KR102217737B1 - Temperature measuring system of electric furnace by using robot - Google Patents

Abstract

The present invention is to provide a temperature measurement system of molten steel using a robot without interference of a cable that transmits measurement data of a probe, in a temperature measurement system of molten steel using a robot, a probe mounting portion on which a probe is mounted, and a robot finger A probe grip having a gripping guide for holding the grip of the probe and a grip terminal part that transmits an electrical signal from the probe, and the robot finger supporting the robot finger and electrically contacting the grip terminal part while the robot finger grips the gripping guide. It is characterized by including a robot arm having an arm terminal portion.

Description

Temperature measurement system of molten steel using a robot {TEMPERATURE MEASURING SYSTEM OF ELECTRIC FURNACE BY USING ROBOT}

The present invention relates to a system for measuring the temperature of molten steel using a robot.

In order to improve the safety problems and inefficiency that occur when a person directly inserts a probe into molten steel and measures the temperature, a system has recently been developed in which a robot grips a probe to measure the temperature of molten steel.

This system fixes the probe to the probe grip, and the robot arm grasps the probe grip so that the probe enters the molten steel.

However, since the data detected by the probe is being obtained through a cable extending from the end of the probe grip, the cable must be properly adjusted so that it does not cause interference during the process of inserting the probe into molten steel or the process of moving the robot arm by gripping the probe grip. There was a discomfort.

Accordingly, the present invention provides a system for measuring the temperature of molten steel using a robot without interference of a cable transmitting measurement data of a probe.

According to the present invention, in the system for measuring the temperature of molten steel using a robot, a probe mounting part, a grip guide for gripping a robot finger, and a grip terminal part for transmitting an electrical signal from the probe, according to the present invention. The branch has a probe grip, and a robot arm that supports the robot finger and has an arm terminal portion electrically contactable with the grip terminal portion while the robot finger grips the grip guide. Achieved by the measurement system.

Here, the grip terminal portion and the arm terminal portion may be stably coupled through a guide hole provided in one of the grip terminal part and the arm terminal part and a guide pin provided in the other.

Further, an air nozzle for injecting compressed air to at least one of the grip terminal portion and the arm terminal portion may be further included to remove foreign matters that may be caught in the contact area of the grip terminal portion and the arm terminal portion.

Here, the air nozzle includes a grip air nozzle installed on the probe mounting portion and having an injection port toward the arm terminal portion, and an arm air nozzle installed on the robot arm and having an injection hole toward the grip terminal portion. Through this, foreign substances that may be caught in the grip terminal part and the arm terminal part can be simultaneously removed.

In addition, the grip terminal portion and the arm terminal further comprises a protective cover for shielding and protecting the contact area of each of the contact area, the protective cover portion opening the contact area in the process of mutually approaching the grip terminal portion and the arm terminal portion, and the By shielding the contact area while the grip terminal part and the arm terminal part are separated from each other, the contact area is safely protected when the grip terminal part and the arm terminal part are not mutually coupled, and the contact area in the process of approaching the grip terminal part and the arm terminal part You can make the area open.

The system for measuring the temperature of molten steel using a robot according to the present invention does not interfere with the cable transmitting the measurement data of the probe.

1A and 1B are perspective and partial side enlarged views showing a robot arm, a probe grip, and a grip support.
2(a) and (b) show the shielded state and the open state of the arm terminal, and (c) and (d) show the shielded state and the open state of the grip terminal part.
3A to 3C illustrate a process in which the grip terminal portion and the arm terminal portion approach each other and are coupled.

Hereinafter, a temperature measurement system for molten steel using a robot according to the present invention (hereinafter,'temperature measurement system') will be described in detail with reference to the accompanying drawings.

1A and 1B are perspective and partial side enlarged views showing the robot arm 310, the probe grip, and the grip support. The temperature measurement system according to the present invention is largely composed of a probe unit 100, a grip support 200, and a robot unit 300.

The probe unit 100 includes a probe 110 that is inserted into the molten steel and measures the temperature of the molten steel using a thermocouple principle, a probe grip 120 having a probe mounting portion 121 to which the probe 110 is coupled, and a probe grip. A pair of gripping guides 130 disposed at a predetermined interval along the length direction of 120, a pair of fixing guides 140 disposed at a predetermined distance from the gripping guide 130, and a pair It includes a grip terminal unit 150 installed in the middle region of the gripping guide 130 of.

The probe 110 is a rod-shaped member, and the tip region is drawn into the molten steel to measure the temperature of the molten steel.

The probe grip 120 has a circular column shape that has a concentric axis with the probe 110 and is elongated, and a probe mounting portion 121 to which the probe 110 is coupled is formed at the tip of the probe 110 and the end of the probe 110 Electrical connection means for electrically connecting the grip terminal unit 150 are accommodated.

The gripping guides 130 are installed in a pair at a predetermined interval in the rear end area of the probe grip 120. The gripping guide 130 has a shape of a long cylinder having a concentric axis with the probe grip 120. The gripping guide 130 has an inner portion gripped by a robot finger 311 to be described later, and a pair of sliding guide portions extending upwardly inclined at both ends of the inner portion. The sliding guide part guides the robot finger 311 to stably grip the inner part while the robot finger 311 grips the grip guide 130.

The fixed guides 140 are spaced apart from the gripping guides 130 at a predetermined interval, and are prepared as a pair with a predetermined interval from each other. The shape of the fixing guide 140 is similar to the shape of the gripping guide 130, and is a portion held by the fixing fingers 220 of the grip support 200, which will be described later.

The grip terminal unit 150 is installed on the side of the probe grip 120 and is disposed in an intermediate region of the pair of grip guides 130. The grip terminal unit 150 has a shape protruding from the side of the probe grip 120 and a contact point 152 is formed at the protruding tip, and the area in contact with the probe grip 120 is the probe 110 by an electrical connection means. Is electrically coupled with That is, an electrical signal according to the temperature detected by the probe 110 is transmitted to the grip terminal unit 150.

The grip support 200 fixes the probe unit 100 when the robot unit 300 does not grip the probe unit 100 and supports the probe unit 100 in an inclined state as shown to improve space utilization. Increase. The grip support 200 includes a support frame 210, a fixing finger 220 installed on the support frame 210 to grip any one of a pair of fixing guides 140, and an atmospheric guide supporting the other Includes 230.

The fixing finger 220 grips any one of the fixing guides 140 of the grip support 200 so that the probe unit 100 can be supported by the grip support 200. The fixed finger 220 is a probe grip so that the contact point 152 of the grip terminal unit 150 is perpendicular to the plate surface direction of the support frame 210 and faces the outside when the robot unit 300 does not use the probe unit 100. Fix 120.

The waiting guide 230 has a shape that can partially accommodate the fixing guide 140 in correspondence with the shape of the fixing guide 140 having a long cylindrical shape. The standby guide 230 engages with the fixing guide 140 when the fixing guide 140 approaches the plate surface of the support frame 210 in a vertical direction to support the probe grip 120 and releases the support when spaced apart.

The robot unit 300 includes a main frame having a moving means, an extension arm having one or more joints installed on the main frame, a robot arm 310 coupled to an end of the extension arm, and a robot installed on the robot arm 310 It consists of a finger 311.

The main frame has a moving means and can be moved within a certain area.

One side of the extension arm is coupled to the main frame and the other side is coupled to the robot arm 310. The extension arm allows the robot arm 310 to be positioned at a desired coordinate.

The robot arm 310 is rotatable with respect to the extended arm in multiple axes. The robot arm 310 supports a pair of robot fingers 311 arranged at predetermined intervals from each other, and an arm terminal portion 320 arranged in a region between the pair of robot fingers 311.

The robot finger 311 drives between a grip state and a grip release state, and grips the grip guide 130 in the grip state so that the robot unit 300 grips the probe grip 120.

One side of the arm terminal part 320 is fixed to the robot arm 310 and a contact 322 is formed on the other side. One side of the arm terminal part 320 is electrically connected to the main frame through the robot arm 310.

In addition to this, the temperature measurement system according to the present invention has a control unit for controlling each of the components.

Due to the above configuration, the temperature measuring system according to the present invention operates as follows.

When measuring the temperature of the molten steel, the controller allows the robot unit 300 to hold the probe unit 100 supported by the grip support 200 and insert the probe 110 into the molten steel. Measure the temperature. Then, after measuring the temperature once, the probe unit 100 is again supported on the grip support 200, the used probe 110 is removed, and a new probe 110 is installed on the probe mounting portion 121.

At this time, in the process of gripping the gripping guide 130 by the robot finger 311, the grip terminal part 150 of the probe unit 100 and the arm terminal part 320 of the robot arm 310 are contact points 322 and 152 having each other. ) Contacts and is electrically connected. That is, the temperature data generated when the probe 110 measures the temperature of molten steel in this process is transmitted to the robot unit 300 through the probe 110, the grip terminal unit 150, and the arm terminal unit 320. Accordingly, the cable that has been previously installed at the end of the probe grip 120 through the grip terminal portion 150 and the arm terminal portion 320 is not used, thereby eliminating difficulties caused by the cable.

2(a) and (b) show the shielded and open state of the arm terminal part 320, (c) and (d) show the shielded and open state of the grip terminal part 150, and FIG. (a) to (c) show a process in which the grip terminal portion 150 and the arm terminal portion 320 approach each other and are coupled.

Next, other configurations of the temperature measurement system according to the present invention will be described with reference to FIGS. 2 and 3.

The temperature measuring system according to the present invention has a terminal connection portion for stably coupling the grip terminal portion 150 and the arm terminal portion 320. The terminal connection part includes a guide pin 153 formed in one of the grip terminal part 150 and the arm terminal part 320 and a guide hole 323 formed in the other, and one of the guide pins 153 It is composed of a light-emitting element 154 installed in any one and a photocoupler unit comprising a light-receiving element 324 installed in a guide hole into which the guide pin in which the light-emitting element is installed is inserted.

In FIGS. 2 and 3, three guide pins 153 are formed in the grip terminal portion 150, three guide holes 323 are formed in the arm terminal portion 320, and the light emitting element 154 is a single guide pin. The light-receiving element 324 is formed in the per-line area of 153, and the light-receiving element 324 exemplifies a state formed inside the guide hole 323 into which the guide pin 153 in which the light-emitting element 154 is formed is to be inserted.

The guide pin 153 is formed to protrude in a direction perpendicular to the plate surface direction of the contact point 152 of the grip terminal unit 150 and is disposed at a position in three directions near the contact point 152. The guide hole 323 is formed by being recessed from the plate surface of the contact point 322 of the arm terminal part 320 and is disposed at a position in three directions near the contact point 322. The guide hole 323 and the guide pin 153 have a generally matched inner diameter and an outer diameter, so that when the guide pin 153 is inserted into the guide hole 323, the contact 322 of the arm terminal part 320 and the grip terminal part ( The contacts 152 of 150) are coupled to match each other.

The guide pin 153 has a sharp tip area, so that the robot arm 310 approaches in the direction of the probe unit 100 and the robot finger 311 grips the gripping guide 130. Even if there is, the pointed portion of the tip of the guide pin 153 is easily inserted into the guide hole 323 so that the contact points 322 and 152 are stably coupled to each other.

The light emitting device 154 is disposed in the tip region of any one of the guide pins 153 to generate light from the pointed tip of the guide pin 153 toward the light receiving device 324 of the guide hole 323. If the light-receiving element 324 receives the light generated from the light-emitting element 154, the controller determines that the arm terminal portion 320 and the grip terminal portion 150 are aligned with each other, and the robot finger 311 The grip terminal unit 150 and the arm terminal unit 320 may be connected to each other through the gripping operation 130.

The temperature measuring system according to the present invention is used in an environment in which dust such as iron powder is generated very much. If such dust contaminates the contact points 322 and 152 of the terminal portions 150 and 320, a problem occurs in the coupling between the terminal portions 150 and 320 or an electrical signal cannot be transmitted correctly. Accordingly, the present invention has an air nozzle for injecting compressed air to the grip terminal portion 150 and the arm terminal portion 320, and a protective cover portion for protecting the contacts 322 and 152.

The air nozzle removes dust that may contaminate the contacts 322 and 152 by injecting compressed air to at least one of the grip terminal unit 150 and the arm terminal unit 320.

The air nozzle is composed of a grip air nozzle 250 installed on the support frame 210 and an arm air nozzle 350 installed on the robot arm 310, as shown in FIGS. 2 and 3. The grip air nozzle 250 has a jet port toward the contact point 322 of the arm terminal part 320, and the arm air nozzle 350 has a jet port toward the contact point 152 of the grip terminal part 150. Therefore, each of the air nozzles injects compressed air toward the contacts 322 and 152 arranged in opposite directions, and when the robot arm 310 and the probe grip 120 have a predetermined distance, they are in opposite directions. It is arranged inclined so as to inject compressed air toward the contacts 322 and 152 of.

It is preferable that the arm air nozzle 350 and the grip air nozzle 250 simultaneously inject compressed air with each other to prevent dust generated from one side from affecting the other.

The protective cover portion is composed of an arm terminal cover portion, a grip terminal cover portion, a grip cover opening bar 360 and an arm cover opening bar 260.

The arm terminal cover part is fixed to the robot arm 310 and has a protruding height similar to that of the arm terminal part 320, and the arm cover support 342 disposed outside the arm air nozzle 350 disposed on one side of the arm terminal part 320 Wow, an arm terminal cover 341 that is rotatably coupled to an end of the arm cover support 342 to drive between a shielded state that shields and protects the contact 322 of the arm terminal part 320 and an open state, It is formed of an elastic member interposed between the arm terminal cover 341 and the arm cover support 342 to provide an elastic force to maintain the arm terminal cover 341 in a shielded state.

The grip terminal cover part has a grip cover support 242 fixed to the support frame 210 and a grip that is rotatably coupled to the end of the grip cover support 242 to shield or open the contact 152 of the grip terminal part 150 It is interposed between the terminal cover 241 and the grip cover support 242 and the grip terminal cover 241 to provide an elastic force in the direction in which the grip terminal cover 241 shields the contact point 152 of the grip terminal unit 150. It is composed of an elastic member.

The grip terminal cover 241 and the arm terminal cover 341 have cutouts in portions corresponding to the guide pin 153 and the guide hole 323, respectively, causing interference by the guide pin 153 and the guide hole 323 The contacts 152 and 322 may be shielded or opened so that they are not.

The grip cover opening bar 360 and the arm cover opening bar 260 are installed on the robot arm 310 and the support frame 210, respectively, so that the grip terminal cover in the process of the robot arm 310 approaching the probe grip 120 (241) and the arm terminal cover (341) are opened.

Next, the operation of the air nozzle and the protective cover will be described with reference to FIGS. 2 and 3.

3A shows a state in which the robot arm 310 is close to the probe unit 100. At this time, in the robot arm 310, the robot fingers 311, the gripping guide 130, the grip terminal part 150 and the arm terminal part 320 are generally axially aligned. At this time, the robot arm 310 and the probe unit 100 have arm terminal portions 320 and grip terminal portions 150, respectively, as shown in Fig. 2(a) and (c). It is shielded by the grip terminal cover 241.

Thereafter, as shown in (b) of FIG. 3, the robot arm 310 approaches the probe unit 100 so that the arm terminal portion 320 and the grip terminal portion 150 have a predetermined distance. In this process, the grip cover opening bar 360 presses the end of the grip terminal cover 241 so that the grip terminal cover 241 rotates around the end of the grip cover support 242 so that the contact point of the grip terminal part 150 ( 152) is open. At the same time, the arm cover opening bar 260 pushes the end of the arm terminal cover 341 so that the arm terminal cover 341 rotates around the end of the arm cover support 342, so that the contact point 322 of the arm terminal part 320 ) To open. When each of the contact points 322 and 152 are exposed to the outside, the control unit operates the arm air nozzle 350 and the grip air nozzle 250 to each contact point with compressed air, as shown in FIG. 3(b). Remove dust that could contaminate (322, 152). In this case, the robot arm 310 and the probe unit 100 have contact points 322 and 152 between the arm terminal 320 and the grip terminal 150 as shown in FIGS. 2B and 2D. It is exposed to the outside.

As shown in Fig. 3(c) after having a predetermined time for firing of compressed air, the robot arm 310 is closer to the direction of the probe unit 100, so that a pair of robot fingers 311 The gripping guide 130 of is held, and in this process, the contact 322 of the arm terminal part 320 and the contact 152 of the grip terminal part 150 come into contact with each other and are combined.

On the other hand, the temperature measurement system according to the present invention further includes a contact confirmation detection system for grasping the coupling state of the arm terminal 320 and the grip terminal 150 and the integrity of the probe 110. The contact confirmation detection system receives and receives electrical signals from the robot arm 310 to the probe 110 in a state in which the arm terminal portion 320 and the grip terminal portion 150 are coupled to each other, and the integrity of the probe 110 and the terminal portions 150, 320) will be checked. If it is determined that the coupling state of the probe 110 or the terminals 150 and 320 is not good through a signal returned after generating an electrical signal in the contact confirmation detection system, the control unit controls the robot finger 311 to provide a grip guide. The air nozzles 250 and 350 are connected to the contact point 322 by disengaging the grip 130 and by separating the robot arm 310 from the probe unit 100 by a predetermined distance as shown in FIG. 3B. After injecting compressed air toward the 152, the arm terminal portion 320 and the grip terminal portion 150 are coupled again.

In addition, the contact confirmation detection system determines that there is an abnormality in the coupling state between the probe 110 and the probe mounting unit 121 if the return signal is not good even though the health of the contacts 322 and 152 is checked through the air nozzle. After the robot finger 311 detaches the probe 110 from the probe mounting portion 121, a new probe 110 can be installed.

100: probe unit 110: probe
120: probe grip 121: probe mounting portion
130: holding guide 140: fixed guide
150: grip terminal 152: contact
200: grip support 210: support frame
220: fixed finger 230: waiting guide
241: grip terminal cover 242: grip cover support
250: grip air nozzle 260: arm cover open bar
300: robot unit 310: robot arm
311: robot finger 320: arm terminal
322: contact 350: arm air nozzle
341: arm terminal cover 342: arm cover support
360: grip cover opening bar 323: guide hole
153: guide pin 154: light-emitting element
324: light receiving element

Claims (5)

In the temperature measurement system of molten steel using a robot,
A probe grip having a probe mounting portion on which a probe is mounted, a grip guide for gripping the robot finger, and a grip terminal portion for transmitting an electrical signal from the probe,
A robot arm supporting the robot finger and having an arm terminal portion electrically contactable with the grip terminal portion while the robot finger grips the grip guide;
A system for measuring the temperature of molten steel using a robot, comprising: a guide hole provided in one of the grip terminal part and the arm terminal part and a guide pin provided in the other. delete The method of claim 1,
A system for measuring the temperature of molten steel using a robot, further comprising: an air nozzle for injecting compressed air to at least one of the grip terminal portion and the arm terminal portion. The method of claim 3,
The air nozzle comprises a grip air nozzle installed on the probe mounting portion and having an injection port toward the arm terminal portion, and an arm air nozzle installed on the robot arm and having an injection port toward the grip terminal portion. Temperature measurement system for molten steel. The method of claim 1,
Further comprising a protective cover for shielding and protecting contact areas of the grip terminal portion and the arm terminal portion,
The protective cover part opens the contact area while the grip terminal part and the arm terminal part approach each other, and shields the contact area while the grip terminal part and the arm terminal part are spaced apart from each other. Temperature measurement system for molten steel.

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