A high temperature temperature measurement sampling installation and operation system and management method

Abstract

The present invention proposes a temperature measurement and sampling installation and operation system and management method under high temperature, including: a bomb rack device, including a temperature measurement bomb rack for placing temperature measurement bombs and a sampling bomb rack for sampling bombs, a robot gripper device, a temperature measurement and sampling mechanical device, an electric push rod device, an electrical controller, and a touch screen and a host computer respectively connected to the electrical controller. The temperature measurement and sampling installation and operation system and management method provided by the present invention are suitable for temperature measurement and sampling under high temperature environment, especially suitable for the temperature measurement and sampling production link in the steel industry, realizing the automation, standardization, data visualization, and intelligent tracking of the production process of molten steel temperature measurement and sampling.

Description

Technical Field

[0001] The invention relates to a mechanical automation system, and in particular to a temperature measurement sampling installation operation system and a management method suitable for use in a high temperature environment. Background Art

[0002] In the domestic steel industry, in the process areas of electric furnaces, converters, LF furnaces, RH furnaces, VD furnaces, continuous casting, molten iron pretreatment, etc., the temperature measurement and sampling of molten steel is completely completed by manual operation. The on-site working environment is hot and dusty, and molten steel is easy to splash. The labor intensity of workers is relatively high, and they are in the area of ​​molten steel splashing for a long time, which is prone to safety accidents. At the same time, the accuracy and stability of temperature measurement are not high.

[0003] However, there is currently a lack of equipment for automatic temperature measurement and sampling of steel products. Ordinary automated temperature measurement and sampling equipment is not suitable for this type of work. The main reasons are: (1) The steel mill environment is dusty, and this type of temperature measurement and sampling equipment can hardly work normally; (2) The temperature of the temperature measurement and sampling environment is high, and this type of automated temperature measurement and sampling equipment is difficult to work normally under such high temperatures. Summary of the invention

[0004] The present invention is made to solve the above-mentioned problems, and its purpose is to provide a temperature measurement sampling installation and operation system and management method suitable for high temperature environments.

[0005] To achieve the above-mentioned purpose, the present invention proposes a temperature measurement sampling installation and operation system, which has the following characteristics: a bomb rack device, including a temperature measurement bomb rack for placing temperature measurement bombs and a sampling bomb rack for sampling bombs, a robot gripper device, including a connecting base plate fixedly connected to the sixth axis of the six-axis robot, a first cylinder and a second cylinder fixedly connected to the connecting base plate from top to bottom, a guide clamp fixed on the first cylinder, located below the guide clamp, a V-shaped clamp fixed on the second cylinder for clamping the temperature measurement bomb or the sampling bomb from the temperature measurement bomb rack or the sampling bomb rack, a photoelectric sensor fixed on the upper end of the V-shaped clamp, and a control device for controlling the first cylinder and the second cylinder, which is fixed on the six-axis The air path control component on the third axis of the robot, the temperature measuring and sampling mechanical device, includes a measuring gun swinging mechanism located on the side of the original equipment platform, and a measuring gun moving mechanism connected to the measuring gun swinging mechanism, wherein the top of the measuring gun swinging mechanism is installed on the top platform of the original equipment platform, and the measuring gun moving mechanism has a centrally symmetrical temperature measuring gun moving mechanism and a sampling gun moving mechanism, an electric push rod device, which is located on the lower platform of the original equipment platform and is connected to the measuring gun swinging mechanism, an electrical controller, which is respectively connected to the temperature measuring and sampling mechanical device, the air path control component of the robot gripper device and the electric push rod device, and a touch screen and a host computer respectively connected to the electrical controller.

[0006] In addition, the temperature measurement sampling installation and operation system proposed by the present invention also has the following characteristics, and also includes: a molten steel level detection device connected to the electrical controller to detect the molten steel temperature and molten steel level in the ladle car.

[0007] In addition, a temperature measurement sampling installation and operation system proposed by the present invention also has the following characteristics: the guide clamp has two guide port fixing blocks symmetrically fixed on the first cylinder, and a conical guide port composed of two symmetrical semi-conical guide ports, the two semi-conical guide ports are respectively fixed on the two guide port fixing blocks, wherein the two guide fixing blocks are respectively fixed on the two first cylinder sliders of the first cylinder, the V-shaped clamp has two half-claws symmetrically fixed on the two second cylinder sliders of the second cylinder, the conical guide port is composed of a conical guide port connected to each other up and down and a neck guide port, the neck guide port has a snap-fitting groove located in the bottom outlet, the upper inner hole diameter in the neck guide port is smaller than the inner hole diameter of the bullet, the diameter of the snap-fitting groove is larger than the outer diameter of the bullet, and the inner wall of the V-shaped clamp has a loading slot close to the fixed end of the cylinder, and a bomb dismantling slot far away from the fixed end of the cylinder.

[0008] In addition, a temperature measurement sampling installation and operation system proposed by the present invention also has the following characteristics: a measuring gun swing mechanism includes a swing frame shaft bracket fixed on the top platform of the original equipment platform, a bearing assembly fixed on both sides of the swing frame shaft bracket, a swing shaft with two ends sleeved in the bearing assembly, a swing frame body fixed on the swing shaft, located on the side of the original equipment platform, and a shaft bracket pressure plate fixedly installed on the swing frame shaft bracket; the temperature measuring gun movement mechanism includes a power source fixed on the swing frame body, a temperature measurement sampling servo motor and a reducer fixed to each other, the temperature measurement sampling servo motor is connected to an electrical controller, a power transmission mechanism includes a fixed sprocket sleeved on the output shaft of the reducer, a passive sprocket tensioning device fixed to the bottom end of the swing frame body, and a fixed sprocket and a passive sprocket tensioning device sleeved between the fixed sprocket and the passive sprocket tensioning device. The chain on it, the tension wheel arranged between the fixed sprocket and the passive sprocket tensioning device, the temperature measuring gun body, having a tapered connecting sleeve fixed to each other from top to bottom, an upper gun body, a transition joint and a lower gun body, the temperature measuring gun fixing structure, having a linear guide rail assembly fixed on the swing frame body, an adsorption fixing block installed on the slider of the linear guide rail assembly and adsorbed and fixed to the tapered connecting sleeve, a chain clamping block connecting the adsorption fixing block and the chain, a drag chain and a connecting plate fixedly connected to the adsorption fixing block, an anti-collision travel switch and a connecting plate installed and fixed on the adsorption fixing block, and a measuring gun body guide assembly installed at the bottom end of the swing frame body, as well as upper and lower limit positions, including upper and lower limit position travel switches and connecting plates and hard limit positions installed on the swing frame body, and the sampling gun motion mechanism has the same mechanical structure symmetrical to the temperature measuring gun motion mechanism.

[0009] In addition, a temperature measurement sampling installation and operation system proposed by the present invention also has the following characteristics: the electric push rod device includes: a mounting base plate fixed on the lower platform of the original equipment platform, a push rod hanger fixed on the swing frame body, a connecting joint connected to the push rod hanger by a relative motion firmware, an electric push rod whose two ends are respectively fixed to the mounting base plate and the connecting joint, and a push rod servo motor fixed on the fixed ends of the electric push rod and the base plate, and respectively connected to the electric push rod and the electrical controller.

[0010] In addition, the present invention also proposes a temperature measurement sampling installation and operation system management method according to the above-mentioned temperature measurement sampling installation and operation system, which also has such characteristics, including the following steps:

[0011] Loading step: the electrical controller drives the robot gripper device located at the initial position to load the temperature measuring bullet or the sampling bullet; Working step: the electrical controller drives the temperature measuring gun or the sampling gun in the temperature measuring and sampling mechanical device to be pushed out to the working position for temperature measurement or sampling;

[0012] Bomb disposal steps: The electrical controller drives the robot gripper device to remove the spent bombs on the temperature measuring gun or sampling gun, send them into the spent bomb box, and return them to the initial position.

[0013] In addition, the temperature measurement sampling installation and operation system management method proposed by the present invention also has such a feature that the loading step specifically includes:

[0014] Retrieving bombs from the bomb rack: The electrical controller drives the six-axis robot located at the initial position to drive the V-shaped clamp to clamp the temperature measuring bomb or sampling bomb from the temperature measuring bomb rack or sampling bomb rack;

[0015] Import assembly: The electrical controller drives the six-axis robot to drive the guide clamp to introduce the temperature measuring bullet or the sampling bullet into the inner hole of the temperature measuring gun or the sampling gun. After completing the assembly of the temperature measuring bullet or the sampling bullet, the six-axis robot returns to the initial position.

[0016] In addition, the temperature measurement sampling installation and operation system management method proposed by the present invention also has such a feature that the working steps specifically include:

[0017] Moving workstation: The electrical controller drives the electric push rod to push the swing frame body from the original position to the working position;

[0018] Temperature measurement and sampling: According to the level of molten steel, the electrical controller drives the temperature measuring gun or sampling gun to drive the temperature measuring bomb or sampling bomb to accurately position and enter the molten steel for temperature measurement or sampling;

[0019] Return to original position: The electrical controller drives the temperature measuring gun body or the sampling gun body to drive the temperature measuring bullet or the sampling bullet to return to the original position.

[0020] In addition, the temperature measurement sampling installation and operation system management method proposed by the present invention also has such a feature that the bomb disposal step specifically includes the following steps:

[0021] Bomb disposal steps: the electrical controller drives the six-axis robot to drive the V-shaped gripper to remove the spent bombs from the temperature measuring gun or the sampling gun; discarding steps: the electrical controller drives the six-axis robot to put the spent bombs into the designated spent bomb box;

[0022] Return step: The electrical controller drives the six-axis robot to return to the initial position.

[0023] In addition, the temperature measurement sampling installation and operation system management method proposed in the present invention also has the following feature: after the temperature measurement sampling step, compressed air is extended into the inner barrel of the temperature measuring gun or sampling gun through the air pipe and the shut-off valve for cooling.

[0024] Function and Effect of the Invention

[0025] The temperature measurement sampling installation and operation system, management method and management system involved in the present invention are suitable for temperature measurement sampling in a high-temperature environment. In the temperature measurement sampling installation and operation system, a robot gripper device automatically installs and removes bombs, and the temperature measurement sampling mechanical device and the electric push rod device are controlled by a servo motor, which cooperates with the molten steel liquid level measuring device to accurately position and ensure smooth temperature measurement and sampling; since the temperature measurement sampling mechanical device is provided with a high-temperature resistant heat insulation cover on the outside to ensure stable operation of the device, it is suitable for high-temperature and high-dust environments such as steel mills; the temperature measurement sampling installation and operation system suitable for high-temperature environments of the present invention is operated by the temperature measurement sampling robot management system command, and realizes the system production process of automatic measurement of molten steel liquid level, bomb removal, temperature measurement, sampling, and waste bomb treatment, and completely records and stores data on the liquid level, temperature and other contents related to the molten steel, ensures the integrity of production information, improves product quality traceability, and reduces manual records at the same time, making the process more standardized, intelligent, accurate, and stable, so as to achieve lean production. The temperature measurement and sampling operation system and management method involved in the present invention are particularly suitable for the temperature measurement and sampling production link in the steel industry, and realize the automation, standardization, data visualization and intelligent tracking of the molten steel temperature measurement and sampling production process. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0027] Figure 1It is a structural schematic diagram of a temperature measurement sampling installation and operation system suitable for use in a high temperature environment in an embodiment of the present invention;

[0028] Figure 2 It is an electrical connection diagram of a temperature measurement sampling installation and operation system suitable for use in a high temperature environment in an embodiment of the present invention;

[0029] Figure 3 is a simplified diagram of the working process of the robot gripper device in an embodiment of the present invention;

[0030] Figure 4 This is a simplified flowchart of the temperature measurement and sampling mechanical device in an embodiment of the present invention;

[0031] Figure 5 is an overall schematic diagram of a robot gripper device in an embodiment of the present invention;

[0032] Figure 6 The overall structure of the robot gripper device in the embodiment of the present invention is shown in FIG. Figure 1 ;

[0033] Figure 7 The overall structure of the robot gripper device in the embodiment of the present invention is shown in FIG. Figure 2 ;

[0034] Figure 8 The schematic diagram of the local structure of the robot gripper device in the embodiment of the present invention is Figure 1 ;

[0035] Fig. 9 The schematic diagram of the local structure of the robot gripper device in the embodiment of the present invention is Figure 2 ;

[0036] Fig.10 The schematic diagram of the local structure of the robot gripper device in the embodiment of the present invention is Figure 3 ;

[0037] Fig.11 The schematic diagram of the local structure of the robot gripper device in the embodiment of the present invention is Figure 4 ;

[0038] Fig.12 It is an overall schematic diagram of the temperature measurement and sampling mechanical device in the embodiment of the present invention;

[0039] Fig.13 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 1 ;

[0040] Fig.14 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 2 ;

[0041] Fig.15 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 3 ; Fig.16 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 4 ;

[0042] Fig.17 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 5 .

[0043] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] The following is a detailed description of a temperature measurement sampling installation and operation system and its installation method involved in the present invention with reference to the accompanying drawings and embodiments. The following describes the principles and features of the present invention in conjunction with the accompanying drawings. The examples cited are only used to explain the present invention and are not used to limit the scope of the present invention.

[0045] Figure 1 It is a structural schematic diagram of a temperature measurement sampling installation and operation system suitable for use in a high temperature environment in an embodiment of the present invention.

[0046] Figure 2 It is an electrical connection diagram of a temperature measurement sampling installation and operation system suitable for use in a high temperature environment in an embodiment of the present invention.

[0047] like Figure 1-2 As shown, the temperature measuring and sampling mechanical device 20 suitable for use in a high temperature environment in this embodiment includes a spring rack device 10, a temperature measuring and sampling mechanical device 20, an electric push rod device 30, a robot gripper device 40, a liquid level detection device (not shown in the figure), an electrical controller 50, a touch screen (not shown in the figure), and a host computer (not shown in the figure).

[0048] Specifically, as shown in the figure, in the temperature measurement sampling installation and operation system, the bomb rack device 10 includes a temperature measurement bomb rack 110 for placing the temperature measurement bomb and a sampling bomb rack 120 for the sampling bomb. Specifically, the bomb rack device 10 includes two sets of bomb racks, which are used to place the temperature measurement bomb 111 and the sampling bomb 121 respectively. They can be designed into multiple layers according to different needs, with a number of bomb slots in each layer. The temperature measurement bomb 111 and the sampling bomb 121 are positioned by two V-shaped grooves, and the length direction is positioned by the end surface positioning plate.

[0049] Figure 5 Schematic diagram of the robot gripper device in an embodiment of the present invention.

[0050] Figure 6 The overall structure of the robot gripper device in the embodiment of the present invention is shown in FIG. Figure 1.

[0051] Figure 7 The overall structure of the robot gripper device in the embodiment of the present invention is shown in FIG. Figure 2 .

[0052] Specifically, if Figure 5 , 6 As shown in FIG. 7 , the robot gripper device 40 of the present invention includes: a connecting base plate 410 fixedly connected to the sixth axis 491 of the six-axis robot 490. Specifically, the connecting base plate 410 can be fixedly connected to the sixth axis 491 of the six-axis robot 490 by bolts. In some embodiments, the model of the six-axis robot used is Racer-NJ7-1.4.

[0053] In addition, the robot gripper device 40 of the present invention also includes a first cylinder 420a and a second cylinder 420b fixedly connected to the connecting base plate 410 from top to bottom. The first cylinder 420a and the second cylinder 420b can be parallel opening and closing thin air grippers, respectively having two first cylinder sliders and two second cylinder sliders. The cylinder opening and closing action is manifested as the action of the slider on the cylinder. In some embodiments, the first cylinder 420a and the second cylinder 420b are both parallel opening and closing thin air grippers, which are respectively installed on the connecting base plate 410 by bolts.

[0054] Fig.11 The schematic diagram of the local installation structure of the robot gripper device 40 in the embodiment of the present invention is Figure 4 .

[0055] like Figure 5 , 6 As shown in FIGS. 7 and 11, the robot gripper device 40 of the present invention further includes a guide clamp fixed on the first cylinder 420a, and a V-shaped clamp 450 located below the guide clamp and fixed on the second cylinder 420b for clamping the temperature measuring bomb 111 or the sampling bomb 121. The guide clamp is used to guide the temperature measuring gun body 233 into the temperature measuring bomb 111 or the sampling bomb 121 from above.

[0056] In addition, in a robot gripper device 40 proposed by the present invention, a V-shaped clamp 450 has two half-claws symmetrically fixed on the two second cylinder sliders of the second cylinder 420b. The two half-claws are controlled to approach and move away from each other by sliding the two second cylinder sliders. When the two half-claws are combined and contacted, a complete V-shaped clamp 450 can be formed, thereby completing the process of taking the temperature measuring bullet 111 or the sampling bullet 121 in front of the bullet rack station. Holes 451 are distributed on the contact surface between the half-claw and the second cylinder slider, and the two half-claws of the V-shaped clamp 450 can be fixedly connected to the two second cylinder sliders of the second cylinder 420b through bolts through the holes 451 respectively.

[0057] In addition, in a robot gripper device 40 proposed by the present invention, the inner wall of the V-shaped clamp 450 has a loading slot 452 close to the fixed end of the cylinder, and a bomb disposal slot 453 away from the fixed end of the cylinder, and the shapes of the loading slot 452 and the bomb disposal slot 453 are consistent with the shape of the contact part of the temperature measuring bullet 111 or the sampling bullet 121.

[0058] Furthermore, the six-axis robot 490 clamps the temperature measuring bullet 111 or the sampling bullet 121 in the loading slot 452 to remove the bullet. Here, taking the clamping of the temperature measuring bullet 111 as an example, it further cooperates with the guide clamping claw above to introduce it into the temperature measuring gun body 233 to complete the loading process, and then separates the guide clamping claw and the V-shaped clamping claw 450 respectively to leave the current temperature measuring gun body 233. When defusing the bomb, the V-shaped clamping claw 450 of the six-axis robot approaches the temperature measuring gun body 233 with the temperature measuring bullet 111 or the sampling bullet 121 to defuse the bomb. Since there is a guide clamping claw above the loading slot 452, it will hinder the defusing process. Therefore, at this time, the six-axis robot defuses the temperature measuring bullet 111 or the sampling bullet 121 in the defusing slot 453. The V-shaped clamp 450 grabs the used temperature measuring bullet 111 or sampling bullet 121 under the temperature measuring gun body 233 by separation and merging, clamps it, and guides the used temperature measuring bullet 111 or sampling bullet 121 out of the temperature measuring gun body 233, thereby completing the bomb disposal process.

[0059] Furthermore, the loading slot 452 and the bomb disposal slot 453 may have 2-3 circles of annular grooves to increase the friction with the temperature measuring bullet 111 or the sampling bullet 121 during the clamping process. The V-shaped clamp 450 may be made of a lightweight material, preferably aluminum. In some embodiments, the inner wall of the clamping position (loading slot 452, bomb disposal slot 453) of the V-shaped clamp 450 is provided with an annular groove.

[0060] Figure 8 The partial structure of the robot gripper device 40 in the embodiment of the present invention is shown in FIG. Figure 1 .

[0061] Fig. 9 The partial structure of the robot gripper device 40 in the embodiment of the present invention is shown in FIG. Figure 2 .

[0062] Fig.10 The installation structure of the robot gripper device 40 in the embodiment of the present invention is shown in FIG. Figure 3 .

[0063] like Figure 5-10As shown, in the robot gripper device 40 of the present invention, the guide clamp is composed of a guide opening fixing block 430 and a tapered guide opening 440. More specifically, the guide clamp has two guide opening fixing blocks 430 symmetrically fixed on the first cylinder, and a tapered guide opening 440 composed of two symmetrical semi-conical guide openings. The two guide fixing blocks 430 are respectively fixed on the two first cylinder sliders of the first cylinder 420a, and the guide fixing blocks 430 are controlled to approach and move away from each other through the sliding of the two first cylinder sliders. Furthermore, holes 431 are distributed on the contact surface between the guide opening fixing block 430 and the first cylinder slider, and the guide opening fixing block 430 can be fixedly connected to the slider of the first cylinder 420a through bolts through the holes 431. The two semi-conical guide openings are respectively fixed on two guide opening fixing blocks. As the two guide fixing blocks 430 approach and move away from each other, the two semi-conical guide openings also open and close accordingly. When the two semi-conical guide openings are merged, a complete conical guide opening can be formed to guide the temperature measuring gun body 233 during the loading process.

[0064] In addition, in a robot gripper device 40 proposed by the present invention, the conical guide port 440 is composed of a conical guide port 443 and a neck guide port 441 which are interconnected from top to bottom. The conical guide port 443 and the neck guide port 441 can be integrally formed. The inside of the conical guide port 443 is in the shape of a trumpet with a large top and a small bottom, which is convenient for introducing the temperature measuring gun body 233. The neck guide port 441 has a snap-fitting notch 445 located in the bottom outlet for snapping the top of the bullet. Therefore, the diameter of the upper inner hole 444 in the neck guide port 441 is smaller than the inner hole diameter of the temperature measuring bullet 111 or the sampling bullet 121, and the diameter of the snap-fitting notch 445 is larger than the outer hole diameter of the temperature measuring bullet 111 or the sampling bullet 121.

[0065] The outer wall of the lower end of the neck guide opening 441 matches the shape of the inner wall 432 of the guide opening fixing block 430. The outer wall of the neck guide opening 441 has a hole 442, and the inner wall of the guide opening fixing block 430 has a hole 433. The hole 442 and the hole 433 cooperate with each other, and the neck guide opening 441 is fixed to the guide opening fixing block 430 by bolts.

[0066] In addition, a robot gripper device 40 proposed by the present invention also has a photoelectric sensor 460 fixed to the upper end of the V-shaped clamping jaw, which is used to detect whether the V-shaped clamping jaw 450 is clamped with a spring. The photoelectric sensor 460 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 470. Specifically, the photoelectric sensor 460 can be fixedly connected to the photoelectric sensor protective cover 470 by bolts, and the photoelectric sensor protective cover 470 is further fixedly connected to the upper end of the V-shaped clamping jaw 450 by bolts.

[0067] In addition, the robot gripper device 40 proposed by the present invention also includes a gas circuit control component 480 that controls the first cylinder 420a and the second cylinder 420b and is fixed on the third axis 202 of the six-axis robot 490. Specifically, the gas circuit control component 480 has two sets of solenoid valves corresponding to the first cylinder 420a and the second cylinder 420b, respectively, and a control circuit connected to the two sets of solenoid valves. The two sets of solenoid valves respectively control the opening and closing actions of the corresponding first cylinder 420a or the second cylinder 420b.

[0068] In some embodiments, the working process of the robot gripper device 40 is as follows:

[0069] Bullet retrieval process: the electrical controller 50 controls the six-axis robot 490 to work, driving the robot gripper 40 to move to the station of the bomb rack, and the two sets of solenoid valves respectively control the first cylinder 420a and the second cylinder 420b, so that the conical guide port 440 and the V-shaped clamp 450 are opened, and the V-shaped clamp 450 grabs the temperature measuring bullet 111 or the sampling bullet 121 from the bomb rack, and the conical guide port 440 and the V-shaped clamp 450 are closed, and the top of the temperature measuring bullet 111 or the sampling bullet 121 is engaged with the bottom of the conical guide port 440. The photoelectric sensor 460 can sense whether the V-shaped clamp 450 has clamped a bullet. If there is no bullet in the corresponding position, the photoelectric sensor 460 feedbacks a no-bullet signal, and the six-axis robot drives the robot gripper 40 to enter the next station to retrieve the bullet;

[0070] Loading process: The electrical controller 50 controls the six-axis robot to work, driving the robot gripper device 40 to move to the lower end of the temperature measuring gun body 233 of the temperature measuring and sampling mechanical device, and guides the temperature measuring gun body 233 into the inner hole of the temperature measuring bullet 111 or the sampling bullet 121. The first cylinder 420a opens, thereby opening the conical guide port 440. The V-shaped clamp 450 drives the temperature measuring bullet 111 or the sampling bullet 121 to complete the loading process;

[0071] Bomb disposal process: The electrical controller 50 controls the six-axis robot to work, driving the robot gripper device 40 to move to the upper end of the temperature gun body 233, the second cylinder 420b opens, controls the V-shaped clamp 450 to open, and moves downward from the top to the position of the temperature measuring bomb 111 or the sampling bomb 121, clamps the temperature measuring bomb 111 or the sampling bomb 121 at the bomb disposal position and removes it from the temperature measuring gun body 233, completing the bomb disposal process.

[0072] Fig.12 It is an overall schematic diagram of the temperature measurement and sampling mechanical device in the embodiment of the present invention;

[0073] like Fig.12As shown, in the temperature measurement and sampling installation and operation system, the present invention provides a temperature measurement and sampling mechanical device 20, which is installed on the column platform 100 and is used to measure the temperature and sample the high-temperature molten steel at 1500-1650°C, including: a measuring gun swinging mechanism 210 located on the side of the original equipment platform, and a measuring gun moving mechanism 230 connected to the measuring gun swinging mechanism 210, wherein the top of the measuring gun swinging mechanism 210 is installed on the top platform of the original equipment platform, and the measuring gun moving mechanism 230 has a centrally symmetrical temperature measuring gun moving mechanism 230a and a sampling gun moving mechanism 230b.

[0074] In addition, in the temperature measurement sampling installation and operation system, there is also an electric push rod device 30, which is located on the lower platform of the original equipment platform and is connected to the measuring gun swing mechanism 210.

[0075] In the present invention, the column platform 100 provides fixed support for the entire set of temperature measurement and sampling mechanical device 20. The column platform and the temperature measurement and sampling mechanical device 20 maintenance ladder are set up according to the environment of the steel plant, and can be set up separately or with the help of the original equipment platform of the steel plant. In some embodiments, the column platform is the original equipment platform 100, and the original equipment platform 100 is used to install the temperature measurement and sampling mechanical system 20, and the temperature measurement and sampling mechanical device 20 is repaired and maintained later, and the column platform and equipment maintenance ladder are no longer set up separately.

[0076] Fig.13 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 1 .

[0077] Fig.14 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 2 .

[0078] Fig.15 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 3 .

[0079] Fig.16 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 4 .

[0080] Fig.17 The schematic diagram of the partial structure of the temperature measurement and sampling mechanical device in the embodiment of the present invention is Figure 5 .

[0081] like Figure 13-17As shown, the swing frame body 211 in the above-mentioned measuring gun swing mechanism 210 drives the measuring gun movement mechanism 230 to swing to the temperature measuring working position; the electric push rod device 30 serves as a power mechanism to push the swing frame body 211 in the measuring gun swing mechanism 210 to the temperature measuring working position; the measuring gun movement mechanism 230 drives the temperature measuring gun and the sampling gun to run into the molten steel for temperature measurement and sampling.

[0082] Furthermore, in the temperature measuring sampling mechanical device 20 proposed in the present invention, the measuring gun swing mechanism 210 includes: a swing frame shaft bracket 213 fixed on the top platform of the column platform, bearing assemblies 214 fixed on both sides of the swing frame shaft bracket 213, a swing shaft 212 with both ends sleeved in the bearing assemblies 214, a swing frame body 211 located on the side of the column platform, and a shaft bracket pressure plate 215 fixed on the swing frame shaft bracket 213 by bolts.

[0083] In addition, in the temperature measurement and sampling mechanical device 20 proposed by the present invention, the above-mentioned swing frame shaft bracket 213 can be fixed on the top surface platform of the column platform 100 by bolts.

[0084] In addition, the width of the swing frame body 211 is not less than the minimum width at which the temperature gun motion mechanism 230a and the sampling gun motion mechanism 230b do not interfere with each other, and the length of the swing frame body 211 can be simultaneously lengthened or shortened according to the length of the temperature gun in the temperature gun motion mechanism 230. In addition, the swing frame body 211 is welded from square tubes.

[0085] In addition, in a temperature measurement and sampling mechanical device 20 proposed by the present invention, the swing shaft 212 is fixed to the swing frame body 211 in the radial direction through the surface 121, and is fixed to the swing frame body 211 in the axial direction through the mutual fixing screws.

[0086] In addition, in a temperature measurement sampling mechanical device 20 proposed by the present invention, the bearing assembly 214 can be a pair of outer spherical ball bearings with square seats, which are respectively sleeved on both ends of the swing shaft 212 and fixedly connected to the swing shaft 212 by set screws. The square seat of the bearing assembly 214 has a connection hole, which is fixedly connected to both sides of the swing frame rotating shaft bracket 213 by bolts, so that the swing frame body 211 can rotate on the swing frame rotating shaft bracket 213 through the swing shaft 212 and the bearing assembly 214 with the axis of the swing shaft 212 as a reference. The outer spherical ball bearing can ensure flexible swinging and ensure that the swing shaft is not worn.

[0087] In addition, in the temperature measurement and sampling mechanical device 20 proposed by the present invention, the measuring gun motion mechanism 230 has a centrally symmetrical temperature measuring gun motion mechanism 230a and a sampling gun motion mechanism 230b, which are respectively used to realize the functions of temperature measurement and sampling. Figure 2As shown, the sampling gun motion mechanism 230b has the same mechanical structure symmetrical to the temperature measuring gun motion mechanism 230a, that is, the temperature measuring gun motion mechanism 230a and the sampling gun motion mechanism 230b have completely symmetrical and identical power structures, fixed structures and motion structures. The difference between the two is that the temperature measuring gun motion mechanism 230a has a temperature measuring gun and a temperature measuring cable for temperature measurement, and the sampling gun motion mechanism 230b has a sampling gun for sampling. The temperature measuring gun and the sampling gun have exactly the same appearance. Below, the structure of this part is described by taking the temperature measuring gun motion mechanism 230a as an example.

[0088] Furthermore, the temperature measuring gun movement mechanism 230a includes a power source 231 fixed on the swing frame body 211, and has a servo motor 2311 and a reducer 2312 fixed to each other. Figure 3 As shown, the servo motor 2311 and the reducer 2312 are fixedly connected to each other by bolts, and the reducer 2312 is fixedly connected to the swing frame body 211 by bolts. The accuracy of the movement and positioning of the measuring gun can be ensured by servo control.

[0089] Furthermore, the temperature measuring gun movement mechanism 230a also includes a power transmission mechanism 232, which has a fixed sprocket 2321 mounted on the output shaft of the reducer 2312, a passive sprocket tensioning device 2324 fixedly connected to the bottom end of the swing frame body 211 by bolts, and a chain 2322 mounted on the fixed sprocket 2321 and the passive sprocket tensioning device 2324.

[0090] In addition, the temperature measuring gun movement mechanism 230a can also include a tension wheel 2323 arranged between the fixed sprocket 2321 and the passive sprocket tensioning device 2324 and fixedly connected to the swing frame body 211 by bolts, as an alternative measure for tensioning the chain 2322.

[0091] Furthermore, the temperature measuring gun movement mechanism 230a also includes a temperature measuring gun body 233, including a connecting sleeve 2331, an upper gun body 2332, a transition joint 2333 and a lower gun body 2334 fixed to each other in sequence from top to bottom. More specifically, Figure 4 , 6 As shown, the measuring gun body has two parts, the upper and lower gun bodies, which are connected to each other through a transition joint 2333, and a cooling mechanism is provided inside the temperature measuring gun body. The upper gun body 2332 can be made of a cold-rolled seamless pipe; the connecting sleeve 2331 can be fixedly connected to the top of the upper gun body 2332 through a top screw; the lower gun body 2334 is a standard measuring gun, and the transition joint 2333 is sleeved on the lower gun body 2334 and is screwed and connected to the upper gun body 2332. The connecting sleeve can be a conical connecting sleeve. In some embodiments, the connecting sleeve 2331 in the temperature measuring gun body 233 is a conical connecting sleeve.

[0092] Furthermore, the temperature measuring gun movement mechanism 230a also includes a temperature measuring gun fixing structure 234, which has a linear guide rail assembly 2345 fixedly connected to the swing frame body 211 by bolts, an adsorption fixing block 2341 fixedly installed on the slider of the linear guide rail assembly 2345 by bolts, and adsorbed and fixed to the top of the connecting sleeve 2331.

[0093] The above-mentioned adsorption fixing block 2341 has an adsorption fixing block inner hole that matches the shape of the connecting sleeve 2331. In some embodiments, the connecting sleeve 2331 and the inner hole of the adsorption fixing block in the temperature measuring gun body 233 are respectively a conical connecting sleeve and a conical inner hole. In addition, the adsorption fixing block 2341 also has a small magnet fixed on the upper end surface. The top of the connecting sleeve 2331 is adsorbed and fixed in the inner hole of the adsorption fixing block by a small magnet, which is not only convenient for adjusting and removing the temperature measuring gun, but also when the lower end surface of the temperature measuring gun body 233 hits the cold steel, the gun end flange can be automatically disengaged from the adsorption fixing block 2341, thereby triggering the action of the anti-collision travel switch 2347, and the PLC controls the servo motor to quickly return the gun to avoid damage to the mechanism. The slider can slide on the guide rail of the linear guide assembly 2345.

[0094] In addition, the temperature measuring gun movement mechanism 230a also includes a chain clamping block 2342 which is fixedly connected to the adsorption fixing block 2341 by bolts and engages with the chain 2322 through teeth, a drag chain and a connecting plate 2343 which are fixedly connected to the adsorption fixing block 2341 by bolts, a connecting plate 2344 which is fixedly installed on the adsorption fixing block 2341 by bolts, an anti-collision travel switch 2347 which is fixedly installed on the back of the connecting plate 2344 by bolts for disengagement detection, and a measuring gun body guide wheel 2346 which is installed at the bottom end of the swing frame body 211, wherein the measuring gun body guide wheel 2346 is divided into two parts, an upper and lower guide wheel, the lower guide wheel is directly fixed to the swing frame body 211 by bolts, and the upper guide wheel is bolted to the swing frame body 211 through a fixing plate, so as to provide guidance for the movement of the temperature measuring gun body 233, reduce its jitter during movement, and ensure that the temperature measuring sampling gun runs smoothly and reliably. The guide wheel 2346 is pressed by an elastic plunger to ensure that the guide wheel fully fits the outer circle of the gun when the gun moves up and down, and can eliminate the uneven gap problem caused by the outer diameter error of the gun, ensure smooth and reliable guidance, and reduce the shaking of the gun during movement.

[0095] Furthermore, the temperature measuring gun movement mechanism 230a also includes upper and lower limit switches 235, which are fixedly mounted on the swing frame body 211 by bolts, a connecting plate 2351 and a hard limit switch 2352, which are respectively used to limit the upper and lower movement range of the measuring gun movement mechanism and to prevent the limit position of the upper and lower movement of the gun when the anti-collision travel switch fails. The swing frame body 211 is equipped with two limit travel switches at the upper and lower positions, which are used to control the limit positions of the upper and lower movement of the temperature measuring gun and the sampling gun.

[0096] In addition, in the temperature measuring sampling mechanical device 20 proposed by the present invention, since the sampling gun motion mechanism 230b has the same structure as the temperature measuring gun motion mechanism 230a, it will not be repeated here. The extension and retraction of the temperature measuring gun and the sampling gun are realized by a servo motor driving a sprocket chain mechanism, which can ensure that the extension and retraction position of the gun is controllable and accurate, and can be linked with the molten steel level measuring device. The chain mechanism is equipped with an adjustable tensioning sprocket to facilitate the adjustment of the chain tightness.

[0097] In addition, the temperature measurement and sampling mechanical device 20 proposed by the present invention also includes a counterweight system 240 to provide counterweight for the movement of the measuring gun, so that the movement of the measuring gun is more stable. The counterweight system 240 includes a wire rope fixing seat 241 fixedly mounted on the adsorption fixing block 2341 by bolts, a steering pulley assembly 242 fixedly mounted on the top of the swing frame body 211 by bolts, a counterweight support frame assembly 243 fixedly mounted on the top surface platform of the column platform 100 by bolts, and a wire rope 244 connected to the wire rope fixing seat 241 at one end and connected to the counterweight block at the other end through the steering pulley assembly 242 and the counterweight support frame assembly 243.

[0098] In addition, a temperature measurement and sampling mechanical device 20 proposed by the present invention also includes a protective cover 250 installed on the outside of the measuring gun movement mechanism 230. The heat insulation protective cover 250 is bolted to the swing frame body 211 through holes on both sides to reduce the impact of high temperature radiation on equipment operation and temperature measurement accuracy.

[0099] In addition, in the temperature measurement sampling installation and operation system, there is also an electric push rod device 30, which is located on the lower platform of the original equipment platform and is connected to the measuring gun swing mechanism 210.

[0100] Specifically, the electric push rod device 30 includes: a mounting base plate 322 fixed on the lower platform of the original equipment platform 100, a push rod ear 324 fixed on the swing frame body 211, a connecting joint 323 connected to the push rod ear 324 by a relative motion firmware, an electric push rod 321 whose two ends are respectively fixed to the mounting base plate 322 and the connecting joint 323, and a push rod servo motor 325 fixed on the fixed ends of the electric push rod 321 and the base plate 322, and respectively connected to the electric push rod and the electrical controller 50.

[0101] Further, the connection joint can be a fisheye joint. In some embodiments, the connection joint 323 is a fisheye joint screwed on the electric push rod 321.

[0102] Further, the connection joint 323 can be connected to the push rod hanging ear 324 through a relative motion fixture. The relative motion fixture can be a pin. The connection joint 323 is connected to the push rod hanging ear 324 through a pin. In some embodiments, the fisheye joint and the push rod hanging ear 324 are fixed to each other through a pin.

[0103] In addition, the electric push rod 321 can be an electric push rod with a servo motor as a power source, such as a servo electric cylinder. By using a servo motor as a power source and a ball screw as a transmission mechanism, it can ensure smooth operation and achieve high-precision position control of the equipment. The temperature measurement and sampling mechanical device 20 is driven by the electric push rod device 30 and can swing back and forth around the swing axis 212. The electric push rod device 30 is driven by a servo motor and pushed by a ball screw. The electric push rod pushing distance is accurately controlled to ensure the accuracy of the swing position of the temperature measurement and sampling gun moving device 20.

[0104] In addition, in the temperature measurement sampling installation and operation system, the electrical controller 50 is respectively connected to and controls the temperature measurement sampling mechanical device 20, the air path control components of the robot gripper device 40 and the electric push rod device 30.

[0105] Furthermore, the temperature measurement sampling installation and operation system proposed by the present invention also includes: a molten steel level detection device for detecting the molten steel level in the ladle car connected to the electrical controller 50. The liquid level detection device 50 includes a laser rangefinder and an encoder for detecting electrodes, and the molten steel level is calculated through the data of the laser rangefinder and the encoder, which is used to accurately locate the travel distance of the temperature measurement sampling gun.

[0106] Furthermore, the temperature measurement sampling installation and operation system also includes a touch screen and a host computer respectively connected to the electrical controller 50, which are used to control the electrical controller 50 locally and remotely respectively.

[0107] Specifically, the electrical controller 50 may be a PLC electrical controller 50, which is electrically connected to the gas path control components of the temperature measurement and sampling mechanical device 20, the electric push rod device 30, the robot gripper device 40, and the liquid level detection device, and outputs the corresponding instructions in the form of electrical signals. The touch screen and the host computer are electrically connected to the PLC electrical controller 50, and are used for local and remote analysis and processing of various data fed back by the PLC electrical controller 50, respectively, and the user can actively set instructions by operating on the touch screen or the host computer.

[0108] The working process of the temperature measurement and sampling mechanical device 20 of the present invention is as follows:

[0109] The electric push rod device 20 pushes the swing frame body 211 in the measuring gun swing mechanism 210 to swing to the temperature measurement working position, and the measuring gun movement mechanism 230 drives the temperature measuring gun and the sampling gun to move to the molten steel for temperature measurement and sampling. The power of the electric push rod device 20 and the measuring gun movement mechanism 230 is provided by the servo motor, which can accurately position and ensure smooth temperature measurement and sampling.

[0110] In addition, an embodiment of the present invention also provides a temperature measurement sampling installation and operation system management system applied to the above-mentioned temperature measurement sampling installation and operation system 100 suitable for high temperature environments. It includes: a temperature measurement sampling installation and operation system that is respectively connected to the primary control system and the secondary management system of the factory, a storage module that stores relevant data of the primary control system, a signal transmission module that transmits operator command signals, a data processing module that performs data analysis and processing, an execution module that sends the molten steel temperature to the secondary management system, and sends the status of the temperature measurement sampling installation and operation system and the interlocking signal of the equipment associated with the temperature measurement sampling installation and operation system to the primary control system. The primary control system and the secondary management system are the existing control system and management system in the factory, respectively.

[0111] The temperature measurement sampling installation and operation system management method according to the above-mentioned temperature measurement sampling installation and operation system in this embodiment includes the following steps:

[0112] Loading step: the electrical controller 50 drives the robot gripper device 40 located at the initial position to load the temperature measuring bullet or the sampling bullet;

[0113] Working steps: the electrical controller 50 drives the temperature measuring gun or sampling gun in the temperature measuring and sampling mechanical device 20 to be pushed out to the working position for temperature measurement or sampling;

[0114] Bomb disposal steps: The electrical controller 50 drives the robot gripper device 40 to remove the spent bombs on the temperature measuring gun or the sampling gun, send them into the spent bomb box, and return them to the initial position.

[0115] The instructions for driving the electrical controller 50 are all issued by the operator through the touch screen or the host computer.

[0116] In addition, in a temperature measurement sampling installation and operation system management method proposed by the present invention, the loading step specifically includes: taking the bomb from the bomb rack: the electrical controller 50 drives the six-axis robot located at the initial position to drive the V-shaped clamp 450 to clamp the temperature measurement bomb or the sampling bomb from the temperature measurement bomb rack 110 or the sampling bomb rack 120;

[0117] Import assembly: The electrical controller 50 drives the six-axis robot to drive the guide clamp to introduce the temperature measuring bullet or the sampling bullet into the inner hole of the temperature measuring gun or the sampling gun, thereby completing the assembly of the temperature measuring bullet or the sampling bullet.

[0118] Specifically, the order of taking out the temperature measuring bomb or the sampling bomb is not limited. The temperature measuring bomb can be taken out first and then the sampling bomb, or the sampling bomb can be taken out first and then the temperature measuring bomb, or only the sampling bomb or the temperature measuring bomb can be taken out, which can be adjusted according to actual needs. In the step of taking the bomb from the bomb rack, after the bomb is taken out, the six-axis robot can memorize the order of taking the bomb so that the next time the bomb can be taken out in sequence. The memory function can be realized by programming the built-in software of the six-axis robot. In some embodiments, the bomb position memory function is realized by the software of the Racer-NJ7-1.4 six-axis robot used.

[0119] In addition, between the steps of taking out the ammunition from the ammunition rack and introducing the assembly step, the following steps may also be included:

[0120] Status detection: The photoelectric sensor detects whether the V-shaped clamp has a temperature measuring bullet or a sampling bullet.

[0121] During the process of taking bullets from the bomb rack, after the six-axis robot completes the bullet taking action, it rotates to the loading position and adjusts the angle to install the temperature measuring bullet or sampling bullet from bottom to top. If the temperature measuring bullet is not installed in place at one time (the temperature measuring instrument panel and the host computer have an indication of where it is), the six-axis robot drives the V-shaped clamp to press the temperature measuring bullet upward from the bottom of the temperature measuring bullet or sampling bullet until it is in place.

[0122] The instructions driven by the electrical controller 50 in the loading step are all issued by the operator through the touch screen or the host computer.

[0123] Figure 3 1 is a simplified diagram of the working process of the robot gripper device in an embodiment of the present invention.

[0124] like Figure 3 As shown, in some embodiments, the electrical controller 50 drives the six-axis robot located at the initial position to drive the V-shaped clamp 450 to clamp the temperature measuring bullet from the temperature measuring bullet rack; then, the photoelectric sensor detects whether the V-shaped clamp has clamped the temperature measuring bullet. If not, the electrical controller 50 drives the six-axis robot again to drive the V-shaped clamp 450 to clamp the temperature measuring bullet from the temperature measuring bullet rack until the bullet is taken out; then, the electrical controller 50 drives the six-axis robot to drive the guide clamp to guide the temperature measuring gun into the inner hole of the temperature measuring bullet, and the assembly of the temperature measuring bullet is completed. ; Then, the electrical controller 50 drives the six-axis robot to drive the V-shaped clamp 450 to clamp the sampling bullet from the sampling bullet rack; then, the photoelectric sensor detects whether the V-shaped clamp has clamped the sampling bullet. If not, the electrical controller 50 drives the six-axis robot again to drive the V-shaped clamp 450 to clamp the sampling bullet from the sampling bullet rack until the bullet is taken; then, the electrical controller 50 drives the six-axis robot to drive the guide clamp to guide the sampling gun into the inner hole of the sampling bullet. After completing the assembly of the sampling bullet, the six-axis robot returns to the initial position.

[0125] In addition, the temperature measurement sampling installation and operation system management method proposed by the present invention also has such a feature that the working steps specifically include:

[0126] Moving workstation: the electrical controller 50 drives the electric push rod to push the swing frame body from the original position to the working position;

[0127] Temperature measurement and sampling: According to the level of molten steel, the electrical controller 50 drives the temperature measuring gun body or the sampling gun body to drive the temperature measuring bomb or the sampling bomb to accurately position and enter the molten steel for temperature measurement or sampling;

[0128] Return to the original position: the electrical controller 50 drives the temperature measuring gun body or the sampling gun body to drive the temperature measuring bomb or the sampling bomb to return to the original position.

[0129] Specifically, after the operator issues an instruction to the electrical controller 50 via the touch screen or the host computer, the electric push rod pushes the swing frame to the working position above the temperature measuring hole. After the swing frame reaches the working position, according to the molten steel level detected by the molten steel level detection device, the temperature measuring gun body drives the temperature measuring bullet to accurately position and enter the molten steel for temperature measurement. The temperature measuring instrument panel, touch screen and host computer all have temperature measurement indications, and the insertion depth and retention time can be set by the operator. When the temperature measuring instrument panel issues an indication that the temperature measurement is completed (or the temperature measurement time has exceeded the set retention time), the temperature measuring gun body drives the temperature measuring bullet back to its original position. Temperature measurement and sampling can be performed in sequence, and the order can be adjusted as needed, or only one of the temperature measurement and sampling operations can be performed.

[0130] In addition, the temperature measurement sampling installation and operation system management method proposed by the present invention also has such a feature that the bomb disposal step specifically includes the following steps:

[0131] Bomb disposal steps: the electrical controller 50 drives the six-axis robot to drive the V-shaped clamp 450 to remove the spent bomb from the temperature measuring gun or the sampling gun;

[0132] Discarding step: the electrical controller 50 drives the six-axis robot to put the spent ammunition into a designated spent ammunition box;

[0133] Return step: The electrical controller 50 drives the six-axis robot to return to the initial position.

[0134] Specifically, after the temperature measurement or sampling is completed and the swing frame returns to its original position along with the temperature measuring gun or the sampling gun, the six-axis robot drives the gripper to remove the spent bullets from the temperature measuring sampling gun in sequence.

[0135] In addition, the temperature measurement sampling installation and operation system management method proposed by the present invention also has such a feature that after the temperature measurement sampling step, compressed air is extended into the inner cylinder of the temperature measuring gun or sampling gun through the air pipe and the cut-off valve for cooling. The above cooling process is carried out throughout the temperature measurement sampling step.

[0136] Figure 4It is a simplified working process diagram of the temperature measuring and sampling mechanical device in an embodiment of the present invention.

[0137] like Figure 4 As shown, in some embodiments, the electrical controller 50 drives the electric push rod to push the swing frame body from the original position to the working position; then the electrical controller 50 drives the temperature measuring gun to move downward, and during the downward movement, it can be detected whether there is a cold material collision, if so, the temperature measuring gun returns, if not, it continues to move downward; then, according to the liquid level of the molten steel, the electrical controller 50 drives the temperature measuring gun body to drive the temperature measuring bullet to accurately position and enter the molten steel for temperature measurement; then the electrical controller 50 drives the temperature measuring gun body to drive the temperature measuring bullet back to its original position; then, the electrical controller 50 drives the temperature measuring gun to move downward, and during the downward movement, it can be detected whether there is a cold material collision, if so, the sampling gun returns, if not, it continues to move downward; then, according to the liquid level of the molten steel, the electrical controller 50 drives the sampling gun body to drive the sampling bullet to accurately position and enter the molten steel for sampling; then the electrical controller 50 drives the sampling gun body to drive the sampling bullet back to its original position; then, the electrical controller 50 drives the six-axis robot to drive the V-shaped clamp 450 to remove the waste bullets from the temperature measuring gun and the sampling gun in turn.

[0138] In addition, in addition to using the touch screen to complete the automatic operation of temperature measurement and sampling, the operator can also operate through the host computer to achieve active control by the user, including at least one of the following operations:

[0139] Operation 1: Local manual mode operation, including manual loading, manual defusing, inching operation of temperature measuring gun, inching operation of sampling gun, inching operation of electric push rod, and manual gun change.

[0140] Operation 2: Local semi-automatic mode operation, including loading, starting the temperature measurement process, and starting the sampling process.

[0141] Operation 3: Remote semi-automatic mode operation, including loading, starting the temperature measurement process, and starting the sampling process.

[0142] Operation 4: Remote fully automatic mode operation, one-button start of the entire process of temperature measurement and sampling, loading, temperature measurement, sampling, and bomb disposal are carried out in sequence.

[0143] Functions and Effects of the Embodiments

[0144] The temperature measurement and sampling operation system and management method involved in this embodiment are suitable for temperature measurement and sampling in high temperature environments. In the temperature measurement and sampling installation and operation system, the robot gripper device automatically installs and removes bombs, and the temperature measurement and sampling mechanical device and the electric push rod device are controlled by a servo motor. In conjunction with the molten steel liquid level measuring device, they can be accurately positioned to ensure smooth temperature measurement and sampling; since the temperature measurement and sampling mechanical device is provided with a high-temperature resistant heat insulation cover on the outside to ensure stable operation of the device, it is suitable for high-temperature and high-dust environments such as steel mills; the temperature measurement and sampling installation and operation system suitable for high-temperature environments of the present invention is operated by the temperature measurement and sampling robot management system, realizing the system production process of automatically measuring the molten steel liquid level, removing bombs, measuring temperature, sampling, and handling waste bombs, and completely recording and storing data on the liquid level, temperature, and other contents related to the molten steel, ensuring the integrity of production information, improving product quality traceability, and reducing manual records at the same time, making the process more standardized, intelligent, accurate, and stable, so as to achieve lean production. The temperature measurement sampling operation system and management method involved in this embodiment are particularly suitable for the temperature measurement sampling production link in the steel industry, and realize the automation, standardization, data visualization, and intelligent tracking of the molten steel temperature measurement sampling production process. In addition, by using the temperature measurement sampling installation and operation system and the temperature measurement sampling robot management method suitable for high temperature environment in this embodiment for temperature measurement sampling, more than one production personnel can be reduced on each production line, the temperature measurement sampling cycle is ≦30s, the temperature measurement temperature is 1500-1650℃, the temperature measurement success rate is: 100%, the sampling qualified rate is ≧98%, the molten steel liquid level error is: ±20mm, and the temperature measurement temperature error is ≦5℃.

[0145] The above-mentioned embodiments are preferred examples of the present invention and are not intended to limit the protection scope of the present invention.

[0146] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0147] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high temperature temperature measurement sampling installation and operation system, characterized in that: include: The bomb rack device includes a temperature measuring bomb rack for placing the temperature measuring bomb and a sampling bomb rack for placing the sampling bomb. The robot gripper device comprises a connection base plate fixedly connected to the sixth axis of the six-axis robot, and a first cylinder and a second cylinder fixedly connected to the connection base plate from top to bottom, A guide clamp fixed on the first cylinder, A V-shaped clamping jaw located below the guide clamping jaw and fixed on the second cylinder for clamping the temperature measuring bomb or the sampling bomb from the temperature measuring bomb rack or the sampling bomb rack, The photoelectric sensor fixed on the upper end of the V-shaped clamping jaw, and a gas path control component for controlling the first cylinder and the second cylinder, fixed on the third axis of the six-axis robot, Temperature measurement and sampling mechanical device, It includes the measuring gun swing mechanism located on the side of the original equipment platform. a measuring gun movement mechanism connected to the measuring gun swing mechanism, The top of the measuring gun swing mechanism is installed on the top platform of the original equipment platform, and the measuring gun motion mechanism has a centrally symmetrical temperature measuring gun motion mechanism and a sampling gun motion mechanism. The electric push rod device is located on the lower platform of the original equipment platform and is connected to the measuring gun swing mechanism. The electrical controller is respectively connected to the temperature measurement and sampling mechanical device, the air path control component of the robot gripper device and the electric push rod device, and a touch screen and a host computer respectively connected to the electrical controller, The molten steel level detection device is connected to the electrical controller to detect the molten steel temperature and the molten steel level in the ladle car. The guide clamp has two guide port fixing blocks symmetrically fixed on the first cylinder, and a tapered guide port composed of two symmetrical semi-tapered guide ports, the two semi-tapered guide ports are respectively fixed on the two guide port fixing blocks, wherein the two guide port fixing blocks are respectively fixed on the two first cylinder sliders of the first cylinder, The V-shaped clamp has two half-jaws symmetrically fixed on the two second cylinder slide blocks of the second cylinder, The conical guide opening is composed of a conical guide opening and a neck guide opening connected to each other from top to bottom. The neck guide opening has a snap-fitting notch located in the bottom outlet. The diameter of the upper inner hole in the neck guide opening is smaller than the inner hole diameter of the bullet. The diameter of the snap-fitting notch is larger than the outer diameter of the bullet. The inner wall of the V-shaped clamp is provided with a loading slot close to the fixed end of the cylinder and a defusing slot far away from the fixed end of the cylinder.

2. The temperature measurement sampling installation and operation system according to claim 1 is characterized in that: The measuring gun swing mechanism, It includes a swing frame shaft bracket fixed on the top platform of the original equipment platform, The bearing assemblies fixed on both sides of the swing frame shaft bracket, The swing shaft is sleeved at both ends in the bearing assembly. A swing frame body fixed on the swing shaft and located on the side of the original equipment platform, and a rotating shaft support pressure plate fixedly installed on the swing frame rotating shaft support, The temperature measuring gun movement mechanism comprises The power source fixed on the swing frame body comprises a temperature measurement and sampling servo motor and a reducer fixed to each other, wherein the temperature measurement and sampling servo motor is connected to the electrical controller. The power transmission mechanism comprises a fixed sprocket sleeved on the output shaft of the reducer, a passive sprocket tensioning device fixed to the bottom end of the swing frame body, a chain sleeved on the fixed sprocket and the passive sprocket tensioning device, and a tension wheel arranged between the fixed sprocket and the passive sprocket tensioning device. The temperature measuring gun body comprises a conical connecting sleeve, an upper gun body, a transition joint and a lower gun body which are fixed to each other in sequence from top to bottom. The temperature measuring gun fixing structure comprises a linear guide rail assembly fixed on the swing frame body, an adsorption fixing block installed on the slider of the linear guide rail assembly and adsorbed and fixed to the tapered connecting sleeve, a chain pressing block connecting the adsorption fixing block and the chain, a drag chain and a connecting plate fixedly connected to the adsorption fixing block, an anti-collision travel switch and a connecting plate installed and fixed on the adsorption fixing block, and a measuring gun body guide assembly installed at the bottom end of the swing frame body. and upper and lower limits, including upper and lower limit travel switches and connecting plates and hard limits installed on the swing frame body, The sampling gun motion mechanism has the same mechanical structure that is symmetrical to the temperature measuring gun motion mechanism.

3. The temperature measurement sampling installation and operation system according to claim 2 is characterized in that: The electric push rod device comprises: A mounting base plate fixed on the lower platform of the original equipment platform, A push rod hanging ear fixed on the swing frame body, A connecting joint connected to the push rod hanging ear through a relative motion fastener, The electric push rod is fixed to the mounting base plate and the connecting joint at both ends. And a push rod servo motor is fixed on the fixed ends of the electric push rod and the base plate and is connected to the electric push rod and the electrical controller respectively.

4. A method for managing a temperature measurement sampling installation and operation system using the temperature measurement sampling installation and operation system according to any one of claims 1 to 3, characterized in that: The following steps are involved: Loading step: the electrical controller drives the robot gripper device located at the initial position to load the temperature measuring bullet or the sampling bullet; Working steps: the electrical controller drives the temperature measuring gun or sampling gun in the temperature measuring and sampling mechanical device to be pushed out to the working position for temperature measurement or sampling; Bomb disposal step: the electrical controller drives the robot gripper device to remove the spent bombs on the temperature measuring gun or the sampling gun, send them into the spent bomb box, and return them to the initial position.

5. The temperature measurement sampling installation and operation system management method according to claim 4, characterized in that: The loading step specifically comprises: Retrieving bombs from the bomb rack: the electrical controller drives the six-axis robot located at the initial position to drive the V-shaped clamp to clamp the temperature measuring bomb or the sampling bomb from the temperature measuring bomb rack or the sampling bomb rack; Import assembly: the electrical controller drives the six-axis robot to drive the guide clamp to introduce the temperature measuring bomb or the sampling bomb into the inner hole of the temperature measuring gun or the sampling gun. After completing the assembly of the temperature measuring bomb or the sampling bomb, the six-axis robot returns to the initial position.

6. The temperature measurement sampling installation and operation system management method according to claim 4, characterized in that: The working steps specifically include: Moving workstation: the electrical controller drives the electric push rod to push the swing frame body from the original position to the working position; Temperature measurement and sampling: According to the level of molten steel, the electrical controller drives the temperature measuring gun body or the sampling gun body to drive the temperature measuring bomb or the sampling bomb to accurately position and enter the molten steel for temperature measurement or sampling; Return to the original position: the electrical controller drives the temperature measuring gun body or the sampling gun body to drive the temperature measuring bomb or the sampling bomb to return to the original position.

7. The temperature measurement sampling installation and operation system management method according to claim 6 is characterized in that: In the temperature measurement and sampling step, compressed air is extended into the inner cylinder of the temperature measuring gun or the sampling gun through an air pipe and a cut-off valve for cooling.

8. The temperature measurement sampling installation and operation system management method according to claim 4, characterized in that: The bomb disposal step specifically includes the following steps: Bomb disposal step: the electrical controller drives the six-axis robot to drive the V-shaped clamp to remove the spent bomb from the temperature measuring gun or the sampling gun; Discarding step: the electrical controller drives the six-axis robot to put the waste bombs into a designated waste bomb box; Return step: the electrical controller drives the six-axis robot to return to the initial position.

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