Lightweight measuring gun device for intelligent robot temperature measurement and sampling

Abstract

The application belongs to the technical field of metallurgical equipment and relates to a lightweight measuring gun device for temperature measurement and sampling by an intelligent robot, which comprises a lightweight gun body, a paper tube connector rod and a compression nut, the tail end of the lightweight gun body is provided with a cooling gas inlet, the paper tube connector rod is connected to the front end of the lightweight gun body through the compression nut, and the compression nut is sleeved on the lightweight gun body and the paper tube connector rod; the paper tube connector rod comprises a positioning connector nozzle, a hollow extension rod and a probe connector connected to the end of the hollow extension rod away from the lightweight gun body, the positioning connector nozzle is sleeved on the end of the hollow extension rod close to the lightweight gun body and used for connecting the compression nut, at least one cooling gas slot is arranged on the outer edge of the positioning connector nozzle, the cooling gas slot and the inner wall of the compression nut are matched to form a cooling gas nozzle, and the compression nut is in threaded connection with the lightweight gun body and in abutting connection with the positioning connector nozzle.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of metallurgical equipment, and relates to a lightweight measuring gun device for intelligent robot temperature measurement and sampling. BACKGROUND

[0002] Metallurgical production needs to measure the temperature and sample the metal melt during smelting to determine the progress of metallurgical reaction. Manual temperature measurement and sampling is gradually replaced by automatic temperature measurement and sampling devices and intelligent robots. The "temperature measurement and sampling operation" of the steelmaking process generally includes steel liquid temperature measurement, steel liquid oxygen determination, steel liquid hydrogen determination, steel liquid sample extraction, slag liquid sample extraction and a series of operations. A paper tube probe containing a detection element is sleeved on the probe connector of the measuring gun, and is held by manual or mechanical equipment and inserted into the high-temperature melt for a short time, but the work site has a harmful environment such as high-temperature radiation, high-intensity light burning, high-temperature slag injection, high-concentration metal dust, etc. Advanced metallurgical production generally uses automatic devices to use intelligent robots to perform temperature measurement and sampling operations, replacing manual operation in metallurgical production, reducing the labor intensity of workers and improving the safety of operation.

[0003] The measuring gun is a key device of the temperature measurement and sampling device, and the paper tube probe needs to be sleeved on the paper tube connector rod of the measuring gun and then inserted into the high-temperature metal melt together during the temperature measurement and sampling operation. Although the measuring gun has been deeply studied by technical personnel from various aspects, in the actual metallurgical production, the paper tube connector rod of the measuring gun still often bends and deforms greatly due to high temperature during operation, affecting the operation accuracy. Especially when there is thick top slag on the surface of the metal melt and high foaming slag on the surface of the steel liquid during smelting, the bending of the paper tube connector rod makes the metallurgical production difficult to proceed, seriously affecting the efficiency and capacity of the steel metallurgical production line. The patent with the publication number CN210005288U discloses a self-cooling gun for robot temperature measurement and sampling, but the secondary cooler of the measuring gun uses the gap between the outer tube and the core tube to generate a supersonic jet flow to reduce the bending of the measuring gun body caused by heating. This multi-layer sleeve structure increases the weight of the measuring gun, making the static load and dynamic load of the intelligent robot larger, but the intelligent robot usually adopts a joint type mechanical arm with smaller load capacity.

[0004] Therefore, it is necessary to study a lightweight measuring gun device for intelligent robot temperature measurement and sampling, which solves the problem of lightweight structure of the measuring gun under the premise of ensuring that the measuring gun does not deform due to high temperature. SUMMARY

[0005] In view of this, the purpose of the present application is to provide a lightweight measuring gun device for intelligent robot temperature measurement and sampling, which protects and cools the paper tube connector rod when the intelligent robot inserts the paper tube probe into high-temperature molten liquid and the paper tube connector rod bears thermal and impact loads, reduces the static and dynamic loads of the intelligent robot by using a lightweight gun body, and enables the intelligent robot for temperature measurement and sampling to be miniaturized, thereby further reducing the user's use cost.

[0006] To achieve the above purpose, the present application provides the following technical solutions:

[0007] A lightweight measuring gun device for intelligent robot temperature measurement and sampling, comprising a lightweight gun body, a paper tube connector rod and a compression nut, the tail end of the lightweight gun body is provided with a cooling gas inlet, the paper tube connector rod is connected to the front end of the lightweight gun body through the compression nut, and the compression nut is sleeved on the lightweight gun body and the paper tube connector rod;

[0008] The paper tube connector rod comprises a positioning and connecting spray head, a hollow extension rod and a probe connector connected to the end of the hollow extension rod away from the lightweight gun body, the positioning and connecting spray head is sleeved on the end of the hollow extension rod close to the lightweight gun body for connecting the compression nut, and at least one cooling gas slot is provided on the outer edge of the positioning and connecting spray head, the cooling gas slot and the inner wall of the compression nut cooperate to form a cooling gas spray port;

[0009] The compression nut is threadedly connected with the lightweight gun body and abuttingly connected with the positioning and connecting spray head.

[0010] Further, the connecting surface of the positioning and connecting spray head and the compression nut is a conical surface, and the outer diameter of the side close to the lightweight gun body is greater than the outer diameter of the side close to the hollow extension rod.

[0011] Further, the lightweight gun body comprises a measuring gun barrel, a first flange, a buffer device and a sliding limiting air guide block, the first flange is sleeved on the measuring gun barrel and fixedly connected, the buffer device comprises a sliding table mounting seat, a return spring and a displacement sensor, the sliding table mounting seat is provided with a second flange, the tail end of the measuring gun barrel penetrates through the second flange and is slidingly connected, the two ends of the return spring are connected with the first flange and the second flange respectively, and the displacement sensor is installed on the sliding table mounting seat to monitor the displacement of the first flange, the sliding limiting air guide block is sleeved on the measuring gun barrel and fixedly connected, and is located on the side of the second flange away from the first flange to limit the stroke of the measuring gun barrel.

[0012] Further, the sliding limiting air guide block is provided with a cooling gas quick connector communicating with the inner cavity of the measuring gun barrel.

[0013] Further, the lightweight gun body further comprises a measuring gun cable for transmitting an electric signal, the measuring gun cable is located in the measuring gun barrel and comprises a cable body and a cable quick connector, one end of the cable quick connector is connected with the cable body, and the other end is connected with a cable connector male end arranged on the end of the paper tube connector rod close to the lightweight gun body, so that the lightweight gun body and the paper tube connector rod are electrically connected.

[0014] Further, the lightweight measuring gun device is connected to the end of the mechanical arm of the intelligent robot through a sliding table mounting seat, the measuring gun cable and the displacement sensor are electrically connected with the intelligent robot, and the cooling gas quick connector is connected with an external cooling gas pipeline.

[0015] Further, the inner wall of the front end of the lightweight gun body is provided with a positioning gap, and the paper tube connector rod is provided with a circumferential stop pin matched with the positioning gap to limit the rotation of the paper tube connector rod.

[0016] The beneficial effects of the present application are that:

[0017] 1. The lightweight gun body is provided as a single tube structure, and a cooling gas inlet connected with the inner cavity of the measuring gun barrel is arranged at the tail end of the measuring gun barrel, a cooling gas slot arranged on the outer edge of the paper tube connector rod cooperates with a compression nut for connecting the lightweight gun body and the paper tube connector rod to form a cooling gas nozzle, so that the paper tube connector rod is cooled, and there is no need to additionally arrange a thick gas flow channel outside the lightweight gun body, under the premise of ensuring the cooling protection of the paper tube connector rod, the lightweight gun body is lightened, the static load and dynamic load of the intelligent robot are reduced, the intelligent robot for temperature measurement and sampling can be miniaturized, the use cost of the user is further reduced, the whole cooling effect reduces the thermal deformation of the paper tube connector rod, the robot has more accurate position control when automatically pulling and inserting the paper tube probe and sampling the temperature, the success rate of automatic temperature sampling is ensured, the effectiveness and reliability of the steelmaking model are avoided to be disturbed by the temperature sampling data quality problem, and automatic steelmaking is realized in cooperation with the steelmaking model.

[0018] 2. The buffer device arranged on the measuring gun barrel can reduce the impact bending deformation of the paper tube connector rod caused by the thick top slag on the surface of the metal molten liquid during the temperature measurement and sampling operation and the high foamed slag on the surface of the molten steel during the smelting process, and the displacement sensor can transmit an electric signal to observe whether the paper tube connector rod is impacted in real time, so as to automatically control and protect the paper tube connector rod.

[0019] Additional advantages, objects, and features of the application will be apparent to those skilled in the art upon examination of the following specification. It is intended that the application not be limited by any of the recited embodiments, but that the claims be construed as embracing all the features and advantages within their scope. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to make the objectives, technical solutions and advantages of the present application clearer, the preferred embodiments of the present application will be described in detail below with reference to the accompanying drawings, in which:

[0021] Figure 1 A 3D structural schematic diagram of a lightweight measuring gun device for temperature measurement and sampling of an intelligent robot in an embodiment;

[0022] Figure 2 A 3D structural schematic diagram of a paper tube connector rod in an embodiment;

[0023] Figure 3 A 3D structural schematic diagram of a lightweight gun body in an embodiment;

[0024] Figure 4 A structural schematic diagram of a lightweight measuring gun device for temperature measurement and sampling of an intelligent robot in an embodiment;

[0025] Figure 5 A partial structural schematic diagram of A in the embodiment; Figure 4 A partial structural schematic diagram of B in the embodiment;

[0026] Figure 6 A partial structural schematic diagram of B in the embodiment; Figure 4

[0027] Reference signs: lightweight gun body 1, cooling gas quick connector 101, sliding limiting air guide block 102, first flange 103, measuring gun barrel 104, positioning notch 105, compression nut 2, paper tube connector rod 3, positioning connection nozzle 301, circumferential stop pin 302, cooling gas slot 303, hollow extension rod 304, probe connector 305, conical surface 306, cooling gas inlet 4, cooling gas outlet 5, measuring gun cable 6, cable body 601, cable quick connector 602, cable connector male end 603, buffer device 7, sliding table mounting seat 701, second flange 702, return spring 703, displacement sensor 704. DETAILED DESCRIPTION

[0028] ​The present application is described and explained more fully with reference to the following detailed description. Other advantages of the present application will be realized and appreciated by one of ordinary skill in the art, and others, upon reading this description, when taken in conjunction with the accompanying drawings. In particular, in this Article, the terminology or description may be chosen such that similar terms can refer to similar elements throughout this Article.

[0029] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. In the drawings:

[0030] The same or similar components in the drawings of the embodiments of the present application correspond to the same or similar components; in the description of the present application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the position relationship in the drawings are only for illustrative purposes, and cannot be understood as a limitation of the present application, for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0031] Embodiment 1

[0032] In this embodiment, the tail end and the front end are referred to the distance from the liquid surface of the metal melt in the furnace, the end close to the liquid surface is the front end, and the end far from the liquid surface is the tail end.

[0033] Please refer to Figures 1-6 The application discloses a lightweight measuring gun device for temperature measurement and sampling of an intelligent robot, which comprises a lightweight gun body 1, a paper tube connecting rod 3 and a compression nut 2. The tail end of the lightweight gun body 1 is provided with a cooling gas inlet 4. The paper tube connecting rod 3 is connected to the front end of the lightweight gun body 1 through the compression nut 2. The compression nut 2 is sleeved on the lightweight gun body 1 and the paper tube connecting rod 3. At least one cooling gas slot 303 is arranged at the connection position of the paper tube connecting rod 3 and the compression nut 2. The cooling gas slot 303 and the inner wall of the compression nut 2 cooperatively form a cooling gas nozzle 5.

[0034] The paper tube connector rod 3 comprises a positioning connection nozzle 301, a hollow extension rod 304, and a probe connector 305 connected to the hollow extension rod 304 away from the lightweight gun body 1, the positioning connection nozzle 301 is sleeved on the hollow extension rod 304 close to the lightweight gun body 1 for connecting the compression nut 2, and at least one cooling gas slot 303 is arranged on the outer edge of the positioning connection nozzle 301; the compression nut 2 is threadedly connected with the lightweight gun body 1 and is in abutting connection with the positioning connection nozzle 301.

[0035] Preferably, the connecting surface of the positioning connection nozzle 301 and the compression nut 2 is a conical surface 306, and the outer diameter close to the lightweight gun body 1 side is greater than the outer diameter close to the hollow extension rod 304 side.

[0036] The lightweight gun body 1 comprises a gun barrel 104, a first flange 103, a buffer device 7, and a sliding limiting air guide block 102, the first flange 103 is sleeved on the gun barrel 104 and fixedly connected, the buffer device 7 comprises a sliding table mounting seat 701, a return spring 703, and a displacement sensor 704, the second flange 702 is arranged on the sliding table mounting seat 701, the tail end of the gun barrel 104 penetrates through the second flange 702 and is slidingly connected, the two ends of the return spring 703 are connected with the first flange 103 and the second flange 702 respectively, the displacement sensor 704 is installed on the sliding table mounting seat 701 to monitor the displacement of the first flange 103, the sliding limiting air guide block 102 is sleeved on the gun barrel 104 and fixedly connected, and is located on the side away from the first flange 103 of the second flange 702 to limit the stroke of the gun barrel 104, the sliding limiting air guide block 102 is provided with a cooling gas quick connector 101 in communication with the inner cavity of the gun barrel 104.

[0037] Preferably, the inner side of the sliding limiting air guide block 102 is provided with an annular air channel, the gun barrel 104 and the annular air channel have at least one more than one air inlet vent, and the cooling gas quick connector 101 is in communication with the annular air channel.

[0038] Optionally, the displacement sensor 704 is replaced by a proximity switch, the proximity switch is in contact with the first flange 103, when the first flange 103 fixedly connected to the gun barrel 104 is away from the proximity switch, the proximity switch changes the electrical signal to determine that the gun barrel 104 is blocked, so as to adjust the position and working condition of the gun barrel 104 in time.

[0039] The lightweight gun body 1 further comprises a measuring gun cable 6 for transmitting electrical signals, the measuring gun cable 6 is located in the measuring gun barrel 104, comprising a cable body 601 and a cable quick connector 602, one end of the cable quick connector 602 is connected with the cable body 601, and the other end is connected with a cable connector male end 603 arranged on the end of the paper tube connector rod 3 close to the lightweight gun body 1, so as to realize the electrical signal transmission between the lightweight gun body 1 and the paper tube connector rod 3.

[0040] The lightweight measuring gun device is bolted to the end of the mechanical arm of the intelligent robot through a sliding table mounting seat 701 (a through bolt hole is arranged on the sliding table mounting seat 701), the measuring gun cable 6 and the displacement sensor 704 are electrically connected with the intelligent robot, and the cooling gas quick connector 101 is connected with an external cooling gas pipeline.

[0041] The inner wall of the front end of the lightweight gun body 1 is provided with a positioning gap 105, and the paper tube connector rod 3 is provided with a circumferential stop pin 302 matched with the positioning gap 105 to limit the rotation of the paper tube connector rod 3, the positioning gap 105 is arranged on the inner wall of the front end of the measuring gun barrel 104, and the circumferential stop pin 302 is arranged on the positioning connector nozzle 301.

[0042] Specifically, the measuring gun barrel 104 of the lightweight measuring gun device adopts a hollow metal pipe with a length of 0.5 m to 2 m, an external thread for connecting the compression nut 2 is arranged on the outer side of the front end, an inner side is provided with a positioning gap 105 for extending the spatial position of the paper tube connector rod 3, protecting the measuring gun cable 6 and serving as a cooling gas passage, and the two ends are connected with the paper tube connector rod 3 and the buffer device 7 respectively; the paper tube connector rod 3 of the lightweight measuring gun device is used for respectively connecting measuring temperature probes, oxygen probes and samplers and the like operation tools, and is connected to the measuring gun barrel 104 through the positioning compression nut 2, four cooling gas grooves 303 are arranged on the paper tube connector rod 3 at the connecting position with the measuring gun barrel 104, the positioning connector nozzles 301 are uniformly distributed in the circumferences, the cooling gas grooves 303 on the paper tube connector rod 3 form cooling gas nozzles 5 with the inner wall of the compression nut 2, so that the paper tube connector rod 3 is cooled by the ejected cooling gas, and the thermal deformation of the paper tube connector rod 3 in a high-temperature environment is reduced.

[0043] The sliding limiting air guide block 102 is sleeved on the tail of the measuring gun barrel 104 and is compressed by double nuts, and the tail of the measuring gun barrel 104 is sealed to prevent cooling gas from leaking. During the buffering process, the sliding limiting air guide block 102 reciprocally slides on the sliding table mounting seat 701 together with the measuring gun barrel 104, and the stroke of the measuring gun barrel 104 is limited to prevent it from sliding out of the sliding table mounting seat 701, and the first flange 103 on the measuring gun barrel 104 is pushed by the reset spring 703 to reset the measuring gun barrel 104.

[0044] The paper tube connector rod 3 can be any existing paper tube connector rod for connecting a paper tube probe, wherein the hollow extension rod 304 is used to accommodate a signal transmission cable, and is detachably connected with the probe connector 305, the probe connector 305 is used to connect the paper tube probe, the key is that the positioning connector nozzle 301 is welded with the hollow extension, the cable connector male end 603 is fixed on the end of the positioning connector nozzle 301 close to the end of the measuring gun barrel 104, the outer surface of the positioning connector nozzle 301 has a conical surface 306 which is matched with the inner surface conical surface 306 of the compression nut 2 to be compressed and positioned on the measuring gun barrel 104, and a cooling gas slot 303 is arranged on the outer edge of the positioning connector nozzle 301, the center line of the cooling gas slot 303 is parallel to the axis of the paper tube connector rod 3, and is in communication with the inner cavity of the measuring gun barrel 104, and further matches with the inner wall of the compression nut 2 to form a cooling gas nozzle 5, the cooling gas sprayed through the cooling gas nozzle 5 cools the paper tube connector rod 3 to prevent thermal deformation.

[0045] The cable connector male end 603 is connected with the cable quick connector 602 in the measuring gun barrel 104, the cable quick connector 602 is connected on the cable body 601, the cable body 601 is pulled out from the cable hole at the tail end of the measuring gun barrel 104, and is electrically connected with the intelligent robot to transmit the electrical signal to the intelligent robot.

[0046] In this embodiment, the buffer connecting device of the lightweight gun body 1 directly connects the lightweight measuring gun device to the flange at the end of the mechanical arm of the intelligent robot, the cooling gas hose sends cooling gas into the cooling gas quick connector 101, the measuring gun cable 6 is pulled out from the cable outlet of the lightweight gun body 1, and is combined with the cable of the displacement sensor 704, and is arranged along the mechanical arm to the base of the robot together with the cooling gas pipe.

[0047] Embodiment 2

[0048] The flange at the end of the mechanical arm of the intelligent robot is connected with the tool side module provided with a quick change device, the buffer connecting device connects the lightweight measuring gun device to the tool side module, the robot can separately connect different tool side modules by using the quick change device, so as to connect different special tools to realize different functions, wherein the tool side module connected with the lightweight measuring gun device is used to realize the temperature measurement and sampling function. The difference between this embodiment and embodiment 1 is that the cooling gas pipe, the measuring gun cable 6 and the cable of the displacement sensor 704 required by the lightweight measuring gun device need to be connected to the tool side module of the quick change device first, and are connected with the tool side module of the quick change device through a special connecting module, and the corresponding pipeline on the tool side module is connected to the base of the robot. The lightweight measuring gun device of this embodiment is universal with the structure of embodiment 1, and the length of the measuring gun barrel 104 is determined according to the requirement.

[0049] Finally, it is to be explained that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit the present application. Although the present application is described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions, and all should be covered in the scope of the claims of the present application.

Claims

1. A lightweight measuring gun device for intelligent robot temperature measurement sampling, characterized in that: The application relates to a lightened gun body (1), a paper tube connecting rod (3) and a compression nut (2), wherein the lightened gun body (1) is provided with a single tube structure, a cooling gas inlet (4) is arranged at the tail end of the lightened gun body (1), the paper tube connecting rod (3) is connected to the front end of the lightened gun body (1) through the compression nut (2), and the compression nut (2) is sleeved on the lightened gun body (1) and the paper tube connecting rod (3). The paper tube connecting rod (3) comprises a positioning and connecting spray head (301), a hollow extension rod (304) and a probe connector (305) connected to the end of the hollow extension rod (304) away from the lightened gun body (1), the positioning and connecting spray head (301) is sleeved on the end of the hollow extension rod (304) close to the lightened gun body (1) and used for connecting the compression nut (2), at least one cooling gas slot (303) is arranged on the outer edge of the positioning and connecting spray head (301), and the cooling gas slot (303) and the inner wall of the compression nut (2) are matched to form a cooling gas spray opening (5). The compression nut (2) is in threaded connection with the lightened gun body (1) and in abutting connection with the positioning and connecting spray head (301). The inner wall of the front end of the lightened gun body (1) is provided with a positioning gap (105), and the paper tube connecting rod (3) is provided with a circumferential stop pin (302) matched with the positioning gap (105) to limit the rotation of the paper tube connecting rod (3). 2.The intelligent robot light-weight temperature measuring gun device for temperature measurement and sampling according to claim 1, characterized in that: The connecting surface of the positioning and connecting spray head (301) and the compression nut (2) is a conical surface (306), and the outer diameter of the side close to the lightened gun body (1) is larger than the outer diameter of the side close to the hollow extension rod (304). 3.The intelligent robot light-weight measuring gun device for temperature measurement and sampling according to claim 1, characterized in that: The lightened gun body (1) comprises a gun barrel (104), a first flange (103), a buffer device (7) and a sliding limiting air guide block (102), the first flange (103) is sleeved on the gun barrel (104) and fixedly connected, the buffer device (7) comprises a sliding table mounting base (701), a reset spring (703) and a displacement sensor (704), the sliding table mounting base (701) is provided with a second flange (702), the tail end of the gun barrel (104) penetrates through the second flange (702) and is in sliding connection, the two ends of the reset spring (703) are connected with the first flange (103) and the second flange (702) respectively, the displacement sensor (704) is installed on the sliding table mounting base (701) to monitor the displacement of the first flange (103), the sliding limiting air guide block (102) is sleeved on the gun barrel (104) and fixedly connected and located on the side of the second flange (702) away from the first flange (103) to limit the stroke of the gun barrel (104). 4.The intelligent robot light-weight measuring gun device for temperature measurement and sampling according to claim 3, characterized in that: The sliding limiting air guide block (102) is provided with a cooling gas quick connector (101) communicated with the inner cavity of the gun barrel (104). 5.The intelligent robot light-weight measuring gun device for temperature measurement and sampling according to claim 4, characterized in that: The lightened gun body (1) further comprises a measuring gun cable (6) for transmitting electrical signals, the measuring gun cable (6) is located in the measuring gun barrel (104) and comprises a cable body (601) and a cable quick plug (602), one end of the cable quick plug (602) is connected with the cable body (601), and the other end is connected with a cable connector male end (603) arranged on the end of the paper tube connector rod (3) close to the lightened gun body (1), so that the lightened gun body (1) and the paper tube connector rod (3) realize electrical signal transmission. 6.The intelligent robot light-weight measuring gun device for temperature measurement and sampling according to claim 5, characterized in that: The lightened measuring gun device is connected to the end of the mechanical arm of the intelligent robot through a sliding table mounting seat (701), the measuring gun cable (6) and the displacement sensor (704) are electrically connected with the intelligent robot, and the cooling gas quick connector (101) is connected with an external cooling gas pipeline.

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