A probe storage and conveying device for a molten steel measuring and sampling robot system

Abstract

The present invention belongs to the technical field of industrial metallurgical robots, and specifically relates to a probe storage and conveying device of a molten steel measuring and sampling robot system, wherein the probe comprises a working part and a clamping part, and comprises a plurality of independent probe storage units (1), a parallel unloading device (2) and a multi-chain transmission device (3); compared with the prior art, the probe storage and conveying device of the molten steel measuring and sampling robot system of the present invention, (1) comprises a plurality of independent probe storage units, and the width of each independent probe storage unit can be adjusted according to the maximum width of the probe; (2) the parallel unloading device adopts unidirectional feeding and the stroke of each feeding can be adjusted; (3) a multi-chain transmission device is adopted, and the multi-chain is arranged according to the center of gravity of the probe, so as to effectively avoid the bouncing of the probe when it falls on the chain.

Description

Technical Field

[0001] The invention patent belongs to the technical field of molten steel sampling in the metallurgical industry, and specifically relates to a probe storage and conveying device of a molten steel measurement sampling robot system. Background Art

[0002] In the process of steel smelting, various disposable probes are needed to detect and sample the temperature of molten steel, the thickness of surface slag, the chemical composition of slag, the chemical composition of molten steel, the oxygen content, carbon content, sulfur content and other indicators of molten steel. With the widespread application of industrial metallurgical robots, robots have begun to replace manual labor to realize the measurement and sampling of molten steel. This requires a device to solve the storage of various probes and facilitate the robot to obtain them. The diversity of probes requires designers to design probe storage equipment and develop unloading and transmission devices specifically for a certain probe. The different types of probes, lengths, diameters, and shapes and centers of gravity are difficult to accurately control during the falling process. The existing probe storage, unloading and transmission methods cannot meet the accuracy requirements of the robot measurement and sampling system. The existing probe storage and unloading methods are only applicable to probes with the same ends, and cannot be applied to probes with different shapes and diameters at both ends. Summary of the invention

[0003] In view of the above problems, the present invention provides a probe storage and conveying device for a molten steel measuring and sampling robot system.

[0004] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a probe storage and conveying device of a molten steel measuring sampling robot system, wherein the probe includes a working part and a clamping part, including a plurality of independent probe storage units, a parallel unloading device and a multi-chain transmission device; each independent probe storage unit includes two vertical clamping plates, and the distance between the two clamping plates can be adjusted according to the maximum horizontal width of the probe, and after the adjustment, there is only one row of horizontally placed probes between the two clamping plates; the working parts of the probes are on the same side of the probe storage unit and are neatly arranged, and the ends of the clamping parts of the probes are supported by the parallel unloading device to realize that the probes are level in the probe storage unit; The parallel feeding device is located outside the probe clamping part, and includes an upper sprocket and a lower sprocket, a chain is installed between the upper sprocket and the lower sprocket, and a plurality of pads are installed on the chain, and the pads support the end of the probe clamping part; the multi-chain transmission device is located below the probe storage unit, and includes more than two identical chain transmission chains, and the chain transmission chains are arranged in parallel, and can catch the probe dropped from the probe storage unit and transmit it; each of the transmission chains includes a chain, a driving gear and a driven gear; the driving gears of all the chain transmission chains are fixedly mounted on a transmission shaft; a plurality of blocks are fixedly arranged on the outer periphery of the chain transmission chain, and the spacing between adjacent blocks matches the transverse width of the probe.

[0005] Preferably, the upper sprocket is driven by a transmission shaft, a transmission gear is provided at the transmission shaft end away from the sprocket, a one-way bearing is provided between the transmission gear and the transmission shaft, the transmission shaft is connected to the inner ring of the one-way bearing, and the transmission gear is connected to the outer ring of the one-way bearing.

[0006] Preferably, the transmission gear is meshed with a transmission rack, and the transmission rack is fixedly connected to the piston rod of the adjustable cylinder away from the transmission gear end; an adjusting nut is provided under the adjustable cylinder to adjust the piston rod stroke of the adjustable cylinder.

[0007] Preferably, both ends of the two vertical clamps of the probe storage unit are provided with pressing blocks, and the pressing blocks press the clamp bases onto the storage main frame; the clamp spacing can be adjusted by loosening the pressing blocks.

[0008] Preferably, a bearing roller is provided below the probe storage unit, a plurality of swing blocks are provided on the bearing roller, and a groove is provided on the swing block; the plurality of grooves jointly bear the clamping part of the probe.

[0009] Preferably, the swing block can rotate with the carrying roller, and during the rotation, the probe in the groove falls onto the multi-chain transmission device below.

[0010] Preferably, the lower sprocket is connected to the brake device via a bearing.

[0011] Preferably, the multi-chain transmission device transmits the probe to the position and then clamps it with a gear rack parallel clamp to complete the acquisition.

[0012] Preferably, the rack in the gear-rack parallel clamp is driven by a clamp cylinder, and the clamp cylinder control air circuit is provided with a pressure reducing valve, and the clamp's clamping force can be adjusted by adjusting the pressure reducing valve, thereby ensuring that probes of different thicknesses can be effectively clamped.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are:

[0014] Compared with the prior art, the probe storage and conveying device of the molten steel measuring sampling robot system of the present invention has the following advantages: (1) the device includes a plurality of independent probe storage units, and the width of each independent probe storage unit can be adjusted according to the maximum width of the probe; (2) a parallel feeding device is arranged on the outer side of the probe clamping part, and the pad of the device can stably support the end of the clamping part of the probe to ensure that the probe is parallel and does not shake during the feeding process, and the spacing of the pads can be adjusted according to the shape of the probe; (3) the parallel feeding device adopts unidirectional feeding and the stroke of each feeding can be adjusted; (4) a multi-chain transmission device is adopted, and multiple chains are arranged according to the center of gravity of the probe, which can effectively avoid the bouncing of the probe when it falls on the chain; (5) a gear rack parallel clamp is adopted to ensure that probes of different thicknesses can be effectively clamped, and the centering and positioning efficiency is high and the error is small. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for describing the embodiment. Figure 1 Schematic diagram of the probe storage and conveying device, probe storage unit and parallel unloading device of the molten steel measuring and sampling robot system provided in Example 1, Figure 2 This is a schematic diagram of the one-way feeding of the parallel feeding device. Figure 3 Schematic diagram of probes with different shapes. Figure 4 This is a schematic diagram of the probe with a pendulum falling onto a multi-chain transmission device. Figure 5 This is a schematic diagram of the upper pad of the parallel feeding device. Figure 6 This is a schematic diagram of the probe storage unit. Figure 7 Schematic diagram of the upper sprocket and transmission rack of the parallel unloading device.

[0016] 1—probe storage unit, 2—parallel unloading device, 3—multi-chain transmission device, 11—clamp, 12—pressure block, 13—swing block, 14—groove, 21—upper sprocket, 22—lower sprocket, 23—chain, 24—shim, 25—transmission rack, 26—adjusting nut, 27—adjustable cylinder, 31—driving gear, 32—driven gear, 33—transmission chain, 34—stopper. DETAILED DESCRIPTION

[0017] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments.

[0018] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure.

[0019] Example 1

[0020] The following is combined with Figure 1-7 The present invention is further described as a probe storage and conveying device of a molten steel measuring sampling robot system, wherein the probe includes a working part and a clamping part, including a plurality of independent probe storage units 1, a parallel unloading device 2 and a multi-chain transmission device 3.

[0021] like Figure 1 , 4 As shown in FIG. 6 , each independent probe storage unit 1 includes two vertical clamping plates 11 . The distance between the two clamping plates 11 can be adjusted according to the maximum transverse width of the probe. After the adjustment, there is only one row of transversely placed probes between the two clamping plates 11 .

[0022] like Figure 1 , 3 As shown in FIG. 4 , the working parts of the probes are located on the same side of the probe storage unit 1 and are neatly arranged, and the ends of the clamping parts of the probes are supported by the parallel feeding device 2 to achieve that the probes are level in the probe storage unit 1 .

[0023] like Figure 1 , 2 As shown in Figure 5, the parallel feeding device 2 is located outside the clamping part of the probe, and includes an upper sprocket 21 and a lower sprocket 22. A chain 23 is installed between the upper sprocket 21 and the lower sprocket 22. A plurality of pads 24 are installed on the chain 23. The pads 24 support the end of the clamping part of the probe. The pads 24 are U-shaped and can stably support the end of the clamping part of the probe to ensure that the probe does not shake and fall off. The spacing of the pads 24 is adjusted according to the shape of the probe.

[0024] like Figure 2 and 7 As shown, the upper sprocket 21 of the parallel feeding device 2 is driven by a transmission shaft, a transmission gear is provided at the end of the transmission shaft away from the sprocket, a one-way bearing is provided between the transmission gear and the transmission shaft, the transmission shaft is connected to the inner ring of the one-way bearing, and the transmission gear is connected to the outer ring of the one-way bearing; the transmission gear is meshed with a transmission rack 25, and the transmission rack 25 is fixedly connected to the piston rod of an adjustable cylinder 27 (SCJ adjustable cylinder) at the end away from the transmission gear; an adjusting nut 26 is provided under the adjustable cylinder 27, and the piston rod stroke of the adjustable cylinder 27 can be adjusted.

[0025] The parallel feeding device 2 adopts a gear rack device, and the adjustable cylinder 27 drives the transmission rack 25, and the transmission gear meshes with the transmission rack 25. Since a one-way bearing is installed between the transmission gear and the transmission shaft, the transmission shaft can drive the upper sprocket 21 to feed in one direction. The lower sprocket 22 is connected to the brake device through a bearing. The brake device is used to ensure that when the piston rod of the adjustable cylinder 27 is contracted, the chain 23 can be guaranteed to rotate in one direction. The stroke of the adjustable cylinder 27 is adjustable, and the stroke of the adjustable cylinder 27 is the spacing of the pad 24, which can just realize that the probe is fed and dropped one at a time, so that the bar material can be smoothly dropped.

[0026] like Figure 4 As shown, the multi-chain transmission device 3 is located below the probe storage unit 1, and includes more than two (preferably three to five) identical chain transmission chains, which are arranged in parallel and can catch the probe dropped from the probe storage unit 1 and transmit it; each transmission chain includes a transmission chain 33, a driving gear 31 and a driven gear 32; the driving gears 31 of all chain transmission chains are fixedly mounted on a transmission shaft; a plurality of blocks 34 are fixedly provided on the outer periphery of the chain transmission chain, and the spacing between adjacent blocks 34 matches the lateral width of the probe.

[0027] like Figure 4 and 6 As shown, both ends of the two vertical clamping plates 11 of the probe storage unit 1 are provided with pressing blocks 12, and the pressing blocks 12 press the bases of the clamping plates 11 onto the storage main frame; the spacing between the clamping plates 11 can be adjusted by loosening the pressing blocks 12.

[0028] like Figure 4 As shown, a bearing roller is provided below the probe storage unit 1, and a plurality of pendulum blocks 13 are provided on the bearing roller, and a groove 14 is provided on the pendulum block 13; the plurality of grooves 14 jointly bear the clamping part of the probe. The pendulum block 13 can rotate with the bearing roller, and during the rotation, the probe in the groove 14 falls onto the multi-chain transmission device 3 below. When the pendulum block 13 below the probe storage unit 1 rotates toward the multi-chain transmission device 3, the chain 23 of the parallel feeding device 2 does not move. When the pendulum block 13 reverses, the parallel feeding device 2 and the pendulum block 13 move simultaneously, and the working part (the thick end) of the probe falls due to its own weight, and the clamping part (the thin end) falls under the support of the pad 24 of the parallel feeding device 2.

[0029] After the multi-chain transmission device 3 transmits the probe to the position, it is clamped by the gear rack parallel clamp to complete the acquisition.

[0030] The rack in the gear rack parallel clamp is pushed by the clamp cylinder, and the clamp cylinder control air circuit is provided with a pressure reducing valve. By adjusting the pressure reducing valve, the clamping force of the clamp can be adjusted, thereby ensuring that probes of different thicknesses can be effectively clamped.

[0031] Working principle: When the operator starts through the operation interface, the corresponding pendulum block is flipped according to the selected different silo storage units, and the probe in the corresponding silo storage unit is flipped onto the transmission chain. The brake in the parallel unloading device releases the brake pad, and the adjustable cylinder piston rod extends, driving the transmission gear to rotate and thus driving the upper sprocket to rotate; the unidirectional rotating upper sprocket drives the chain to drop the distance between the two pads, so that the probe falls smoothly into the pendulum block; a multi-chain transmission device is adopted, and multiple chains are arranged in parallel to prevent the probe from bouncing and deviating after it falls; when the transmission chain drives the probe to be transmitted in place, it is clamped by the gear rack parallel clamp to complete the acquisition.

[0032] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes for application in other fields. However, any simple modification or equivalent change made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A probe storage and conveying device for a molten steel measurement and sampling robot system, wherein the probe comprises a working part and a clamping part, and is characterized in that: It comprises a plurality of independent probe storage units (1), a parallel feeding device (2) and a multi-chain transmission device (3); Each independent probe storage unit (1) comprises two vertical clamping plates (11), and the distance between the two clamping plates (11) can be adjusted according to the maximum transverse width of the probe, and after the adjustment, there is only one row of transversely placed probes between the two clamping plates (11); The working parts of the probes are located on the same side of the probe storage unit (1) and are neatly arranged, and the ends of the clamping parts of the probes are supported by the parallel feeding device (2) to achieve horizontal positioning of the probes in the probe storage unit (1); The parallel feeding device (2) is located outside the probe clamping part, and comprises an upper sprocket (21) and a lower sprocket (22). A chain (23) is arranged between the upper sprocket (21) and the lower sprocket (22). A plurality of pads (24) are arranged on the chain (23), and the pads (24) support the end of the probe clamping part. The lower sprocket (22) is connected to the brake device through a bearing. The multi-chain transmission device (3) is located below the probe storage unit (1), and comprises more than two identical chain transmission chains, which are arranged in parallel and can receive the probe dropped from the probe storage unit (1) and transmit it; each of the transmission chains comprises a transmission chain (33), a driving gear (31) and a driven gear (32); the driving gears (31) of all the chain transmission chains are fixedly sleeved on a transmission shaft; a plurality of stoppers (34) are fixedly arranged on the outer circumference of the chain transmission chain, and the spacing between adjacent stoppers (34) matches the transverse width of the probe; The multi-chain transmission device (3) transmits the probe to the desired position and then clamps it with a gear rack parallel clamp to complete the acquisition.

2. The probe storage and conveying device of the molten steel measuring and sampling robot system according to claim 1 is characterized in that: The upper sprocket wheel (21) is driven by a transmission shaft, a transmission gear is provided at the end of the transmission shaft away from the sprocket wheel, a one-way bearing is arranged between the transmission gear and the transmission shaft, the transmission shaft is connected to the inner ring of the one-way bearing, and the transmission gear is connected to the outer ring of the one-way bearing.

3. The probe storage and conveying device of the molten steel measuring and sampling robot system according to claim 2 is characterized in that: The transmission gear is meshed with a transmission rack (25), and the transmission rack (25) is fixedly connected to the piston rod of an adjustable cylinder (27) at the end away from the transmission gear; an adjusting nut (26) is provided below the adjustable cylinder (27) to adjust the stroke of the piston rod of the adjustable cylinder (27).

4. The probe storage and conveying device of the molten steel measuring and sampling robot system according to claim 1 is characterized in that: Both ends of the two vertical clamping plates (11) of the probe storage unit (1) are provided with pressing blocks (12), and the pressing blocks (12) press the bases of the clamping plates (11) onto the storage main frame; the spacing between the clamping plates (11) can be adjusted by loosening the pressing blocks (12).

5. The probe storage and conveying device of the molten steel measuring and sampling robot system according to claim 1 is characterized in that: A bearing roller is provided below the probe storage unit (1), a plurality of swing blocks (13) are provided on the bearing roller, and a groove (14) is provided on the swing block (13); the plurality of grooves (14) jointly bear the clamping part of the probe.

6. The probe storage and conveying device of the molten steel measuring and sampling robot system according to claim 5 is characterized in that: The swing block (13) can rotate along with the bearing roller, and during the rotation, the probe in the groove (14) falls onto the multi-chain transmission device (3) below.

7. The probe storage and conveying device of the molten steel measuring and sampling robot system according to claim 1 is characterized in that: The rack in the gear rack parallel clamp is pushed by the clamp cylinder, and the clamp cylinder control air circuit is provided with a pressure reducing valve. By adjusting the pressure reducing valve, the clamping force of the clamp can be adjusted, thereby ensuring that probes of different thicknesses can be effectively clamped.

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