preset by the executor by method of the present utility model.For example so select, even if make to measure rifle, when probe carriage is crooked, also can imports and have in the container of liquid metal by the opening arranging for this reason.If deflectable stylet frame so consumingly, make to measure rifle no longer by this opening, can determine by the following method the bending that has surpassed the amplitude that can bear so, during in the motion of probe carriage and/or measurement mechanism until by the motion of the predefined amplitude peak of method executor, not trigger detector.Also can determine by this way the disappearance of contact rod.
The locus of free end by determining contact rod by method of the present utility model on sample keeper, this sample keeper remains on and measures in starting position with telecontrol equipment by keeping.If described maintenance and telecontrol equipment are placed in the new position spatially accurately limiting with respect to measuring starting position from measuring starting position, limit so equally the new position of the free end of contact rod.Correspondingly can automatically guide probe or cleaning device.At this, otherwise can be automatically towards the free end guiding probe of contact rod, or automatically towards probe guiding contact rod, or guide relative to one another probe and contact rod; Same free burial ground for the destitute is intentionally applicable to towards probe carriage guiding cleaning device.
According to embodiment of the present utility model, the bending that makes amplitude that probe carriage bears to limit realize after the position of free end of determining the contact rod on probe carriage.
Because just knew the position of end of the contact rod side of probe carriage before bending, and even with the amplitude limiting, realized bending, so the position of the end of the contact rod side of probe carriage is also known after bending.Correspondingly automatically guide probe or cleaning device with the same ground when not bending as far as possible.The crooked advantage limiting for example, maintenance and telecontrol equipment, for the device of guiding probe automatically or for the device of guiding cleaning device automatically, needn't move far, thereby realize with the suit of probe carriage-probe, probe carriage clean-interaction.
Another theme of the present utility model is for implementing by the device of the utility model method.This device comprises for the maintenance of the probe carriage with contact rod and telecontrol equipment, and it is characterized in that, a kind of device also comprises:
-there is the measurement mechanism with measurement range of the detector that can trigger by contact rod,
-and for determining the device of the triggering of detector,
-and a kind of device, for
From keeping and the measurement starting position of restriction and the measurement starting position of measurement mechanism of telecontrol equipment, try to achieve until the amplitude of the motion by means of maintenance and telecontrol equipment realization of probe carriage while triggering the detector of measurement mechanism by contact rod.
For thering is the maintenance of probe carriage of contact rod and telecontrol equipment nature the motion in the situation that, for probe carriage with contact rod is limited, move, that is to say along the motion amplitude of all direction in spaces it is controllable and detectable.The motion limiting in device is correspondingly understood as the motion of the restriction of measurement mechanism.
For thering is the maintenance of probe carriage of contact rod and the movable mechanical arm that telecontrol equipment for example can be configured with grasping system.For example also can relate to by executor, kept or by the movable measurement rifle of executor, be fixed wtih probe carriage thereon.At this, can construct regularly measurement mechanism in position.
Another theme of the present utility model is for implementing another device by the utility model method.This device comprises for the maintenance of the probe carriage with contact rod and telecontrol equipment, and it is characterized in that, this device also comprises
-there is the measurement mechanism with measurement range of the detector that can trigger by contact rod,
-and for determining the device of the triggering of detector,
-and for making measurement mechanism limit the device moving,
And a kind of device, for
From keeping and the measurement starting position of restriction and the measurement starting position of measurement mechanism of telecontrol equipment, try to achieve until the motion amplitude of measurement mechanism while triggering the detector of measurement mechanism by contact rod.
For example measurement mechanism can be configured for or not had the instrument of the movable mechanical arm of grasping system.
Another theme of the present utility model is for implementing another device by the utility model method.This device comprises for the maintenance of the probe carriage with contact rod and telecontrol equipment, and it is characterized in that, this device also comprises
-there is the measurement mechanism with measurement range of the detector that can trigger by contact rod,
-and for determining the device of the triggering of detector,
-and for making measurement mechanism limit the device moving,
And a kind of device, for
-try to achieve until the motion amplitude of measurement mechanism while triggering the detector of measurement mechanism by contact rod, and try to achieve probe carriage by means of keeping and the motion amplitude of telecontrol equipment realization,
-from keeping and the measurement starting position of restriction and the measurement starting position of measurement mechanism of telecontrol equipment.
For having the maintenance of probe carriage of contact rod and telecontrol equipment, certainly for probe carriage with contact rod is limited, moving the motion in the situation that, that is to say, is controllable and detectable along the motion amplitude of all direction in spaces.The motion of the restriction in device is correspondingly understood as the motion of the restriction of measurement mechanism.
At this, detector is interpreted as a kind of when contacting by contact rod or send signal that is to say the device triggering when entering by contact rod the area of space being changed by assembly monitor current state.This detector can be for example the grating for example with laser instrument or infrared light.When interrupting the light beam of laser instrument or infrared light at least in part, triggers contact rod this detector.
Described detector can be also to have hyperacoustic acoustic grating, or it can be the detector of electric capacity or inductance, can enter described area of space by contact rod and determine the variation in the area of space being detected by the place of detector.
Also can relate to electric switch contact, this switch contact directly or by means of mechanical steering gear for example plectrum limit switch (Fahnenendschalter) trigger.This detector is for example arranged on the wall that limits measured zone and triggers when contacting by contact rod.
The device that is used for the triggering of definite detecting device can be selected from known to those skilled in the art whole schemes, and these schemes are determined the triggering of detector in meaning of the present utility model.Detector for example can send electric signal, and this signal is for example controlled with the receiver of regulating device and received by having analytical electron device.Equally the signal that sends radio signal or other type can be set.
Maintenance and telecontrol equipment for probe carriage for example can be configured with the movable mechanical arm of grasping system, or are configured for measuring the executor of rifle.Described measurement mechanism for example can be configured for having or do not have the instrument of the movable mechanical arm of grasping system.This measurement mechanism also can be constructed position regularly.
According to a kind of embodiment, by device of the present utility model, also comprise for the bending apparatus of deflectable stylet frame controllably.
By means of this bending apparatus, can make probe carriage after the position of determining its end arranging for holding the probe of metallurgical technology, bear the bending of restriction amplitude.In order to carry out controllably bending, described bending apparatus can keep not moving after importing probe carriage, and the amplitude motion to limit of maintenance and telecontrol equipment and thus described probe carriage.Also can after contact rod is imported to bending apparatus, make maintenance and telecontrol equipment and make thus probe carriage keep not moving, and make bending apparatus motion with the amplitude limiting.In principle also can be relatively with keep and telecontrol equipment-and probe carriage-and bending apparatus thus of the amplitude motion limiting.
Described bending apparatus for example can be configured for having or do not have the movable instrument of the mechanical arm of grasping system.It is fixing that this bending apparatus also can be configured to position.According to by a kind of embodiment of device of the present utility model, be provided with not only thering is bending apparatus but also thering is the instrument of measurement mechanism for mechanical arm.
According to by a kind of embodiment of device of the present utility model, described bending apparatus is configured to be used to the instrument that the grasping system of the instrument that comprises described measurement mechanism of mechanical arm captures.
According to a kind of embodiment, by device of the present utility model, also comprise the cleaning device for the measurement rifle head of clean probe carriage and/or carrying probe carriage.
In order to clean, this cleaning device can keep not moving after partly or completely importing probe carriage, and the amplitude motion to limit of maintenance and telecontrol equipment and thus described probe carriage.Also can after probe carriage imports cleaning device, make maintenance and telecontrol equipment and thus described probe carriage keep not moving, and the amplitude motion of cleaning device to limit.In principle also can be by keeping and telecontrol equipment-and thus described probe carriage-amplitude with restriction relative to cleaning device move.
In relative motion between cleaning device and probe carriage, can cause the clean of probe carriage by mechanical effect.This relative motion can be for example circular, or seesaws in definite angular range around the longitudinal axis of probe carriage, or straight line-for example the longitudinal axis along probe carriage seesaws, or the mixed form being comprised of these motions.This embodiment is also had a mind to free burial ground for the destitute and is applicable to the measurement rifle head of clean carrying probe carriage.
Described cleaning device has cleaning mechanism, and this cleaning mechanism is applied on the foul of measurement rifle head probe carriage and/or carrying probe carriage-be for example equipped with the clean hat of tooth, the measurement rifle head of probe carriage and/or carrying probe carriage imports in opening of this clean hat.This cleaning mechanism can have the driving arrangement of oneself, thereby the relative motion between the measurement rifle head of cleaning device and probe carriage and/or carrying probe carriage, cleaning mechanism and probe carriage also can occur and/or carry the relative motion between the measurement rifle head of probe carriage.
Described cleaning device for example can be configured for the instrument of movable mechanical arm.It is fixing that this cleaning device also can be configured to position.
According to by a kind of embodiment of device of the present utility model, described cleaning device is configured to be used to the instrument that the grasping system of the instrument that comprises described measurement mechanism of mechanical arm captures.
If during the parts that cleaning device and bending apparatus are configured to be captured by the grasping system of measurement mechanism, can advantageously as required, combine by bending apparatus or by cleaning device and measurement mechanism.This has reduced for the cost of device of crooked function and cleaning function is provided.
Accompanying drawing explanation
In the description that other advantage and details are done embodiment below in conjunction with accompanying drawing, obtain.Shown in schematic diagram:
Fig. 1 shows how can form crooked probe carriage with the order of three width Fig. 1 a, 1b, 1c.
Fig. 2 has illustrated the intercepting part by device of the present utility model with schematic diagram, thereby wherein makes probe carriage motion try to achieve the position of the free end of contact rod.
Fig. 3 shows the intercepting part by device of the present utility model, and wherein crooked probe carriage bears the bending of restriction.
Fig. 4 shows the intercepting part by device of the present utility model, wherein by means of the clean probe carriage of making dirty of cleaning device.
Embodiment
Fig. 1 a shows the sectional side elevation of the lower section of measuring rifle 1 main body, has been set with the probe 3 of metallurgical technology on the probe carriage 2 of this measurement rifle.Due to clear cause, only show the outer cover of probe 3, the measuring mechanism being present in probe is not shown.Fixing contact rod on probe carriage 2, is delivered in probe carriage 2 by the signal of measuring mechanism in probe 3 and is further delivered in the main body of measuring rifle 1 by this contact rod.In metallurgical container 5, be here in converter, there is liquid metal 6 and waste material 7.The direction towards molten metal 6 moves downward by means of the executor not illustrating to measure rifle 1.How Fig. 1 b encounters on a lump waste materials 7 when moving downward if showing probe 3, wherein collision illustrates with zigzag star.Because clear cause has abandoned inserting unessential Reference numeral for this situation is shown.Fig. 1 c shows by colliding crooked described probe carriage 2.
Fig. 2 shows for the maintenance of the probe carriage 2 with contact rod 4 and a part for telecontrol equipment 8.At this, this maintenance and telecontrol equipment 8 provide by acting on the executor of measuring on rifle.By means of maintenance and telecontrol equipment 8, can by the motion of measuring rifle 1 and also the probe carriage with contact rod 42 being limited thus, for example, enter in the measurement starting position of maintenance and telecontrol equipment.Showing described maintenance and telecontrol equipment 8 measures in starting position in it.Carry out the controlled movement limiting, and can in the corresponding structure type of maintenance and telecontrol equipment 8, realize by all three direction in spaces along cartesian coordinate system.By means of a kind of device, can detect the amplitude of this motion, this device is for trying to achieve the amplitude by means of the motion 9 of maintenance and telecontrol equipment realization, and this device is connected with telecontrol equipment 8 with maintenance by means of signal line 10.At this, structure signal line 10 is as the circuit physically existing, yet it also can be configured to wireless signal transfer device.
Measurement mechanism 11 is arranged on the instrument 15 that can be captured by mechanical arm 14.Can be by instrument 15 and by measurement mechanism 11, all three direction in spaces along cartesian coordinate system move thus by means of this mechanical arm 14, until trigger the detector of measurement mechanism 11.In order to try to achieve the amplitude of this motion, there is a kind of device for trying to achieve until the motion amplitude of measurement mechanism while triggering the detector of measurement mechanism by contact rod.In shown situation, while triggering the detector of measurement mechanism for trying to achieve until by contact rod, the motion amplitude of measurement mechanism is for trying to achieve by means of keeping and the device of the motion amplitude of telecontrol equipment 8 realizations simultaneously.Mechanical arm is connected by the device of signal line 16 motion amplitude of measurement mechanism when triggering the detector of measurement mechanism for trying to achieve until by contact rod.At this, the circuit that signal line 16 is configured to physically exist, however it also can be configured to wireless signal transfer device.
By instrument 15 and measurement mechanism 11 along moving of three direction in spaces of the cartesian coordinate system of describing by arrow make contact rod 4 meet wall 11a, 11b, 11c is upper, described wall has limited measured zone in the measurement mechanism 11 of dotted line.Described wall 11a, 11b, 11c are provided with switch contact and when by contact rod 4 contact, are used as detector thus, and described detector triggers by contact.By signal line 2, described triggering is reported to the first control and regulating device 13.Figure 2 illustrates signal line 12 and be only connected with wall 11b, however this signal line also for the triggering of detector is reported to wall 11a and 11c, for better clarity, this is not shown in draw.At this, the circuit that described signal line 12 is configured to physically exist, however this signal line is also configured to wireless signal transfer device.The first control and regulating device 13 are also with the device that acts on the triggering of determining detector.In order to try to achieve the position of the free end of contact rod 4, first will keep and telecontrol equipment 8 and measurement mechanism 11 are placed in maintenance and the measurement starting position of telecontrol equipment 8 and the measurement starting position of measurement mechanism 11.
By the second control and regulating device 17, for trying to achieve by means of keeping and the device of the amplitude of the motion 9 that telecontrol equipment is realized is connected with regulating device 13 via signal line 18 and the 19 and first control, wherein said device is the device of the motion amplitude of measurement mechanism while triggering the detector of measurement mechanism for trying to achieve until by contact rod simultaneously.At this, the circuit that described in each, signal line 18 and 19 is configured to physically exist, however also can correspondingly be configured to wireless signal transfer device.The second control and regulating device obtain about the information of movement of tool and can when measuring rifle motion, also obtain the information about its motion.Equally, this second control and regulating device acquisition about the information of the triggering of the detector of measurement mechanism 12 and motion aspect required amplitude for this reason.Based on this information, control and regulate described motion.Due to clear cause, do not illustrate separately described second and control and regulating device 17 and for the connection of the driver that moves.
In the method shown in Fig. 2, in order to determine the position of the free end of contact rod do not move described measurement rifle 1 or probe carriage 2.By means of mechanical arm 14, by being arranged in the motion of the measurement mechanism 11 on instrument 15, determine the position of the free end of contact rod.
Yet also can determine by means of the motion of measuring the restriction of rifle or probe carriage 2 position of the free end of contact rod, and need not make measurement mechanism 11 motions on the instrument that is arranged in 15 by means of mechanical arm 14.In principle in order to determine the position of the free end of contact rod, the motion that also can the measurement mechanism 11 on the instrument that be arranged in 15 be limited by means of mechanical arm 14, and make to measure the motion that rifle 1 or probe carriage 2 limit.
Figure 3 illustrates the intercepting part by device of the present utility model, and crooked probe carriage 2 is through the bending of circumscribed.Mechanical arm 4 gripping tools 20 have been arranged measurement mechanism 11 on this instrument.As in Fig. 3, described wall 11a, 11b, 11c are provided with switch contact and in the contact of being undertaken by contact rod 4, are used as detector thus, and this detector is triggered by contact.By signal line 12, described triggering is reported to the first control and regulating device 13.The part that is similar to Fig. 2 of described device is as worked described at Fig. 2.Described instrument 20 has the grasping system with two grabbing claw 21a, 21b, and described grabbing claw surrounds bending apparatus 22 for deflectable stylet frame 2 controllably.In shown situation, due to the deterministic process of the enforcement in the second control and regulating device 17 as described in Fig. 2, exist about the information of the position of the free end of contact rod 4 and also exist thus about probe carriage 2 along which direction degree of crook information how.This second control and regulating device 17 provide to the robot that mechanical arm 14 has been installed thereon movingly not illustrating in advance by the signal line not illustrating now, the motion of described mechanical arm and should so carrying out for the motion of the bending apparatus 22 of deflectable stylet frame 2 controllably thus, makes probe carriage along the direction being provided in advance by the second control and regulating device 17, carry out bending in the second control and the predefined amplitude of regulating device 17.In shown situation, by following situation, realize, after probe carriage 2 inserts for the hole 23 of the bending apparatus 22 of deflectable stylet frame 2 controllably, described mechanical arm 14 is removed left.The beginning of the BENDING PROCESS realizing in the amplitude to limit, the position of known probe frame 2 in hole 23, because only also move probe carriage 2 in the mode limiting at the free end of determining contact rod after the position in the measured zone of measurement mechanism 11.Due to the understanding to this position, for the hole 23 of the bending apparatus 22 of deflectable stylet frame 2 controllably, by mechanical arm, on probe carriage 2, promoted, wherein also in the mode limiting, realize this motion.The position of known probe frame 2 in hole 23 correspondingly.Described second control and this information of regulating device 17 use calculate described mechanical arm 14 must be with which kind of amplitude to left movement, thereby realize the probe carriage bending of tentering degree really.Having intersecting at of double-head arrow has shown the motion of mechanical arm 14 and for the motion of the bending apparatus 22 of deflectable stylet frame 2 controllably, can realize along which direction thus in Fig. 3.
Figure 4 illustrates the intercepting part by device of the present utility model, and the clean probe carriage of making dirty of cleaning device 24 and the measurement rifle head that carries this probe carriage, this cleaning device is configured to the instrument that can be captured by the grasping system of the instrument that comprises described measurement mechanism for mechanical arm.Described device is except existing cleaning device 24 to replace for the bending apparatus 22 of deflectable stylet frame 2 controllably, and except the different structure of measurement mechanism 11, is similar to the device described in Fig. 3.Correspondingly, for better sharpness has been abandoned illustrating of similar device part.Just as shown in the description of Fig. 3, for the bending apparatus 22 of deflectable stylet frame 2 controllably, limit and promote on probe carriage, at cleaning device described in Fig. 4 24, on probe carriage 2, promote.In shown situation, described probe carriage 2 does not have bending.When probe carriage does not move, mechanical arm carry out by the longitudinal axis along probe carriage shown in straight and crooked double-head arrow seesaw and around longitudinal axis the seesawing in definite angular range of probe carriage.At this, probe carriage 2 by cleaning mechanism, be the clean hat 25 that is equipped with tooth in this case, the mechanical effect by tooth on the foul 26 of probe carriage is removed this foul 26 from probe carriage.Show and how to make the foul 26 of peelling off by tooth drop from probe carriage 2.
In Fig. 4, by grating 27, limited the measured zone of measurement mechanism 11, the light beam of this grating is shown in broken lines.
Reference numerals list
1 measures rifle
2 probe carriages
3 probes
4 contact rods
The container of 5 metallurgy
6 liquid metals
7 waste materials
8 for having maintenance and the telecontrol equipment 8 of the probe carriage 2 of contact rod
9 for trying to achieve by means of keeping and the device of the motion amplitude of telecontrol equipment 8 realizations/motion amplitude of measurement mechanism while triggering the detector of measurement mechanism for trying to achieve until by contact rod
10 signal lines
11 measurement mechanisms
11a, 11b, 11c wall
12 signal lines
13 first control and regulating device
14 mechanical arms
15 instruments
16 signal lines
17 second control and regulating device
18 signal lines
19 signal lines
20 instruments
21a, 21b grabbing claw
22 bending apparatus
23 holes
24 cleaning devices
25 clean hats
26 fouls
27 gratings.
Claims (7)
1. for determining a device for the position of the contact rod on the probe carriage of the probe of metallurgical technology, comprise maintenance and telecontrol equipment (8) for the probe carriage with contact rod (4) (2), it is characterized in that, this device also comprises
-there is the measurement mechanism with measurement range (11) of the detector that can trigger by contact rod,
-and for determining the device of the triggering of detector,
And a kind of device, for
From keeping and the measurement starting position of restriction and the measurement starting position of measurement mechanism (11) of telecontrol equipment (8), try to achieve until while triggering the detector of measurement mechanism (11) by contact rod (4) probe carriage (9) by means of keeping and the amplitude of the motion of telecontrol equipment (8) realization.
2. for determining a device for the position of the contact rod on the probe carriage of the probe of metallurgical technology, comprise maintenance and telecontrol equipment (8) for the probe carriage with contact rod (4), it is characterized in that, this device also comprises
-there is the measurement mechanism with measurement range (11) that can pass through the detector that contact rod (4) triggers,
-and for determining the device of the triggering of detector,
-and for the device of the motion of the restriction of measurement mechanism (11),
And a kind of device, for
From keeping and the measurement starting position of restriction and the measurement starting position of measurement mechanism (11) of telecontrol equipment (8), try to achieve until the motion amplitude of measurement mechanism (9) during detector by contact rod (4) triggering measurement mechanism.
3. by device claimed in claim 2, it is characterized in that, this device comprises a kind of from keeping and definite measurement starting position of telecontrol equipment (8) and the measurement starting position of measurement mechanism (11), try to achieve until while triggering the detector of measurement mechanism (11) by contact rod (4) probe carriage (2) by means of keeping and the device of the amplitude of the motion (9) of telecontrol equipment realization.
4. by the device described in any one in claim 1 to 3, it is characterized in that, this device comprises for the bending apparatus (22) of deflectable stylet frame (2) controllably.
5. by device claimed in claim 4, it is characterized in that, described bending apparatus (22) is configured to the instrument that can be captured by the grasping system of the instrument that comprises described measurement mechanism (11) (20) for mechanical arm (14).
6. by the device described in any one in claim 1 to 3, it is characterized in that, this device comprises the cleaning device (24) for the measurement rifle head of clean probe carriage (2) and/or carrying probe carriage (2).
7. by device claimed in claim 6, it is characterized in that, described cleaning device (24) is configured to the instrument that can be captured by the grasping system of the instrument that comprises described measurement mechanism for mechanical arm.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| ATA516/2011 | 2011-04-11 | ||
| AT5162011A AT510292B1 (en) | 2011-04-11 | 2011-04-11 | DETERMINATION OF THE POSITION OF A CONTACT TABLE TO A PROBE HOLDER OF A HORIZONTAL PROBE |
| PCT/EP2012/056159 WO2012139946A1 (en) | 2011-04-11 | 2012-04-04 | Determination of the position of a contact rod on a probe holder for a metallurgical probe |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203785798U true CN203785798U (en) | 2014-08-20 |
Family
ID=45724238
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201290000413.4U Expired - Fee Related CN203785798U (en) | 2011-04-11 | 2012-04-04 | Device for determining position of contact rod on probe frame in metallurgical technology |
Country Status (5)
| Country | Link |
|---|---|
| CN (1) | CN203785798U (en) |
| AT (2) | AT510292B1 (en) |
| BR (1) | BR212013026295U2 (en) |
| DE (1) | DE212012000083U1 (en) |
| WO (1) | WO2012139946A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108789487A (en) * | 2017-05-04 | 2018-11-13 | 江苏金恒信息科技股份有限公司 | A kind of robot protect-ing frame structure and thermometric sampling robots |
| CN109997086A (en) * | 2016-11-21 | 2019-07-09 | 库卡德国有限公司 | The measurement of the kinematic axis of robot |
| WO2020052624A1 (en) * | 2018-09-13 | 2020-03-19 | 宝山钢铁股份有限公司 | Metallurgical technology probe insertion calibration method employing visual measurement and insertion system thereof |
| CN112067977A (en) * | 2020-09-29 | 2020-12-11 | 东莞市鸿彩机械设备有限公司 | First workpiece detection device and detection method |
| CN115386676A (en) * | 2022-10-08 | 2022-11-25 | 爱智机器人(上海)有限公司 | Automatic calibrating device of intelligent temperature measurement sampling gun for steel smelting converter |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2821764A1 (en) * | 2013-07-01 | 2015-01-07 | Siemens VAI Metals Technologies GmbH | Test apparatus for a measuring lance for measuring operations during the manufacture and processing of liquid metal melts |
| CN109176474B (en) * | 2018-10-25 | 2020-10-09 | 汕头大学 | Rope and rod hybrid drive super-redundancy robot |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2753161C3 (en) * | 1977-11-29 | 1980-10-09 | M.A.N. Maschinenfabrik Augsburg- Nuernberg Ag, 8900 Augsburg | Method and device for changing measuring and / or sampling probes for molten steel |
| AT387855B (en) * | 1982-12-09 | 1989-03-28 | Voest Alpine Ag | PROBE MANIPULATOR |
| AT381795B (en) * | 1984-05-08 | 1986-11-25 | Voest Alpine Ag | DEVICE FOR CLEANING A LANCE HEAD OF A LANCE THAT CAN BE INSERTED INTO A METALLURGICAL VESSEL |
| US5929584A (en) * | 1998-04-27 | 1999-07-27 | Pht, Inc. | Tool center point calibration apparatus and method |
| JP3238133B2 (en) * | 1998-12-11 | 2001-12-10 | 川崎重工業株式会社 | Temperature measuring sampling equipment for metal refining |
| DE102004010312B8 (en) * | 2004-03-03 | 2009-07-30 | Advintec Gmbh | Method for calibrating an operating point |
| ES2602359T3 (en) * | 2008-12-22 | 2017-02-20 | Kawaso Electric Industrial Kabushiki Kaisha | Measuring system of molten metal with probe |
-
2011
- 2011-04-11 AT AT5162011A patent/AT510292B1/en not_active IP Right Cessation
-
2012
- 2012-04-04 WO PCT/EP2012/056159 patent/WO2012139946A1/en active Application Filing
- 2012-04-04 BR BR212013026295U patent/BR212013026295U2/en not_active IP Right Cessation
- 2012-04-04 CN CN201290000413.4U patent/CN203785798U/en not_active Expired - Fee Related
- 2012-04-04 AT ATGM8093/2013U patent/AT13854U1/en not_active IP Right Cessation
- 2012-04-04 DE DE212012000083U patent/DE212012000083U1/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109997086A (en) * | 2016-11-21 | 2019-07-09 | 库卡德国有限公司 | The measurement of the kinematic axis of robot |
| CN108789487A (en) * | 2017-05-04 | 2018-11-13 | 江苏金恒信息科技股份有限公司 | A kind of robot protect-ing frame structure and thermometric sampling robots |
| WO2020052624A1 (en) * | 2018-09-13 | 2020-03-19 | 宝山钢铁股份有限公司 | Metallurgical technology probe insertion calibration method employing visual measurement and insertion system thereof |
| US20210323104A1 (en) * | 2018-09-13 | 2021-10-21 | Baoshan Iron & Steel Co., Ltd. | Metallurgical technology probe insertion calibration method employing visual measuremetn and insertion system thereof |
| US11813707B2 (en) * | 2018-09-13 | 2023-11-14 | Baoshan Iron & Steel Co., Ltd. | Metallurgical technology probe insertion calibration method employing visual measurement and insertion system thereof |
| CN112067977A (en) * | 2020-09-29 | 2020-12-11 | 东莞市鸿彩机械设备有限公司 | First workpiece detection device and detection method |
| CN112067977B (en) * | 2020-09-29 | 2023-03-31 | 东莞市鸿彩机械设备有限公司 | First workpiece detection device and detection method |
| CN115386676A (en) * | 2022-10-08 | 2022-11-25 | 爱智机器人(上海)有限公司 | Automatic calibrating device of intelligent temperature measurement sampling gun for steel smelting converter |
Also Published As
| Publication number | Publication date |
|---|---|
| BR212013026295U2 (en) | 2015-11-03 |
| WO2012139946A1 (en) | 2012-10-18 |
| DE212012000083U1 (en) | 2013-11-12 |
| AT13854U1 (en) | 2014-10-15 |
| AT510292B1 (en) | 2012-03-15 |
| AT510292A4 (en) | 2012-03-15 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C41 | Transfer of patent application or patent right or utility model | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20151214 Address after: Linz Patentee after: The Austrian limited liability company of primary metal science and technology Address before: Linz Patentee before: Siemens VAI metal technology limited liability company |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140820 Termination date: 20170404 |