CN211135438U - Automatic replacing device of detector and steel ladle detection system - Google Patents
Automatic replacing device of detector and steel ladle detection system Download PDFInfo
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- CN211135438U CN211135438U CN201921442473.1U CN201921442473U CN211135438U CN 211135438 U CN211135438 U CN 211135438U CN 201921442473 U CN201921442473 U CN 201921442473U CN 211135438 U CN211135438 U CN 211135438U
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Abstract
The application provides an automatic replacing device of a detector and a steel ladle detection system. The device comprises a detector storage structure and a detector positioning structure arranged below the detector storage structure; the detector storage structure comprises a transmission structure and a plurality of article holders arranged on the outer surface of the transmission structure; the shelf is used for placing the detector, and the length direction of the shelf is vertical to the transmission direction of the transmission structure; the detector positioning structure comprises a base and a storage tank arranged on the base, and the position of the storage tank is aligned with the position of a storage rack positioned at one end of the transmission structure; when the object placing frame moves to one end of the transmission structure along with the transmission of the transmission structure, the detector placed in the object placing frame falls into the storage groove, and the external equipment clamps the detector from the storage groove. The whole device is simple and compact in structure and small in occupied area, the detector can be automatically replaced by the device, manual operation is not needed in the whole process, and the safety is high.
Description
Technical Field
The application relates to the technical field of metallurgical equipment, in particular to an automatic replacing device of a detector and a steel ladle detection system.
Background
In the steelmaking production, the external refining plays an important role in improving the quality of steel products, expanding varieties, reducing cost, optimizing the steelmaking production process and the like. Particularly, since the constant drawing speed casting is carried out in the continuous slab casting, strict requirements on the temperature and the components of the refined molten steel are provided.
In an existing steel plant, a ladle is generally placed in front of an open hearth, an electric furnace or a converter to receive molten steel. In order to improve the production efficiency of a continuous casting machine and the quality of a casting blank in the subsequent production process, workers need to measure the temperature of molten steel in a furnace in real time and sample the molten steel. Both the temperature measuring gun for measuring the temperature of molten steel and the sampler for sampling molten steel are disposable consumables and need to be replaced frequently. However, the steel-making environment is severe, and the splashing molten steel and the high temperature of thousands of degrees centigrade make it difficult for workers to approach the ladle, and further cause the danger of workers to replace the temperature measuring gun or the sampler.
Based on this, at present, an automatic replacing device of a detector is needed to solve the technical problem that the replacement of a temperature measuring gun or a sampler is dangerous in a severe steelmaking environment.
SUMMERY OF THE UTILITY MODEL
The application provides an automatic change device and ladle detecting system of detector can be used to under abominable steelmaking environment, and it has dangerous technical problem to change temperature measurement rifle or sampler.
In a first aspect, an embodiment of the present application provides an automatic detector replacement device, where the automatic detector replacement device 1 includes a detector storage structure 11 and a detector positioning structure 12 disposed below the detector storage structure 11;
the detector storage structure 11 comprises a transmission structure 111 and a plurality of shelves 112 arranged on the outer surface of the transmission structure 111; the shelf 112 is used for placing the detector 2, and the length direction of the shelf 112 is perpendicular to the transmission direction of the transmission structure 111;
the detector positioning structure 12 comprises a base 121 and a storage tank 122 disposed on the base 121, wherein the storage tank 122 is aligned with the storage rack 112 at one end of the transmission structure 111;
when the shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, the detector 2 placed in the shelf 112 falls into the storage tank 122, and the external device picks up the detector 2 from the storage tank 122.
Optionally, the detector positioning structure 12 further comprises a guide 123 at one end of the storage tank 122;
the shape of the end of the guiding device 123 close to the storage tank 122 matches the shape of the end of the storage tank 122, and the end far from the storage tank 122 is in a bell mouth shape.
Optionally, the detector positioning structure 12 further comprises a first moving device 124 arranged below the guiding device 123;
the first moving device 124 is used for moving the guiding device 123 so that the guiding device 123 is connected with the storage tank 122 in a nested manner;
when the shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, the detector 2 placed in the shelf 112 falls into the storage slot 122, the first moving device 124 controls the guide device 123 to move, so that the guide device 123 is connected with the storage slot 122 in a nested manner, and an external device clamps the detector 2 from the storage slot 122 through the guide device 123.
Optionally, the detector positioning structure 12 further comprises a second moving device 125 connected to the storage tank 122;
the second moving device 125 is used for moving the storage tank 122 so that the storage tank 122 is connected with the guiding device 123 in a nested manner;
when the shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, the detector 2 placed in the shelf 112 falls into the storage tank 122, the second moving device 125 controls the storage tank 122 to move, so that the storage tank 122 is connected with the guiding device 123 in a nested manner, and an external device clamps the detector 2 from the storage tank 122 through the guiding device 123.
Optionally, the detector positioning structure 12 further comprises a clamping device 126, wherein the clamping device 126 is disposed at one end of the guiding device 123 close to the storage tank 122;
the clamping device 126 is used for clamping the detector 2 in the storage tank 122 when the storage tank 122 is connected with the guide device 123 in a nested manner.
Optionally, the detector positioning structure 12 further comprises a first sensor 127;
the first sensor 127 is used for detecting whether the clamping device 126 clamps the detector 2;
when the first sensor 127 detects that the clamp device 126 clamps the detector 2, the external device clamps the detector 2 from the storage tank 122.
Optionally, the detector storage structure 11 further comprises a second sensor 113;
the second sensor 113 is used for detecting whether the detector 2 is placed in the shelf 112 at one end of the transmission structure 111;
when the shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, if the first sensor 113 does not detect that the detector 2 is placed in the shelf 112 at one end of the transmission structure 111, the transmission structure 111 is controlled to continue the transmission until the second sensor 113 detects that the detector 2 is placed in the shelf 112 at one end of the transmission structure 111, the detector 2 placed in the shelf 112 falls into the storage slot 122, and the external device picks up the detector 2 from the storage slot 122.
Optionally, the detector positioning structure 12 further comprises a third sensor 128;
the third sensor 128 is used for detecting whether the detector 2 is placed in the storage tank 122;
when the rack 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, if the third sensor 128 detects that the detector 2 is placed in the storage tank 122, the external device picks up the detector 2 from the storage tank 122.
Optionally, the detector positioning structure 12 further comprises a stop strip 129 disposed at the notch of the storage tank 122;
the bar 129 is used to guide the detector 2 dropped from the rack 112 into the storage tank 122.
Optionally, the transmission structure 111 comprises a first transmission belt 1111, a second transmission belt 1112, a first transmission wheel 1113 and a second transmission wheel 1114;
the first transmission wheel 1113 and the second transmission wheel 1114 are in transmission connection through the first transmission belt 1111 and the second transmission belt 1112.
Optionally, the first driving wheel 1113 and the second driving wheel 1114 are located on the same vertical plane, and the first driving wheel 1113 is located right above the second driving wheel 1114.
Optionally, the shelf 112 includes a first bracket 1121 and a second bracket 1122;
the first bracket 1121 is disposed on the outer surface of the first driving belt 1111, the second bracket 1122 is disposed on the outer surface of the second driving belt 1112, and the first bracket 1121 and the second bracket 1122 are at the same horizontal plane.
Optionally, the detector 2 comprises a temperature measuring gun for detecting the temperature of the molten steel and a sampler for taking the molten steel.
In a second aspect, the present application provides a ladle detection system for automatic detector replacement, the system comprising at least one ladle 3 for holding molten steel 31; a platform 4 is arranged outside the ladle 3, a robot motion system 5 and the automatic replacing device 1 of the detector are arranged on the surface of the platform 4, and the robot motion system 5 comprises a track 51, a robot body 52 and a mechanical arm 53; the rail 51 is arranged on the surface of the platform 4; the robot body 52 is placed on the rail 51, and the automatic detector replacing device 1 is placed at one end of the rail 51; the robot arm 53 is disposed at the end of the robot body 52, and is configured to acquire the detector 2 from the automatic detector changer 1 and mount the acquired detector 2;
when the shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111 when the detector 2 is replaced, the detector 2 placed in the shelf 112 falls into the storage tank 122, the robot body 52 moves to the position of the automatic replacement device 1 of the detector along the rail 51, and the robot arm 53 moves to the position of the storage tank 122 and grips the detector 2 from the storage tank 122.
Adopt above-mentioned device, can place a detector in every supporter, drive the supporter through drive mechanism and remove, when the one end of supporter transmission structure, the detector drops in the hold up tank of below, and the external equipment of being convenient for presss from both sides from the hold up tank and gets the detector. The whole device is simple and compact in structure and small in occupied area, the detector can be automatically replaced by the device, manual operation is not needed in the whole process, and the safety is high.
Drawings
Fig. 1 is a schematic structural diagram of an automatic detector replacement device according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a detector storage structure according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a transmission structure provided in an embodiment of the present application;
fig. 4 is a schematic view illustrating an arrangement manner of a shelf according to an embodiment of the present disclosure;
FIG. 5 is a schematic structural diagram of a detector positioning structure according to an embodiment of the present disclosure;
FIG. 6 is a schematic structural diagram of a motion guide apparatus according to an embodiment of the present disclosure;
FIG. 7 is a schematic structural diagram of a mobile storage tank according to an embodiment of the present disclosure;
FIG. 8 is a schematic structural diagram of a guide device provided with a clamping device according to an embodiment of the present application;
FIG. 9 is a schematic structural diagram of a detector positioning structure including a first sensor according to an embodiment of the present disclosure;
FIG. 10 is a schematic structural diagram of an automatic exchanging device with a third sensor according to an embodiment of the present application
FIG. 11 is a schematic structural view of a storage tank with a barrier according to an embodiment of the present disclosure;
fig. 12 is a schematic structural diagram of an automatic detector replacement device according to an embodiment of the present disclosure;
fig. 13 is a top view of a ladle detection system that also provides an automatic detector change in accordance with an embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Fig. 1 schematically illustrates a structural diagram of an automatic detector replacement device according to an embodiment of the present application. As shown in fig. 1, the automatic exchanging apparatus 1 may include a detector storage structure 11 and a detector positioning structure 12; wherein the detector positioning structure 12 may be arranged below the detector storage structure 11.
Further, the detector storage structure 11 may include a transmission structure 111 and a plurality of shelves 112, wherein the shelves 112 may be disposed on an outer surface of the transmission structure 111 for placing the detectors 2, and a length direction (L1 direction shown in fig. 1) of the shelves 112 is perpendicular to a transmission direction (L2 direction shown in fig. 1) of the transmission structure 111.
Wherein the detector 2 may include a temperature measuring gun for detecting a temperature of the molten steel and a sampler for taking the molten steel. The temperature measuring gun can be a temperature sensor, such as a rapid temperature measuring thermocouple, and is used for measuring the temperature of the molten steel.
It should be noted that the detector storage structure 11 has a compact overall structure and a small floor space, and is more suitable for detectors with low replacement frequency, such as a sampler.
The detector positioning structure 12 may include a base 121 and a reservoir 122; the storage tank 122 may be disposed on the base 121. The position of the storage tank 122 may be aligned with the position of the shelf 112 at one end of the driving structure 111, i.e., as shown in fig. 1, the position of the storage tank 122 may be aligned with the position of the shelf 112 at the bottom end of the driving structure 111.
In this way, when the rack 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, the detector 2 placed in the rack 112 can fall into the storage tank 122, and further, the external device can pick up the detector 2 from the storage tank 122.
It should be noted that: (1) the embodiment of the present application does not limit the specific position state of the transmission structure 111 in the automatic detector changer 1. That is, the transmission structure 111 may be in a position state perpendicular to the horizontal plane, i.e., the structure shown in fig. 1; alternatively, the driving structure 111 may be in a position parallel to the horizontal plane, and the storage tank 122 may be aligned with the storage rack 112 at one end of the driving structure 111. (2) In the embodiment of the present application, the one end of the transmission structure 111 refers to a position corresponding to the storage tank, for example, in the structure shown in fig. 1, the one end of the transmission structure 111 may be the bottom end of the transmission structure; for another example, when the transmission structure 111 is in a position parallel to the horizontal plane, one end of the transmission structure 111 may be a right end (or a left end) of the transmission structure.
Adopt above-mentioned device, can place a detector in every supporter, drive the supporter through drive mechanism and remove, when the one end of supporter transmission structure, the detector drops in the hold up tank of below, and the external equipment of being convenient for presss from both sides from the hold up tank and gets the detector. The whole device is simple and compact in structure and small in occupied area, the detector can be automatically replaced by the device, manual operation is not needed in the whole process, and the safety is high.
The detector storage structure 11 and the detector positioning structure 12 will be described in detail below, respectively.
Fig. 2 schematically illustrates a structural diagram of a detector storage structure provided in an embodiment of the present application. As shown in fig. 2, the detector storage structure 11 may further include a second sensor 113 besides the transmission structure 111 and a plurality of shelves 112 disposed on the outer surface of the transmission structure 111, and the second sensor 113 may be located at one end of the transmission structure 113 for detecting whether the detector 2 is placed in the shelf 112 located at one end of the transmission structure 111. The setting of second sensor 113 can guarantee to have placed detector 2 in the supporter 112 that will move transmission structure 111 one end to can avoid appearing missing detector 2 in the supporter 112 and influence the automatic condition of changing of detector.
In a specific implementation process, when the shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, if the second sensor 113 does not detect that the detector 2 is placed in the shelf 112 at one end of the transmission structure 111, the transmission structure 111 is controlled to continue to transmit until the second sensor 113 detects that the detector 2 is placed in the shelf 112 at one end of the transmission structure 111, the detector 2 placed in the shelf 112 falls into the storage slot 122, and the external device picks up the detector 2 from the storage slot 122.
In the embodiment of the present application, the transmission structure 111 has various transmission modes, and may be a belt transmission mode, a chain transmission mode, or a gear transmission mode, which is not limited specifically.
Taking a belt transmission manner as an example, in addition to the belt transmission manner shown in fig. 1, as shown in fig. 3, a schematic structural diagram of a transmission structure provided in the embodiment of the present application is shown. The transmission structure 111 may include a first transmission belt 1111, a second transmission belt 1112, a first transmission wheel 1113, and a second transmission wheel 1114. The first transmission wheel 1113 and the second transmission wheel 1114 can be in transmission connection through a first transmission belt 1111 and a second transmission belt 1112.
Further, the distance between the first driving belt 1111 and the second driving belt 1112 is greater than or equal to the length of the detector 2.
Further, the first driving wheel 1113 and the second driving wheel 1114 can be located on the same vertical plane, and the first driving wheel 1113 is located right above the second driving wheel 1114.
Further, the transmission of the transmission structure 111 can be driven by various means, such as motor drive, or motor drive, without limitation. Taking motor driving as an example, a motor may be installed on the first driving wheel 1113 (or the second driving wheel 1114) to drive the transmission of the transmission structure 111.
Correspondingly, on the basis of the transmission structure shown in fig. 3, fig. 4 exemplarily shows a schematic view of an arrangement manner of the article rack provided by the embodiment of the present application.
As shown in fig. 4, the shelf 112 may include a first bracket 1121 and a second bracket 1122 (for clarity, only one shelf is shown in fig. 4); the first bracket 1121 may be disposed on an outer surface of the first belt 1111, the second bracket 1122 may be disposed on an outer surface of the second belt 1112, and the first bracket 1121 and the second bracket 1122 may be at the same horizontal plane.
Fig. 3 and 4 are only one example of the transmission structure and the rack disposed on the transmission structure, and in other possible examples, the transmission structure and the rack disposed on the transmission structure may be other structures, for example, in the structure shown in fig. 1, the transmission structure 111 may include only one transmission belt, and the rack 112 may be disposed directly on the transmission belt, which will not be described in detail.
Fig. 5 schematically illustrates a structural diagram of a detector positioning structure provided in an embodiment of the present application. As shown in fig. 5, the detector positioning structure 12 may further include a guide 123 at one end of the storage tank 122, in addition to the base 121 and the storage tank 122 disposed on the base 121.
The shape of the end of the guiding device 123 close to the storage tank 122 matches the shape of the end of the storage tank 122, and the end far from the storage tank 122 is in a bell mouth shape.
The guide 123 may be used to provide a guide for the external device, which facilitates the external device to more accurately pick up the detector 2 from the storage tank 122.
Further, in order to improve the convenience of the external device to pick up the detector 2 from the storage tank 122, in the embodiment of the present application, the storage tank 122 may be moved into the guide 123, and the specific structure may be variously changed.
In one example, as shown in fig. 6, a schematic structural diagram of a movement guide device provided in an embodiment of the present application is shown. The detector positioning structure 12 may also include a first movement device 124; the first moving device 124 may be disposed below the guide device 123 for moving the guide device 123 so that the guide device 123 is connected with the storage tank 122 in a nested manner.
In the implementation process, referring to fig. 1 and 6, when the rack 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, the detector 2 placed in the rack 112 falls into the storage tank 122, the first moving device 124 can control the guide device 123 to move, so that the guide device 123 is connected with the storage tank 122 in a nested manner, and the external device can clamp the detector 2 from the storage tank 122 through the guide device 123.
In another example, as shown in fig. 7, a schematic structural diagram of a mobile storage tank according to an embodiment of the present application is provided. The detector positioning structure 12 may further comprise a second movement device 125; the second moving device 125 may be connected to the storage tank 122, and in a specific embodiment, the second moving device 125 may be a rail disposed on the surface of the base 121, and the storage tank 122 may be mounted on the rail and move along the rail.
The second moving device 125 can be used to move the storage tank 122 so that the storage tank 122 is connected with the guiding device 123 in a nested manner.
In the implementation process, referring to fig. 1 and 7, when the rack 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, the detector 2 placed in the rack 112 falls into the storage tank 122, the second moving device 125 can control the storage tank 122 to move, so that the storage tank 122 is connected with the guide device 123 in a nested manner, and the external device can clamp the detector 2 from the storage tank 122 through the guide device 123.
It should be noted that there are many ways to realize the nested connection of the guiding device 123 and the storage tank 122 in the structure described in fig. 6 or fig. 7, and in one possible implementation, the end of the guiding device 123 matching the shape of the storage tank 122 may be located outside the storage tank 122 (i.e. the storage tank 122 may be located inside the guiding device 123), and the guiding device 123 may wrap part or all of the storage tank 122, so as to realize the nested connection.
In another possible implementation, the end of the guide 123 that matches the shape of the storage tank 122 may be located inside the storage tank 122 (i.e., the storage tank 122 may be located outside the guide 123), and the storage tank 122 may wrap the end of the guide 123 that matches the shape of the storage tank 122, so as to achieve a nested connection.
Further, in order to avoid the detector 2 from moving in the storage tank 122 and to enable the external device to grip the detector 2 more quickly, the time for the external device to grip the detector 2 may be shortened by providing a clamping device in the detector positioning structure 12 in the embodiment of the present application.
One possible realization is to provide a clamping device in the guide 123. Fig. 8 is a schematic structural diagram of a guide device provided with a clamping device according to an embodiment of the present application. A clamping device 126 may be provided at an end of the guide 123 adjacent to the reservoir 122 for clamping the detector 2 in the reservoir 122 when the reservoir 122 is nested with the guide 123.
Another possible embodiment is to provide a clamping device in the storage tank 122, which also serves to clamp the detector 2 located in the storage tank 122 when the storage tank 122 is connected to the guide 123 in a nested manner.
Further, in order to realize automatic control of the clamping device 126, fig. 9 schematically illustrates a structural diagram of a detector positioning structure including a first sensor according to an embodiment of the present application. As shown in fig. 9, the detector positioning structure 12 may include a first sensor 127 in addition to the base 121, the storage tank 122, the guide 123, the first moving device 124, and the clamping device 126; wherein the first sensor 127 may be used to detect whether the clamping device 126 is clamping the detector 2.
When the first sensor 127 detects that the clamp device 126 clamps the detector 2, the external apparatus can clamp the detector 2 from the storage tank 122.
In the embodiment of the present application, in order to improve the automation of the automatic exchanging apparatus 1, a third sensor for detecting whether the detector 2 is placed in the storage tank 122 may be provided. Fig. 11 is a schematic structural diagram schematically illustrating an automatic exchanging device with a third sensor according to an embodiment of the present application.
As shown in fig. 10, the detector positioning structure 12 may further include a third sensor 128 in addition to the base 121 and the storage tank 122 disposed on the base 121, and the third sensor 128 may be disposed on the storage tank 122 for detecting whether the detector 2 is disposed in the storage tank 122.
In a specific implementation, when the rack 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, if the third sensor 128 detects that the detector 2 is placed in the storage tank 122, the external device can pick up the detector 2 from the storage tank 122.
In order to avoid the situation that the detector 2 may fall to a position other than the storage tank 122 when falling from the storage rack 112, as shown in fig. 11, a schematic structural diagram of a storage tank with a barrier is provided for the embodiment of the present application. A bar 129 may be provided at the notch position of the storage tank 122 for guiding the detector 2 (not shown in fig. 11) dropped from the rack 112 into the storage tank 122.
Further, in order to prevent the detector 2 from falling from the rack 112 at a position other than the end of the transmission structure 111, a protrusion may be disposed inside the opening of the rack 112 to block the detector 2; of course, the distance between the protrusion and the inner wall of the shelf 112 should be larger than the diameter of the detector 2.
In order to more clearly describe the automatic exchanging device provided by the embodiment of the present application, the automatic exchanging device provided by the embodiment of the present application is generally described below with reference to fig. 12.
Fig. 12 is a schematic view illustrating an overall structure of an automatic detector replacement device according to an embodiment of the present application. As shown in fig. 12, the automatic exchanging apparatus 1 may include a detector storage structure 11 and a detector positioning structure 12; wherein the detector positioning structure 12 may be arranged below the detector storage structure 11.
Specifically, the detector storage structure 11 may include a transmission structure 111, a plurality of shelves 112 disposed on an outer surface of the transmission structure 111, and a second sensor 113; wherein, the shelf 112 is used for placing the detector 2, and the length direction of the shelf 112 is perpendicular to the transmission direction of the transmission structure 111; the second sensor 113 is used for detecting whether the detector 2 is placed in the shelf 112 at one end of the transmission structure 111.
The detector positioning structure 12 includes a base 121, a storage tank 122 provided on the base 121, a guide 123 at one end of the storage tank 122, a first moving device 124 disposed below the guide 123, a clamping device 126 provided in the guide 123 at an end close to the storage tank 122, a first sensor 127, and a third sensor 128; wherein, the position of the storage tank 122 is aligned with the position of the shelf 112 at one end of the transmission structure 111, and the notch position of the storage tank 122 is provided with a stop strip 129; the first sensor 127 is for detecting whether the clamping device 126 clamps the detector 2; the third sensor 128 is used to detect whether the detector 2 is placed in the reservoir 122.
In the specific implementation process, when the object placing shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111, if the second sensor 113 does not detect that the detector 2 is placed in the rack 112 at one end of the transmission structure 111, the transmission structure 111 is controlled to continue to transmit until the second sensor 113 detects that the detector 2 is placed in the rack 112 at one end of the transmission structure 111, the detector 2 placed in the rack 112 falls into the storage tank 122, if the third sensor 128 detects that the detector 2 is placed in the storage tank 122, the first moving device 124 controls the guide device 123 to move, so that the guide device 123 is connected with the storage tank 122 in a nested manner, the clamping device 126 is controlled to clamp the detector 2 in the storage tank 122, if the first sensor 127 detects that the clamp device 126 clamps the detector 2, the external device clamps the detector 2 from the storage tank 122.
It should be noted that the implementation process can be controlled by a control device, that is, the control device can be connected to the transmission structure 111, the first sensor 127, the second sensor 113, the third sensor 128, the first moving device 124 (or the second moving device 125), the clamping device 126, and an external device through a network, so as to implement the process of automatically replacing the detector.
Based on the same conception, the embodiment of the application also provides a steel ladle detection system capable of automatically replacing the detector. As shown in fig. 13, a top view of a ladle detection system with automatic detector replacement is also provided for the embodiment of the present application. The system may include at least one ladle 3 for holding molten steel 31; a platform 4 is arranged outside the ladle 3, a robot motion system 5 and the automatic replacing device 1 of the detector are arranged on the surface of the platform 4, and the robot motion system 5 comprises a track 51, a robot body 52 and a mechanical arm 53; the rail 51 is arranged on the surface of the platform 4; the robot body 52 is placed on the rail 51, and the automatic detector replacing device 1 is placed at one end of the rail 51; the robot arm 53 is provided at the end of the robot body 52, and is configured to acquire the detector 2 (not shown in fig. 13) from the automatic detector changer 1 and mount the acquired detector 2;
when the shelf 112 moves to one end of the transmission structure 111 along with the transmission of the transmission structure 111 when the detector 2 is replaced, the detector 2 placed in the shelf 112 falls into the storage tank 122, the robot body 52 moves to the position of the automatic replacement device 1 of the detector along the rail 51, and the robot arm 53 moves to the position of the storage tank 122 and grips the detector 2 from the storage tank 122.
It should be noted that, in fig. 13, the specific structure of the automatic detector changer 1 is not shown in fig. 13 due to the limitation of the drawing size, and reference may be made to the automatic detector changer 1 described above.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (14)
1. An automatic detector replacement device, characterized in that the automatic detector replacement device (1) comprises a detector storage structure (11) and a detector positioning structure (12) arranged below the detector storage structure (11);
the detector storage structure (11) comprises a transmission structure (111) and a plurality of article shelves (112) arranged on the outer surface of the transmission structure (111); the shelf (112) is used for placing the detector (2), and the length direction of the shelf (112) is perpendicular to the transmission direction of the transmission structure (111);
the detector positioning structure (12) comprises a base (121) and a storage groove (122) arranged on the base (121), and the position of the storage groove (122) is aligned with the position of a commodity shelf (112) positioned at one end of the transmission structure (111);
when the commodity shelf (112) moves to one end of the transmission structure (111) along with the transmission of the transmission structure (111), the detector (2) placed in the commodity shelf (112) falls into the storage groove (122), and the external equipment clamps the detector (2) from the storage groove (122).
2. The apparatus of claim 1, wherein the detector positioning structure (12) further comprises a guide (123) at one end of the reservoir (122);
the shape of one end, close to the storage tank (122), of the guide device (123) is matched with that of the end part of the storage tank (122), and the shape of one end, far away from the storage tank (122), of the guide device is in a horn mouth shape.
3. The device according to claim 2, characterized in that the detector positioning structure (12) further comprises a first moving device (124) arranged below the guiding device (123);
the first moving device (124) is used for moving the guide device (123) so as to enable the guide device (123) to be connected with the storage tank (122) in a nested manner;
when the commodity shelf (112) moves to one end of the transmission structure (111) along with the transmission of the transmission structure (111), the detector (2) placed in the commodity shelf (112) falls into the storage groove (122), the first moving device (124) controls the guide device (123) to move, so that the guide device (123) is connected with the storage groove (122) in a nested manner, and external equipment clamps the detector (2) from the storage groove (122) through the guide device (123).
4. The apparatus according to claim 2, wherein the detector positioning structure (12) further comprises a second moving means (125) connected to the reservoir (122);
the second moving device (125) is used for moving the storage tank (122) so as to enable the storage tank (122) to be connected with the guide device (123) in a nested manner;
when the commodity shelf (112) moves to one end of the transmission structure (111) along with the transmission of the transmission structure (111), the detector (2) placed in the commodity shelf (112) falls into the storage groove (122), the second moving device (125) controls the storage groove (122) to move, so that the storage groove (122) is connected with the guide device (123) in a nested manner, and external equipment clamps the detector (2) from the storage groove (122) through the guide device (123).
5. The device according to claim 3 or 4, wherein the detector positioning structure (12) further comprises a clamping device (126), the clamping device (126) being arranged in the guiding device (123) near one end of the reservoir (122);
the clamping device (126) is used for clamping the detector (2) in the storage tank (122) when the storage tank (122) is connected with the guide device (123) in a nested manner.
6. The apparatus of claim 5, wherein the detector positioning structure (12) further comprises a first sensor (127);
-said first sensor (127) is adapted to detect whether said gripping device (126) is clamped with a detector (2);
when the first sensor (127) detects that the clamping device (126) clamps the detector (2), the external equipment clamps the detector (2) from the storage tank (122).
7. The device according to claim 1, characterized in that the detector storage structure (11) further comprises a second sensor (113);
the second sensor (113) is used for detecting whether a detector (2) is placed in a storage rack (112) at one end of the transmission structure (111);
when the commodity shelf (112) moves to one end of the transmission structure (111) along with the transmission of the transmission structure (111), if the second sensor (113) does not detect that the detector (2) is placed in the commodity shelf (112) at one end of the transmission structure (111), the transmission structure (111) is controlled to continue to transmit until the second sensor (113) detects that the detector (2) is placed in the commodity shelf (112) at one end of the transmission structure (111), the detector (2) placed in the commodity shelf (112) falls into the storage groove (122), and external equipment clamps the detector (2) from the storage groove (122).
8. The apparatus of claim 1, wherein the detector positioning structure (12) further comprises a third sensor (128);
the third sensor (128) is used for detecting whether a detector (2) is placed in the storage tank (122);
when the commodity shelf (112) moves to one end of the transmission structure (111) along with the transmission of the transmission structure (111), if the third sensor (128) detects that the detector (2) is placed in the storage groove (122), the external equipment picks up the detector (2) from the storage groove (122).
9. The apparatus of claim 1, wherein the detector positioning structure (12) further comprises a bar (129) disposed at a notch position of the reservoir (122);
the stop strip (129) serves to guide the detector (2) falling from the rack (112) into the storage tank (122).
10. The device according to claim 1, characterized in that the transmission structure (111) comprises a first transmission belt (1111), a second transmission belt (1112), a first transmission wheel (1113) and a second transmission wheel (1114);
the first transmission wheel (1113) and the second transmission wheel (1114) are in transmission connection through the first transmission belt (1111) and the second transmission belt (1112).
11. The apparatus of claim 10, wherein the first drive wheel (1113) and the second drive wheel (1114) are in a common vertical plane, and the first drive wheel (1113) is positioned directly above the second drive wheel (1114).
12. The apparatus according to claim 10, wherein the shelf (112) comprises a first bracket (1121) and a second bracket (1122);
the first bracket (1121) is arranged on the outer surface of the first transmission belt (1111), the second bracket (1122) is arranged on the outer surface of the second transmission belt (1112), and the first bracket (1121) and the second bracket (1122) are in the same horizontal plane.
13. An arrangement according to claim 1, characterized in that the detector (2) comprises a temperature measuring gun for detecting the temperature of the steel and a sampler for taking the steel.
14. A ladle detection system for automatic detector change, said system comprising at least one ladle (3) for holding molten steel (31); characterized in that a platform (4) is arranged outside the ladle (3), a robot motion system (5) and the automatic detector changing device (1) of any one of claims 1 to 13 are arranged on the surface of the platform (4), and the robot motion system (5) comprises a track (51), a robot body (52) and a mechanical arm (53); the rail (51) is arranged on the surface of the platform (4); the robot body (52) is placed on the track (51), and the automatic detector replacing device (1) is placed at one end of the track (51); the mechanical arm (53) is arranged at the tail end of the robot body (52) and is used for acquiring the detector (2) from the automatic detector replacing device (1) and installing the acquired detector (2);
when the detector (2) is replaced, when the commodity shelf (112) moves to one end of the transmission structure (111) along with the transmission of the transmission structure (111), the detector (2) placed in the commodity shelf (112) falls into the storage tank (122), the robot body (52) moves to the position of the automatic replacement device (1) of the detector along the track (51), and the mechanical arm (53) moves to the position of the storage tank (122) and clamps the detector (2) from the storage tank (122).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921442473.1U CN211135438U (en) | 2019-08-30 | 2019-08-30 | Automatic replacing device of detector and steel ladle detection system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921442473.1U CN211135438U (en) | 2019-08-30 | 2019-08-30 | Automatic replacing device of detector and steel ladle detection system |
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| CN211135438U true CN211135438U (en) | 2020-07-31 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110369681A (en) * | 2019-08-30 | 2019-10-25 | 江苏金恒信息科技股份有限公司 | A kind of apparatus for automatic change and ladle detection system of detector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110369681A (en) * | 2019-08-30 | 2019-10-25 | 江苏金恒信息科技股份有限公司 | A kind of apparatus for automatic change and ladle detection system of detector |
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