CN220356328U - Device for peeling and correcting waste probe of temperature measuring sampling gun body - Google Patents

Abstract

The utility model relates to a device for stripping and correcting a waste probe of a temperature measuring and sampling gun body, which belongs to the technical field of industrial robot application and comprises a guide support bracket, a clamping and correcting part and a visual identification part. The guide support bracket can be used as a frame of the device, and is provided with a guide U-shaped groove for guiding the waste probe to be placed into the clamping part. The clamping correction part drives the clamping jaw to open and close by the air cylinder, and is used for assisting in stripping the waste probe after clamping; the clamping jaw can also be used for deformation correction of the gun front tube after being closed. The visual recognition part can judge whether the waste probe is completely stripped or not, and can also recognize whether the gun front tube is deformed or not. The device can realize the full-automatic operation of the post-treatment work of the waste probe after the temperature measurement and sampling of the industrial robot are finished, human intervention is not needed, the working strength of operators is greatly reduced, and the manpower input under severe environment is reduced.

Description

Device for peeling and correcting waste probe of temperature measuring sampling gun body

Technical Field

The utility model belongs to the technical field of industrial robot application, and particularly relates to a device for assisting a robot in processing a temperature-measuring sampling gun body after temperature measurement sampling and a use method thereof.

Background

In the technical field of metallurgical industry, the working environment of iron and molten steel temperature measurement sampling such as a molten iron feeding factory, a VD furnace, an LF furnace and the like is bad, adverse factors such as high dust temperature and the like seriously damage the body health of operators, and the defects of large error, low yield and the like exist in manual temperature measurement sampling, so that a part of manufacturers in recent years push out a robot temperature measurement sampling system to replace manual work, but the schemes still cannot realize unmanned automatic operation in the whole process, the waste probe still needs to be manually taken down after the temperature measurement sampling is finished, and the operators need to observe and manually correct the waste probe in time after the gun front pipe is deformed.

In addition, in the aspect of identifying deformation of the front tube of the gun, the existing technology only adopts a camera to shoot a minimum cross section figure of a perfect circle at the front end of the front tube of the gun, the shot minimum perfect circle figure is taken as a standard photo, whether the front tube of the gun is bent or not is judged by judging whether the cross section figure shot at present is a perfect circle, and the front tube of the gun cannot be automatically corrected, and only can be alarmed after the deformation exceeding the allowable range is judged, and the correction is carried out manually. The technology has the problem of large recognition error, the recognition accuracy is low in the environment with insufficient illumination, and even if external illumination is added, the photographed recognition markers can show different bright and dark effects at different angles due to the non-planar three-dimensional structure of the technology, so that the judgment of a camera can be interfered; in addition, if the waste probe is not completely stripped from the gun front pipe, the projection of the residual part of the waste probe on the camera recognition plane can also have a circular structure, and the judgment of the recognition system is interfered; in addition, the prior art cannot realize automatic correction.

The utility model can realize the full-automatic operation of the post-treatment work of the waste probe after the temperature measurement and sampling of the industrial robot are finished, does not need human intervention, greatly reduces the working strength of operators and reduces the manpower input under severe environment.

Disclosure of Invention

Because the prior art has the problems, the utility model provides the device for peeling the waste probe and correcting the waste probe, which can realize the purposes of peeling the waste probe, judging whether peeling is successful or not, judging whether the gun front pipe is deformed or not and correcting the gun front pipe after deformation and fully automatically running.

In order to achieve the above object, the present utility model provides a device for peeling and correcting a waste probe of a temperature measuring and sampling gun body, which is characterized in that: the device comprises a guide support bracket which is made of a steel plate by bending, wherein the guide support bracket can be used as a frame of the device, and a U-shaped groove is formed in the guide support bracket for guiding a robot to put a waste probe into a clamping part. Comprises a clamping correction part which is arranged on the guide support bracket. Comprises a visual identification part which is arranged on the guide support bracket. A detection switch is arranged on the vertical plate of the U-shaped groove and used for detecting whether the waste probe is placed in the limiting position or not.

Further, the clamping correcting part comprises a right clamping jaw, a left clamping jaw and an air cylinder, wherein the right clamping jaw and the left clamping jaw comprise clamping jaw main bodies and clamping jaw friction plates.

Further, the clamping correcting part drives the right clamping jaw and the left clamping jaw to open and close by the air cylinder.

Further, the right clamping jaw and the left clamping jaw can be used for deformation correction of the gun front tube after being closed.

Further, the visual recognition part comprises a heat-insulating dustproof protective shell, a visual recognition unit, a signal cable, a computer and other relevant parts, and cooling air is arranged in the heat-insulating dustproof protective shell and used for cooling the internal precise parts.

In order to achieve the above purpose, the present utility model provides a method for stripping and correcting a waste probe of a temperature measuring and sampling gun body, which is characterized by comprising the following steps:

and firstly, placing the waste probes into the U-shaped groove of the guide support bracket according to a programmed path.

And secondly, after the switch to be detected detects that the waste probe is correctly placed in the limiting position of the U-shaped groove, the cylinder acts to finish the closing and clamping actions of the right clamping jaw and the left clamping jaw.

And thirdly, after the cylinder completes the closing and clamping work, the gun front tube is pulled out from the hole of the waste probe to complete the stripping action.

Fourthly, after the stripping action is finished, the air cylinder acts, the two clamping jaws are completely opened, meanwhile, the gun front pipe moves to the front of the visual identification part, the head of the connector is directed to the visual identification part, the identification plane is in a vertical state with the axis of the gun front pipe, and whether the three-dimensional structure of the calibration graph or the head of the circular graph and the circle center point graph formed by the positive electrode of the connector and the negative electrode of the connector exists or not is judged; and then the gun front tube changes the posture, so that the identification plane is parallel to the axis of the gun front tube, and whether the slender structural features of the gun front tube exist or not is judged. If both determinations are yes, the peeling is proved to be clean, otherwise, the peeling is considered to be not clean. If the front pipe is peeled off cleanly, continuously judging whether the front pipe is deformed and bent or not, and judging the bending direction and the bending amplitude of the deformed and bent front pipe; if not, repeating the first step to the fourth step until the peeling is clean. When the waste probe is peeled off from the gun front pipe, the right clamping jaw and the left clamping jaw of the clamping correcting part are opened immediately, and the head of the waste probe falls downwards under the action of gravity to drive the whole waste probe to separate from the clamping correcting part.

And fifthly, after the stripping action is finished, the visual recognition part continues to detect, the gun front pipe moves to the front of the visual recognition part, firstly, the recognition plane and the axis of the gun front pipe are in a parallel state, and whether the slender structural feature of the gun front pipe is at most one bending point is detected. And then the gun front tube changes the gesture, the head of the connector is directed to the visual recognition part, the recognition plane is in a vertical state with the axis of the gun front tube, and the coordinate deviation between the actual position and the standard position of the three-dimensional structure of the head or the calibration pattern of which the circumference is an annular pattern and a circle center point pattern formed by the positive electrode of the connector and the negative electrode of the connector is detected. If the first detection result is yes, the second detection is carried out, otherwise, an alarm is sent out to prompt the operator that the gun front pipe is damaged and needs to be replaced. If the second detection does not detect the deformation and bending of the gun front pipe beyond the allowable deviation range, the working of the wheel is finished; if the second detection detects that the gun front pipe is deformed and bent beyond the allowable deviation range, the front end of the gun front pipe moves between the right clamping jaw and the left clamping jaw of the clamping correcting part, then the two clamping jaws are closed, and according to the detected bending direction, the tail end of the gun front pipe moves reversely, so that the gun front pipe is reversely bent, and correcting action is carried out.

Step six, repeating the step four after the correction action is finished, and ending the work of the round if the visual recognition part does not detect deformation and bending of the gun front pipe beyond the allowable deviation range; if deformation and bending of the gun front pipe outside the allowable deviation range are detected, repeating the fifth step to the sixth step.

The first step to the fourth step can realize the purposes of automatically peeling off the waste probe and judging whether the peeling is successful, and the fifth step to the sixth step can realize the purposes of judging whether the front tube of the gun is bent and deformed and automatically correcting.

The beneficial effects of the utility model are as follows: solves the problem that the one-time stripping of the waste probe is unsuccessful. Because the temperature measurement sampling probe is of a disposable design, a burnt state possibly exists after the temperature measurement sampling of liquid metal such as iron, molten steel and the like is finished, and the situation that the primary stripping is unsuccessful due to the fact that the clamping cannot be tight due to the fact that the main body structure of the temperature measurement sampling probe is damaged in the state can occur. The utility model can judge whether residual parts exist after stripping operation by identifying whether the appearance of the gun front pipe accords with the stripping success state through the visual identification system. When the primary stripping is unsuccessful, the control system sends a re-stripping signal until the stripping is successful, and the robot is prevented from carrying the waste probe which is not successfully stripped to carry out the next working cycle, so that equipment damage and operator injury are avoided. The stage also does not need manual intervention, and the system automatically identifies, judges and operates.

The utility model has the following beneficial effects: the visual recognition part of the utility model can accurately recognize all-weather various illumination conditions by recognizing the circular ring-shaped figure and the punctiform figure calibration figure or the three-dimensional structure formed by positive and negative electrodes of the connector head as recognition objects, and can judge the deformation bending direction and the bending degree, and realize automatic correction by the cooperation of robots.

The utility model can realize the full-automatic operation of the post-treatment work of the waste probe after the temperature measurement and sampling of the industrial robot are finished, does not need human intervention, greatly reduces the working strength of operators, reduces the manpower investment in severe environments with high temperature and large dust in front of a furnace, protects the health of the operators and relieves the shortage pressure of the steel mill personnel.

Drawings

The utility model is further illustrated by the following figures and examples.

Fig. 1 is a front left perspective view of an embodiment of the present utility model with the clamping correction partially open.

Fig. 2 is a left rear isometric view of an embodiment of the present utility model with the clamping correction portion open.

Figure 3 is a front left perspective view of the entire clamp correction portion of an embodiment of the present utility model clamping a discard probe.

Fig. 4 is a front right isometric view of the visual recognition portion of an embodiment of the present utility model in operation as a whole.

Fig. 5 is a left front isometric view of the whole of a grip correction portion correcting a gun front tube in accordance with an embodiment of the present utility model.

Fig. 6 is an isometric view of a gun front tube identification site in accordance with an embodiment of the present utility model.

Fig. 7 is an isometric view of a clip correcting portion according to an embodiment of the present utility model.

Fig. 8 is an isometric view of a jaw of an embodiment of the utility model.

Fig. 9 is an isometric view of a jaw friction plate of an embodiment of the utility model.

In the figure:

1. waste probe, 2. Gun front tube, 201. Connector, 2011. Connector positive electrode, 2012. Connector negative electrode, 202.

Gun front pipe main body, guide support bracket, clamping correction part, right clamping jaw, 4011 clamping jaw main body, 4012 clamping jaw friction plate, 402 left clamping jaw, 403 air cylinder, 5 visual identification part, and 6 detection switch.

Detailed Description

The following are specific embodiments of the present utility model and the technical solutions of the present utility model will be further described with reference to the accompanying drawings, but the present utility model is not limited to these embodiments.

As shown in fig. 1 and 2, the guide bracket 3 serves as an integral frame of the device, and serves as a load bearing overall structure, and the clamping correction portion 4 and the visual recognition portion 5 are mounted on the guide bracket 3. The guide support bracket 3 can be installed at a proper position of a working site of the temperature measuring and sampling robot or on a steel structure bracket.

A guide U-shaped groove is provided at one side of the guide support bracket 3 for limiting the discard probe 1 dropped therein and guiding the discard probe 1 to be placed in a correct position between the right jaw 401 and the left jaw 402 of the grip correcting portion 4, facilitating the subsequent gripping work. A detection switch 6 is arranged beside the U-shaped groove of the guide support bracket 3 for detecting whether the waste probe 1 is placed in a limited position.

As shown in fig. 3, when the detection switch 6 detects that the robot has put the discard probe 1 into a correct position between the right grip jaw 401 and the left grip jaw 402 of the grip correcting portion 4, the cylinder 403 causes the right grip jaw 401 and the left grip jaw 402 to be synchronously drawn in toward the middle, clamping the discard probe 1. When all the gun front pipes 2 are pulled out from the holes in the middle of the waste probe 1, stripping operation is completed, then the right clamping jaw 401 and the left clamping jaw 402 of the clamping correction part 4 are respectively opened to two sides under the drive of the air cylinder 403, and the head of the waste probe 1 falls downwards under the action of gravity to drive the waste probe 1 to be separated from the clamping correction part 4.

As shown in fig. 7, 8 and 9, a right grip jaw 401 and a left grip jaw 402 of the grip correcting portion 4 are each connected to a grip jaw friction plate 4012 by a bolt on an inner diameter surface of a respective grip jaw main body 4011. The inner diameter surface of the clamping jaw main body 4011 is grooved so as to ensure that the head of the bolt is completely sunk into the groove when the mounting bolt is screwed down, and the clamping effect is not influenced by the protruding inner diameter surface. The clamping jaw friction plate 4012 is formed by punching and bending a thin steel plate, the circumference of a round hole after punching is protruded towards one side of the inner diameter, a mode similar to a crater is formed, and friction force between the clamping jaw friction plate and a waste probe can be increased during clamping. The jaw friction plate 4012 is of a replaceable structure and needs to be replaced when the abrasion is serious so as to ensure that the maximum friction force is always generated during clamping.

The visual recognition unit included in the visual recognition portion 5 may employ the following technical scheme: including but not limited to lidar, 3D cameras, binocular cameras, trinocular cameras, laser scanners, common auto-zoom cameras, structured light, etc., can be used in combination with illumination systems to aid in recognition in low light or no light environments; the utility model provides two recognition modes for whether the head structure of the connector exists or is positioned when the head of the connector 201 points to the visual recognition part 5 and the recognition plane is in a vertical state with the axis of the gun front pipe 2: the three-dimensional structure of the "circumference is annular pattern, circle center point pattern" calibration pattern or head formed by the connector positive electrode 2011 and the connector negative electrode 2012 is identified.

As shown in fig. 4, when all of the gun front pipe 2 is pulled out from the hole in the middle of the discard probe 1, the peeling operation is completed. The gun front tube 2 is then moved to the right in front of the visual recognition portion 5. The visual recognition portion 5 can judge whether the residual portion of the waste probe 1 is not peeled off from the gun front tube 2. If an unreleased residual portion is detected, the gun front pipe 2 is moved to a position right above the grip correcting portion, and the peeling operation is repeated until the visual recognition portion detects that the peeling is successful.

As shown in fig. 5, when the visual recognition portion 5 detects a deviation outside the allowable range, it is confirmed that the gun front tube 2 is deformed to affect the normal operation, and at this time, the front end of the gun front tube 2 is put into the closed grip correcting portion 4 to correct. The visual recognition part 5 constructs a coordinate system in a recognition range, takes the standard position of the head of the connector 201 as a coordinate origin, recognizes that an object is a three-dimensional structure of a circular figure, a circle center point figure or a head formed by positive and negative electrodes of the head of the connector 201, recognizes the actual position of the head of the current connector in the coordinate system by taking the three-dimensional structure of the plane calibration figure or the head as a marker, and judges whether the bending deformation of the gun front pipe 2 is in an allowable deviation range; the actual coordinates of the connector 201, which are deviated in the coordinate system, are obtained, and it is possible to determine that the gun-front tube 2 is bent and deformed in a certain direction, and to guide the tail end of the gun-front tube 2 to move in the opposite direction, and to bend the gun-front tube 2 in the opposite direction, thereby correcting the deformation.

It should be understood that in the claims and specification of the present utility model, all "including … …", "including but not limited to … …" are to be interpreted as open-ended meaning that is equivalent to "at least … …", and not as closed-ended meaning that is not to be interpreted as "including … …" only.

The foregoing description is only illustrative of the present utility model and should not be construed as limiting the scope of the utility model, and all equivalent structures or equivalent flow modifications that may be made using the teachings of the present utility model and the accompanying drawings, or that may be directly or indirectly employed in other related art, are equally included within the scope of the present utility model.

Claims (3)

1. The utility model provides a device that temperature measurement sampling rifle body peeled off abandonment probe and correction, characterized by: the guide support bracket (3) is made of a steel plate in a bending way; the guide support bracket (3) can be used as a rack of the device, and is provided with a guide U-shaped groove for guiding the robot to put the waste probe into the clamping part; a detection switch (6) is arranged on the guide support bracket (3) and is used for detecting whether the waste probe (1) is correctly placed in the limiting position of the U-shaped groove; the clamping correction device comprises a clamping correction part (4), wherein the clamping correction part (4) comprises a right clamping jaw (401), a left clamping jaw (402) and a cylinder (403); the clamping correction part (4) plays roles of clamping and fixing the waste probe (1), assisting the robot to peel off the waste probe (1) and correcting the deformed and bent gun front tube (2); comprises a visual identification part (5), wherein the visual identification part (5) is arranged on the guide support bracket (3); the visual recognition part (5) plays roles of judging whether a residual waste probe (1) exists on the front tube (2), judging whether the front tube (2) is deformed and bent or not and judging the bending direction and the bending amplitude of the deformed and bent front tube (2).

2. The apparatus for stripping and correcting a waste probe of a temperature measuring and sampling gun body according to claim 1, wherein the apparatus is characterized in that: the right clamping jaw (401) and the left clamping jaw (402) comprise a clamping jaw main body (4011) and a clamping jaw friction plate (4012); the clamping jaw friction plate (4012) is of a replaceable structure and is fixed on the inner diameter surface of the clamping jaw main body (4011).

3. The apparatus for stripping and correcting a waste probe of a temperature measuring and sampling gun body according to claim 1, wherein the apparatus is characterized in that: the visual identification part (5) comprises a heat-insulating dustproof protective shell, a visual identification unit, a signal cable and a computer; the heat-insulating dustproof protective shell is internally provided with cooling gas for cooling the internal precise parts; the data processing work and the judging work are completed by the computer, and instruction signals are sent to the relevant executing mechanisms.