CN212621617U - Molten steel temperature measurement sample tongs system - Google Patents
Molten steel temperature measurement sample tongs system Download PDFInfo
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- CN212621617U CN212621617U CN202020219342.3U CN202020219342U CN212621617U CN 212621617 U CN212621617 U CN 212621617U CN 202020219342 U CN202020219342 U CN 202020219342U CN 212621617 U CN212621617 U CN 212621617U
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Abstract
The utility model provides a molten steel temperature measurement sample tongs system based on six robots carries out the centre gripping to the bullet, include: with six axis robot's sixth axle fixed connection's connecting plate, from top to bottom respectively fixed connection be in first cylinder and second cylinder on the connecting plate are fixed direction clamping jaw on the first cylinder is located direction clamping jaw below is fixed centre gripping on the second cylinder the V type clamping jaw of bullet, and control first cylinder with the second cylinder is fixed the epaxial gas circuit control component of six axis robot's third. The utility model provides a molten steel temperature measurement sample tongs system can accomplish and get bullet, bullet loading, tear open the three process system of bullet to the full-automatic cycle of molten steel temperature measurement sample is accomplished to cooperation other automatic temperature measurement sampling system.
Description
Technical Field
The utility model relates to a mechanical automation system, in particular to molten steel temperature measurement sample tongs system.
Background
The temperature measurement and sampling of molten steel are necessary procedures in the steelmaking process, the traditional temperature measurement and sampling is manually operated, the labor intensity of workers is high, and potential safety hazards exist. Although automatic temperature measurement sampling replaces manual temperature measurement sampling gradually at present, the temperature measurement sampling process does not realize complete automatic operation, the operation of an automatic temperature measurement sampling system still needs manual bullet sleeving, and the purpose of eliminating potential safety hazards of workers is not achieved.
SUMMERY OF THE UTILITY MODEL
The utility model relates to a solve above-mentioned problem and go on, aim at provides one kind can accomplish the tongs system of getting bullet, loading bullet, tearing open the three process of bullet to cooperate other automatic temperature measurement sampling system to accomplish the full-automatic cycle of molten steel temperature measurement sample.
In order to achieve the above object, the utility model provides a molten steel temperature measurement sample tongs system has such characteristic, carries out the centre gripping to the bullet, include: with six axis robot's sixth axle fixed connection's connecting plate, from top to bottom respectively fixed connection be in first cylinder and second cylinder on the connecting plate are fixed direction clamping jaw on the first cylinder is located direction clamping jaw below is fixed the V type clamping jaw of the centre gripping bullet on the second cylinder, and control first cylinder with the second cylinder is fixed the epaxial gas circuit control component of six axis robot's third.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, the direction clamping jaw has the symmetry to be fixed two guiding opening fixed blocks on the first cylinder to and the toper guiding opening of constituteing by the half-cone shape guiding opening of two symmetries, two half-cone shape guiding opening is fixed respectively two on the guiding opening fixed block, wherein, two the direction fixed block is fixed respectively on two first cylinder sliders of first cylinder.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, the toper spigot comprises upper and lower interconnect's circular cone spigot and neck spigot, the block notch that is located the bottom export has in the neck spigot, upper portion hole diameter in the neck spigot is less than the hole diameter of bullet, the diameter of block notch is greater than the external diameter of bullet.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, neck direction mouth lower extreme outer wall with the inner wall shape phase-match of direction mouth fixed block.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, the V type clamping jaw has two symmetries to be fixed half claw on two second cylinder sliders of second cylinder.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, V type clamping jaw inner wall has the dress bullet position groove that is close to the cylinder stiff end, and keeps away from the position of tearing open the bullet of cylinder stiff end.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, first cylinder with the second cylinder is the slim gas claw of parallel switching type.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, still have and fix the photoelectric sensor of V type clamping jaw upper end.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, photoelectric sensor passes through photoelectric sensor safety cover fixed connection and is in V type clamping jaw upper end.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, the dress bullet position groove with it has annular slot to tear open in the bullet position groove.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have such characteristic, the gas circuit control component have respectively with first cylinder with the corresponding two sets of solenoid valves of second cylinder, and with the control scheme that two sets of solenoid valves are connected.
Utility model action and effect
The utility model relates to a molten steel temperature measurement sample tongs system based on six robots, under the drive of six robots, through solenoid valve open control cylinder, the action that opens and shuts of further control clamping jaw and direction mouth accomplishes bullet, bullet loading, tear open and play three process, cooperates the full-automatic cycle of other automatic temperature measurement sampling system completion molten steel temperature measurement samples. Additionally, the utility model discloses a molten steel temperature measurement sample tongs system degree of automation is high, and the flexibility is high, has changed the artifical cover bullet mode of tradition, can effectively improve production efficiency, reduces workman's potential safety hazard.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
Fig. 1 is an overall schematic diagram of a molten steel temperature measurement sampling gripper system based on a six-axis robot according to an embodiment of the present invention.
Fig. 2 is a schematic view of an overall structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
Fig. 3 is a schematic view of the whole structure of the molten steel temperature measuring and sampling gripper system according to the embodiment of the present invention.
Fig. 4 is a schematic view of a local mounting structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
Fig. 5 is a schematic view of a local mounting structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
Fig. 6 is a schematic view of a local mounting structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
Fig. 7 is a schematic view of a partial installation structure of the molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.
Detailed Description
The following describes a molten steel temperature measurement sampling gripper system and a mounting method thereof in detail with reference to the accompanying drawings and embodiments. The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are only intended to illustrate the present invention and are not intended to limit the scope of the present invention.
Fig. 1 is an overall schematic diagram of a molten steel temperature measurement sampling gripper system based on a six-axis robot according to an embodiment of the present invention.
Six robots usually can accomplish the action of six degrees of freedom, as shown in fig. 1, the utility model discloses in provide one kind with six robots 200 cooperate molten steel temperature measurement sample tongs system 100 that uses, six robots 200 can drive molten steel temperature measurement sample tongs system 100 and move and get the bullet to each station of bullet frame, accomplish the process of loading and tearing open the bullet on other temperature measurement sampling mechanical device afterwards.
Fig. 2 is a schematic view of an overall structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
Fig. 3 is a schematic view of the whole structure of the molten steel temperature measuring and sampling gripper system according to the embodiment of the present invention.
As shown in fig. 1, 2 and 3, the utility model provides a molten steel temperature measurement sample tongs system, include: and a connection base plate 1 fixedly connected with a sixth shaft 201 of the six-shaft robot 200. Specifically, the connection base plate 1 is fixedly connected to the sixth shaft 201 of the six-axis robot 200 by bolts, and the elastic gripper system 100 is attached to the sixth shaft 201 of the six-axis robot 200.
Additionally, the utility model provides an among the molten steel temperature measurement sample tongs system, still including from top to bottom respectively fixed connection be in connect first cylinder 2a and second cylinder 2b on the bottom plate 1. The first cylinder 2a and the second cylinder 2b may be parallel opening and closing type thin gas claws, and have two first cylinder blocks and two second cylinder blocks, respectively. The opening and closing actions of the air cylinder are represented as the actions of a sliding block on the air cylinder. In some embodiments, the first cylinder 2a and the second cylinder 2b are parallel-opening and closing thin gas claws, and are respectively mounted on the connecting base plate 1 through bolts.
Fig. 7 is a schematic view of a partial installation structure of the molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
As shown in fig. 1, 2, 3 and 7, the molten steel temperature measurement sampling gripper system of the present invention further comprises a guiding clamping jaw fixed on the first cylinder 2a, and a V-shaped clamping jaw 5 fixed below the guiding clamping jaw and used for clamping the bullet 400 on the second cylinder 2 b. The guide clamping jaw is used for guiding the temperature measurement sampling gun 300 into the bullet 400 from the upper part.
Additionally, in the utility model provides an among molten steel temperature measurement sample tongs system, V type clamping jaw 5 has two symmetries to be fixed half claw on two second cylinder sliders of second cylinder 2 b. And the two half claws are controlled to mutually approach and separate by the sliding of the two second cylinder sliding blocks. When the two half jaws come into contact, a complete V-shaped jaw 5 can be formed, thereby completing the process of taking the bullet 400 before the cartridge-clamping station. Holes 51 are distributed on the contact surface of the half claws and the second cylinder slide block, and the two half claws of the V-shaped clamping jaw 5 can be respectively fixedly connected with the two second cylinder slide blocks of the second cylinder 2b through the holes 51 by bolts.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, 5 inner walls of V type clamping jaw have the dress bullet position groove 52 that is close to the cylinder stiff end, and keep away from the position 53 of tearing open the bullet of cylinder stiff end, dress bullet position groove 52 with the shape of tearing open bullet position groove 53 with the contact site shape of bullet 400 is laminated mutually.
Further, the six-axis robot clamps the bullet 400 in the bullet loading position groove 52 to take the bullet, further cooperates with the guide clamping jaw above the six-axis robot to guide the bullet into the temperature measurement sampling gun 300, completes the bullet loading process, and then separates the guide clamping jaw and the V-shaped clamping jaw 5 respectively to leave the current temperature measurement sampling gun 300. When the bomb is disassembled, the V-shaped clamping jaw 5 of the six-axis robot is close to the temperature measurement sampling gun 300 with the bomb 400, and the bomb is disassembled. Since the guiding jaws are located above the loading slot 52 and hinder the process of removing the ammunition, the six-axis robot removes the ammunition 400 through the unloading slot 53. The V-shaped clamping jaw 5 grips the used bullet 400 below the temperature measuring sampling gun 300 through separation and combination, clamps the bullet, and guides the temperature measuring sampling gun 300 out of the used bullet 400, so that the bullet dismantling process is completed.
Further, the loading position groove 52 and the unloading position groove 53 may have 2-3 circles of annular grooves therein for increasing the friction force with the bullet 400 during the clamping process. The V-shaped clamping jaw 5 can be made of light materials, and is preferably made of aluminum materials. In some embodiments, the inner wall of the clamping position (loading position 52, unloading position 53) of the V-shaped clamping jaw 5 is provided with an annular groove.
Fig. 4 is a schematic view of a local mounting structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
Fig. 5 is a schematic view of a local mounting structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
Fig. 6 is a schematic view of a local mounting structure of a molten steel temperature measuring and sampling gripper system according to an embodiment of the present invention.
As shown in fig. 1-6, in the molten steel temperature measurement sampling gripper system of the present invention, the guiding clamping jaw is composed of a guiding opening fixing block 3 and a conical guiding opening 4. More specifically, the guide clamping jaw is provided with two guide port fixing blocks 3 symmetrically fixed on the first air cylinder, and a conical guide port 4 consisting of two symmetrical semi-conical guide ports. The two guide fixing blocks 3 are respectively fixed on the two first cylinder sliding blocks of the first cylinder 2a, and the two first cylinder sliding blocks slide to control the guide fixing blocks 3 to approach and leave each other. Furthermore, holes 31 are distributed on the contact surface of the guide port fixing block 3 and the first cylinder slide block, and the guide port fixing block 3 can be fixedly connected with the slide block of the first cylinder 2a through the holes 31 through bolts. Two the half cone-shaped guide way is then fixed respectively two on the guide way fixed block, along with two direction fixed blocks 3 are close to each other and keep away from, two the half cone-shaped guide way also opens and shuts thereupon, when two when the half cone-shaped guide way merges, can constitute complete cone-shaped guide way, leads temperature measurement sampling gun 300 at the loading in-process.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, toper spigot 4 comprises upper and lower interconnect's circular cone spigot 43 and neck spigot 41. The conical guide opening 43 and the neck guide opening 41 may be integrally formed. The conical guide opening 43 is in a horn shape with a large upper part and a small lower part, so that the temperature measuring gun 300 can be conveniently guided in. The neck guide 41 has a snap notch 45 in the bottom outlet for snap-fitting the top of the cartridge. The upper bore 44 in the neck guide 41 is thus smaller in diameter than the inner bore diameter of the bullet 400, and the catch notch 45 is larger in diameter than the outer bore diameter of the bullet 400.
The outer wall of the lower end of the neck guide port 41 is matched with the inner wall 32 of the guide port fixing block 3 in shape. The outer wall of the neck guide port 41 is provided with a hole 42, the inner wall of the guide port fixing block 3 is provided with a hole 33, the hole 42 and the hole 33 are matched with each other, and the neck guide port 41 and the guide port fixing block 3 are fixed through bolts.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still have and fix photoelectric sensor 6 of V type clamping jaw upper end for whether the centre gripping is popped in detecting V type clamping jaw 5. The photosensor 6 is composed of an emitter and a receiver. Further, the photoelectric sensor can be fixedly connected to the upper end of the V-shaped clamping jaw through a photoelectric sensor protective cover 7. Specifically, the photoelectric sensor 6 can be fixedly connected to the photoelectric sensor protective cover 7 through a bolt, and the photoelectric sensor protective cover 7 is fixedly connected to the upper end of the V-shaped clamping jaw 5 through a bolt.
Additionally, the utility model provides an among molten steel temperature measurement sample tongs system, still including control first cylinder 2a with second cylinder 2b is fixed gas circuit control member 8 on six robots 200's the third axle 202. Specifically, the air passage control member 8 has two sets of solenoid valves respectively corresponding to the first cylinder 2a and the second cylinder 2b, and control lines connected to the two sets of solenoid valves. The two sets of electromagnetic valves respectively control the opening and closing actions of the corresponding first cylinder 2a or second cylinder 2 b.
In some embodiments, the molten steel thermometric sampling gripper system 100 operates as follows:
the bullet taking process comprises the following steps: six axis robot work of control, before the drive was installed and removed bullet tongs system 100 and is moved the station of bullet frame, first cylinder 2a and second cylinder 2b are controlled respectively to two sets of solenoid valves, thereby toper guide port 4 and V type clamping jaw 5 are opened, V type clamping jaw 5 snatchs bullet 400 from the bullet frame, toper guide port 4 and V type clamping jaw 5 are closed, the top block of bullet 400 extremely the bottom of toper guide port 4. The photoelectric sensor 6 can sense whether the V-shaped clamping jaw 5 clamps a bullet or not, if the corresponding position does not have the bullet, the photoelectric sensor 6 feeds back a bullet-free signal, and the six-axis robot drives the bullet assembling and disassembling gripper system 100 to enter the next station for bullet taking;
and (3) a loading process: the six-axis robot is controlled to work, the bullet assembling and disassembling gripper system 100 is driven to move to the lower end of the temperature measuring and sampling gun 300 of the temperature measuring and sampling mechanical device, the temperature measuring and sampling gun 300 is guided into the inner hole of the bullet 400, the first air cylinder 2a is opened, and therefore the conical guide port 4 is opened. The V-shaped clamping jaw 5 drives the bomb 400 to complete the bomb loading process;
the bullet dismantling process comprises the following steps: and controlling the six-axis robot to work, driving the bullet assembling and disassembling gripper system 100 to move to the upper end of the temperature measurement sampling gun 300, opening the second cylinder 2b, controlling the V-shaped clamping jaw 5 to be opened, moving downwards from the upper part to the position of the bullet 400, clamping the bullet 400 at the bullet disassembling position and removing the bullet from the temperature measurement sampling gun 300 to finish the bullet disassembling process.
Effects and effects of the embodiments
According to the molten steel temperature measurement sampling gripper system based on the six-axis robot related in the embodiment, under the driving of the six-axis robot, the opening and closing actions of the clamping jaw and the guide opening are further controlled through the opening and closing control cylinder of the electromagnetic valve, so that three processes of bullet taking, bullet loading and bullet disassembling are completed, and the full-automatic period of molten steel temperature measurement sampling is completed by matching with other automatic temperature measurement sampling systems. Additionally, the utility model discloses a molten steel temperature measurement sample tongs system degree of automation is high, and the flexibility is high, has changed the artifical cover bullet mode of tradition, can effectively improve production efficiency, reduces workman's potential safety hazard.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.
The above embodiment numbers of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
The above is only the preferred embodiment of the present invention, and not the scope of the present invention, all the equivalent structures or equivalent flow changes made by the contents of the specification and the drawings or the direct or indirect application in other related technical fields are included in the patent protection scope of the present invention.
Claims (11)
1. The utility model provides a molten steel temperature measurement sample tongs system which characterized in that carries out the centre gripping to the bullet, includes:
a connecting bottom plate fixedly connected with a sixth shaft of the six-shaft robot,
a first cylinder and a second cylinder which are respectively and fixedly connected with the connecting bottom plate from top to bottom,
a guide clamping jaw fixed on the first air cylinder,
and the air path control component is positioned below the guide clamping jaw, is fixed on the second cylinder, clamps the elastic V-shaped clamping jaw, controls the first cylinder and the second cylinder, and is fixed on the third shaft of the six-shaft robot.
2. The molten steel temperature-measuring and sampling gripper system according to claim 1, wherein the guiding gripper has two guiding port fixing blocks symmetrically fixed on the first cylinder, and a tapered guiding port consisting of two symmetrical semi-tapered guiding ports, the two semi-tapered guiding ports are respectively fixed on the two guiding port fixing blocks, wherein the two guiding port fixing blocks are respectively fixed on the two first cylinder sliding blocks of the first cylinder.
3. The molten steel temperature measuring and sampling gripper system according to claim 2, wherein the tapered guide port is composed of a conical guide port and a neck guide port which are connected with each other from top to bottom, a clamping notch is formed in the neck guide port and located in the bottom outlet, the diameter of an upper inner hole in the neck guide port is smaller than that of an inner hole of the bullet, and the diameter of the clamping notch is larger than the outer diameter of the bullet.
4. The molten steel temperature measuring and sampling gripper system according to claim 3, wherein the outer wall of the lower end of the neck guide port is matched with the shape of the inner wall of the guide port fixing block.
5. The molten steel temperature measuring and sampling gripper system according to claim 1, wherein the V-shaped clamping jaw is provided with two half jaws symmetrically fixed on two second cylinder sliding blocks of the second cylinder.
6. The molten steel temperature measuring and sampling gripper system according to claim 1, wherein the inner wall of the V-shaped clamping jaw is provided with a loading position groove close to the fixed end of the cylinder and an unloading position far away from the fixed end of the cylinder.
7. The molten steel temperature measuring and sampling gripper system according to claim 3, wherein the first cylinder and the second cylinder are parallel opening and closing thin gas grippers.
8. The molten steel temperature measuring and sampling gripper system according to claim 1, further comprising a photoelectric sensor fixed to an upper end of the V-shaped clamping jaw.
9. The molten steel temperature measuring and sampling gripper system according to claim 8, wherein the photoelectric sensor is fixedly connected to the upper end of the V-shaped clamping jaw through a photoelectric sensor protective cover.
10. The molten steel temperature measuring and sampling gripper system according to claim 6, wherein annular grooves are formed in the loading position groove and the unloading position groove.
11. The molten steel temperature measuring and sampling gripper system according to claim 1, wherein the gas path control member has two sets of solenoid valves respectively corresponding to the first cylinder and the second cylinder, and control lines connected to the two sets of solenoid valves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020219342.3U CN212621617U (en) | 2020-02-27 | 2020-02-27 | Molten steel temperature measurement sample tongs system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020219342.3U CN212621617U (en) | 2020-02-27 | 2020-02-27 | Molten steel temperature measurement sample tongs system |
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| Publication Number | Publication Date |
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| CN212621617U true CN212621617U (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020219342.3U Active CN212621617U (en) | 2020-02-27 | 2020-02-27 | Molten steel temperature measurement sample tongs system |
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| CN (1) | CN212621617U (en) |
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- 2020-02-27 CN CN202020219342.3U patent/CN212621617U/en active Active
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