A kind of automatic temperature measuring and workpiece taking robot device for circular workpiece in high temperature environment

Abstract

The present application relates to heat treatment quenching experiment equipment technical field, especially to a kind of for high-temperature environment circular workpiece automatic temperature measurement and pick up robot device, comprising: mobile mechanism, for driving robot moves;Lifting mechanism, is located at the top of mobile mechanism, for driving robot to make ascending or descending movement;Circular workpiece pick up mechanism, is located at the top of lifting mechanism, for circular workpiece in high-temperature environment automatic pick up;Temperature measurement mechanism, with circular workpiece pick up mechanism connection, for circular workpiece automatic temperature measurement;Central control platform, with temperature measurement mechanism, mobile mechanism, lifting mechanism, circular workpiece pick up mechanism electric connection, for controlling robot and real-time display the working state of robot and real-time temperature measurement data.The present application can complete pick up and temperature measurement task simultaneously, can complete the cooling process of quenching process from the complete measurement of workpiece in high-temperature environment, provide complete data chain for quenching research, to improve the accuracy of quenching experimental research.

Description

Technical Field

[0001] This invention relates to the field of heat treatment quenching experimental equipment, and in particular to an automatic temperature measurement and part removal robot device for circular workpieces in high-temperature environments. Background Technology

[0002] Optimizing the crystal structure of nickel-based superalloys to reduce residual stress and improve their high-temperature performance requires heating the superalloy to a high temperature followed by quenching experiments. Due to the extremely high temperature of the heated metal, manual handling with tools is necessary for clamping and handling. When the superalloy is large, manual clamping force is often insufficient, easily causing the workpiece to fall and resulting in injuries to personnel and equipment, posing a significant safety hazard. Furthermore, quenching temperature is one of the most critical parameters in the quenching process. During the rapid cooling phase at the beginning of quenching, the workpiece is exposed to the cooling medium. The surface temperature drops sharply, but the temperature decreases more slowly in the deeper layers, resulting in a particularly large temperature gradient. Therefore, frequent and timely temperature data acquisition is crucial in the early stages of quenching to avoid excessive calculation errors.

[0003] Currently, the process of manually clamping and handling high-temperature alloy workpieces is time-consuming. Before the quenching and cooling experiment can be carried out, the alloy workpiece has already cooled down, making it difficult to obtain a complete temperature change curve of the quenching process, which affects subsequent experimental research.

[0004] Patent document CN215544641U relates to a high-temperature forging clamping tool with a long service life. It includes a base, with a sleeve fixedly connected to the top of the base via a fixing plate. A telescopic column is inserted into the inside of the sleeve, and a linkage box is rotatably connected to the top of the telescopic column via a bearing. A first sliding groove plate is fixedly connected to the right side of the top of the linkage box. This patent relates to the field of forging processing technology. This high-temperature forging clamping tool with a long service life uses a bent frame to connect an arc-shaped clamping frame. After the forging is clamped and transported, the two arc-shaped clamping frames can be connected via guide pipes and guide interfaces. Then, a water pump is started to inject water from the water tank into the bent frame through the first water guide pipe, allowing the water to flow through the two arc-shaped clamping frames and then back into the water tank through the second water guide pipe. This structure utilizes the thermal conductivity of water to carry away the heat from the clamp, lowering the overall temperature and ensuring that the clamp is not subjected to high-temperature corrosion for extended periods. However, the clamping tools described in the aforementioned public documents mainly consider the design and movement of the arc-shaped clamp and the cooling of the arc-shaped clamp. They do not consider clamping high-temperature circular workpieces, nor do they consider real-time temperature measurement of the clamped workpiece, nor do they automate the clamping tool design, thus failing to reduce the error in subsequent temperature measurement.

[0005] Patent document CN102806298A relates to a handling robot for gripping high-temperature workpieces in hot forging. It includes a frame and a robotic arm capable of gripping workpieces, a mounting base, and a telescopic cylinder. A rotary table is fixed on the frame, and a linear motion module that allows the mounting base to move laterally is mounted on the rotary table's rotation axis via a connecting transition plate. The robotic arm is hinged to the mounting base, and one end of the telescopic cylinder is hinged to the mounting base, while the other end is hinged to the tail end of the robotic arm. This invention is inexpensive, has a large operating range, is easy to assemble, and meets the workpiece gripping requirements of hot forging work sites. However, the handling robot in the aforementioned disclosure primarily considers improving space utilization and system flexibility. The robot platform is fixed and does not consider platform movement, gripping high-temperature circular workpieces, or real-time temperature measurement of the gripped workpiece. Its application scenarios are limited, and its scope of application is narrow.

[0006] Patent document CN110586787A relates to a picking device for complex high-temperature stamped parts of long shafts, comprising: a base with a moving device at its bottom; a rotating seat mounted on the upper surface of the base; a lifting device erected on the rotating seat; an upper crossbeam fixed to the top of the lifting device, the upper crossbeam having several horizontal bars, a mechanical gripping device on the lower surface of the end of each horizontal bar away from the lifting device, and an electric drive device at the other end of each horizontal bar, the electric drive device and the mechanical gripping device being connected by a connecting member; and a vision detection device erected on one side of the base via a pole. However, the picking device in the above-disclosed document mainly considers picking up long shaft parts, avoiding the use of materials that are not resistant to high temperatures. While it can operate at higher temperatures, it does not consider gripping round workpieces, nor does it consider real-time temperature measurement of the gripped workpiece, nor does it cool the parts. Therefore, its high-temperature resistance is poor and its versatility is limited. Summary of the Invention

[0007] The purpose of this invention is to address the shortcomings of existing technologies by proposing an automatic temperature measurement and removal robot device for circular workpieces in high-temperature environments. This device can simultaneously complete the tasks of removing the workpiece and measuring the temperature, and can automatically, safely and efficiently transfer the workpiece and measure the temperature change. In particular, it can completely measure the cooling process of the workpiece from the high-temperature environment to the quenching process, providing a complete data chain for quenching research, thereby improving the accuracy of quenching experimental research.

[0008] To achieve the above objectives, the present invention adopts the following technical solution:

[0009] A robotic device for automatic temperature measurement and handling of circular workpieces in high-temperature environments includes:

[0010] A moving mechanism, used to drive the robot to move;

[0011] The lifting mechanism, located above the moving mechanism, is used to drive the robot to move up or down.

[0012] A circular workpiece picking mechanism is located above the lifting mechanism and is used to automatically pick up circular workpieces in high-temperature environments.

[0013] The temperature measuring mechanism is connected to the circular workpiece picking mechanism and is used for automatic temperature measurement of the circular workpiece.

[0014] The central control platform is electrically connected to the temperature measuring mechanism, the moving mechanism, the lifting mechanism, and the round workpiece picking mechanism. It is used to control the robot and display the robot's working status and real-time temperature measurement data.

[0015] Preferably, the moving mechanism includes a chassis, a battery pack mounted on the chassis, and a steering servo. The battery pack is located at the rear end of the chassis, and the steering servo is located on one side of the battery pack. The bottom of the chassis is provided with four moving wheels, all of which are connected to the chassis via moving wheel brackets. Each moving wheel is driven by an independent moving wheel motor. Tracking navigation sensors are installed on the two front moving wheels, and the two rear moving wheels are connected to the steering servo.

[0016] Preferably, the lifting mechanism includes a hydraulic lifting rod and a support platform mounted on the chassis, with the support platform horizontally positioned above the hydraulic lifting rod.

[0017] Preferably, the circular workpiece handling mechanism includes a support frame mounted on a bearing platform and two telescopic arms mounted on the support frame. The two telescopic arms are spaced apart, with the front ends of the two telescopic arms carrying circular workpieces, the rear ends of the two telescopic arms connected to a cooling system, and furnace doors installed at the middle ends of the two telescopic arms. The furnace doors include a main furnace door and an auxiliary furnace door.

[0018] Preferably, the temperature measuring mechanism includes a thermocouple, the front end of which passes through the hole in the main furnace door and is inserted into the temperature measuring hole of the circular workpiece, and the rear end of which is connected to the central control platform through a lead wire protector.

[0019] Preferably, the central control platform includes a multi-functional display screen, a motion controller, a lifting controller, a telescopic controller, a wireless transceiver, and a temperature acquisition device; the motion controller, lifting controller, telescopic controller, wireless transceiver, and temperature acquisition device are all electrically connected to the multi-functional display screen.

[0020] The multi-functional display screen is used to display the robot's working status and real-time temperature measurement data in real time.

[0021] The motion controller is used to control the moving wheel motor, the tracking and navigation sensor, and the steering servo to control the robot to perform actions such as moving forward, backward, turning, and turning around in place;

[0022] The lifting controller is used to control the hydraulic lifting rod, and to control the lifting and slope of the support platform;

[0023] The telescopic controller is used to control the telescopic boom and telescopic motor, and to control the length and spacing of the telescopic boom.

[0024] The wireless transceiver controls the robot's movement by receiving signals from the remote control;

[0025] The temperature acquisition unit is used to receive the electrical signals from the thermocouple and convert them into temperature values.

[0026] Preferably, the cooling system includes a water pump, water pipes, and a cooling water tank. The cooling water tank is located below the battery pack, and the water pump is located on one side of the cooling water tank. The water pump is connected to the telescopic arm via water pipes.

[0027] Preferably, the support frame is provided with a spacing adjuster for adjusting the distance between the two telescopic arms. The spacing adjuster includes a telescopic motor, a telescopic rod, a contact plate, a slide rail, a fixing hoop, and a base plate. The base plate is installed on the slide rail. The fixing hoop is used to fix the telescopic arms and is connected to the base plate. One end of the base plate is provided with a contact plate. The contact plate is connected to the telescopic motor through the telescopic rod. The telescopic motor drives the contact plate to be pushed and pulled through the telescopic rod, so that the base plate moves along the slide rail.

[0028] Preferably, the telescopic arm has a hollow structure and is made of high-temperature resistant alloy. The telescopic arm is provided with a cooling water inlet and a cooling water outlet, and a partition is provided between the cooling water inlet and the cooling water outlet.

[0029] Preferably, the thermocouple is fitted with a corundum protective sleeve or a stainless steel protective sleeve.

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] 1. This invention can safely and quickly remove workpieces from high-temperature environments, avoiding the safety problems that traditional methods rely on manual clamping. It also improves the efficiency of workpiece removal and solves the problem of insufficient manual strength to clamp workpieces.

[0032] 2. This invention can measure the temperature of the workpiece in real time during the transfer process, and in particular, it can completely measure the cooling process of the workpiece from the high temperature environment to the quenching process, providing a complete data chain for quenching research and improving the accuracy of quenching experimental research.

[0033] 3. The length and spacing of the telescopic arm of the present invention are adjustable to meet the different sizes of round workpieces; at the same time, it is equipped with a cooling system, which can improve the temperature resistance of the telescopic arm, protect the robot from high temperature damage, and effectively extend its service life.

[0034] 4. The present invention adopts a lifting mechanism to adjust the slope of the carrying platform, and the central control platform can display the robot's operating status and temperature measurement data in real time, which can realize fully automated operation and avoid the problem of untimely temperature measurement caused by long picking time.

[0035] 5. This invention moves the furnace door and the round workpiece synchronously. The furnace door can act as a heat insulator during the transfer of the workpiece, preventing the frame equipment behind the door from burning out. It also reduces the operation of opening and closing the furnace door, saving time and processes. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the structure of the present invention;

[0037] Figure 2 This is a top view of the chassis in this invention;

[0038] Figure 3 This is a top view of the support platform in this invention;

[0039] Figure 4 This is a schematic diagram of the telescopic arm in this invention;

[0040] Figure 5 This is a top view of the spacing adjuster in this invention;

[0041] Figure 6 This is a side view of the spacing adjuster in this invention;

[0042] Figure 7 This is a schematic diagram of the furnace door structure in this invention.

[0043] Figure 8 This is a block diagram of the central control platform in this invention.

[0044] In the diagram: 1. Chassis; 2. Moving wheel motor; 3. Tracking navigation sensor; 4. Battery pack; 5. Steering servo; 6. Hydraulic lifting rod; 7. Bearing platform; 8. Telescopic arm; 81. Cooling water inlet; 82. Cooling water outlet; 83. Partition plate; 9. Support frame; 10. Cooling system; 101. Water pump; 102. Water pipe; 103. Cooling water tank; 11. Spacing adjuster; 111. Telescopic motor; 112. Telescopic rod; 113. Contact plate; 114. Slide rail; 115. Fixing clamp; 116. Base plate; 12. Circular workpiece; 13. Thermocouple; 14. Lead wire protector; 15. Main furnace door; 151. Auxiliary furnace door; 16. Central control platform; 161. Multifunctional display screen; 162. Motion controller; 163. Lifting controller; 164. Telescopic controller; 165. Wireless transceiver; 166. Temperature acquisition device; 17. Moving wheel; 18. Moving wheel bracket. Detailed Implementation

[0045] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings, so that those skilled in the art can better understand the advantages and features of the present invention, thereby making a clearer definition of the scope of protection of the present invention. The embodiments described in this invention are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0046] Reference Figures 1-8 A robotic device for automatic temperature measurement and handling of circular workpieces in high-temperature environments, comprising:

[0047] A moving mechanism, used to drive the robot to move;

[0048] The lifting mechanism, located above the moving mechanism, is used to drive the robot to move up or down.

[0049] A circular workpiece picking mechanism is located above the lifting mechanism and is used to automatically pick up the circular workpiece 12 in a high-temperature environment.

[0050] A temperature measuring mechanism, connected to a circular workpiece removal mechanism, is used for automatic temperature measurement of the circular workpiece 12.

[0051] The central control platform 16 is electrically connected to the temperature measuring mechanism, the moving mechanism, the lifting mechanism, and the circular workpiece picking mechanism. It is used to control the robot and display the robot's working status and real-time temperature data. In actual use, the central control platform 16 can be controlled by a wireless remote controller or by connecting to a computer via a cable.

[0052] In this embodiment, the moving mechanism, lifting mechanism, circular workpiece picking mechanism, temperature measuring mechanism, and central control platform 16 work together to enable the robot to safely and quickly remove workpieces from high-temperature environments. This avoids the safety issues associated with traditional manual handling, improves picking efficiency, and solves the problem of insufficient manual strength to pick up workpieces. Furthermore, it can measure the workpiece temperature in real time during transport, and in particular, can completely measure the cooling process from removal from the high-temperature environment to the quenching process, providing a complete data chain for quenching research and improving the accuracy of quenching experimental studies.

[0053] Specifically, refer to Figure 2 The moving mechanism includes a chassis 1, a battery pack 4 mounted on the chassis 1, and a steering servo 5. The battery pack 4 is located at the rear end of the chassis 1, and the steering servo 5 is located on one side of the battery pack 4. The bottom of the chassis 1 is provided with four moving wheels 17, and the four moving wheels 17 are all connected to the chassis 1 through moving wheel brackets 18. Each moving wheel 17 is driven by an independent moving wheel motor 2. Tracking navigation sensors 3 are installed on the two front moving wheels 17, and the two rear moving wheels 17 are connected to the steering servo 5.

[0054] In this embodiment, the four moving wheels 17 at the bottom of the chassis 1 are all driven by independent moving wheel motors 2, which can drive the entire robot device to perform actions such as moving forward, backward, turning, and turning around on the spot; the battery pack 4 is used to provide power to the moving wheel motors 2, the lifting mechanism, the telescopic arm 8, and the central control platform 16; the line-following navigation sensor 3 is used for the navigation of the robot device. By installing multiple line-following navigation sensors 3 to form an array in front of the robot device, the robot device can determine its current position based on the intensity of the reflected light received by the line-following navigation sensor 3, and then adjust its driving direction accordingly; the steering servo motor 5 is used to control the movement direction of the robot device.

[0055] Specifically, refer to Figure 1 The lifting mechanism includes a hydraulic lifting rod 6 and a bearing platform 7 mounted on the chassis 1, with the bearing platform 7 horizontally positioned above the hydraulic lifting rod 6.

[0056] In this embodiment, the hydraulic lifting rod 6 is used to connect to and support the bearing platform 7. The two hydraulic lifting rods 6 at the front end and the two hydraulic lifting rods 6 at the rear end can be controlled separately, and the height or slope of the bearing platform 7 can be adjusted.

[0057] Specifically, refer to Figure 1 , Figure 3 , Figure 7The circular workpiece handling mechanism includes a support frame 9 mounted on a bearing platform 7 and two telescopic arms 8 mounted on the support frame 9. The two telescopic arms 8 are spaced apart. The front ends of the two telescopic arms 8 carry circular workpieces 12. The rear ends of the two telescopic arms 8 are connected to a cooling system 10. A furnace door is installed at the middle of the two telescopic arms 8. The furnace door includes a main furnace door 15 and an auxiliary furnace door 151.

[0058] In this embodiment, in practical application, the furnace door and the circular workpiece 12 can be moved synchronously. The furnace door can play a role in heat insulation during the transfer of the workpiece, preventing the frame equipment behind the door from being burned. At the same time, it also reduces the operation of opening and closing the furnace door, saving time and procedures.

[0059] Specifically, refer to Figure 1 , Figure 3 The temperature measuring mechanism includes a thermocouple 13. The front end of the thermocouple 13 passes through the hole in the main furnace door 15 and is inserted into the temperature measuring hole of the circular workpiece 12. The rear end of the thermocouple 13 is connected to the central control platform 16 through a lead wire protector 14.

[0060] Specifically, refer to Figure 8 The central control platform 16 includes a multi-functional display screen 161, a motion controller 162, a lifting controller 163, a telescopic controller 164, a wireless transceiver 165, and a temperature collector 166; the motion controller 162, the lifting controller 163, the telescopic controller 164, the wireless transceiver 165, and the temperature collector 166 are all electrically connected to the multi-functional display screen 161.

[0061] Among them, the multi-functional display screen 161 is used to display the robot's working status and real-time temperature measurement data in real time;

[0062] The motion controller 162 is used to control the moving wheel motor 2, the tracking navigation sensor 3, and the steering servo motor 5, and to control the robot to perform actions such as moving forward, backward, turning, and turning around in place;

[0063] The lifting controller 163 is used to control the hydraulic lifting rod 6 and the lifting and slope of the bearing platform 7;

[0064] The telescopic controller 164 is used to control the telescopic boom 8 and the telescopic motor 111, and to control the length and spacing of the telescopic boom.

[0065] The wireless transceiver 165 controls the robot's movement by receiving signals from the remote control;

[0066] Temperature acquisition unit 166 is used to receive electrical signals from thermocouples and convert them into temperature values.

[0067] Specifically, refer to Figure 1 , Figure 2The cooling system 10 includes a water pump 101, a water pipe 102 and a cooling water tank 103. The cooling water tank 103 is located below the battery pack 4, and the water pump 101 is located on one side of the cooling water tank 103. The water pump 101 is connected to the telescopic arm 8 through the water pipe 102.

[0068] Specifically, refer to Figure 5 , Figure 6 The support frame 9 is provided with a spacing adjuster 11 for adjusting the distance between the two telescopic arms 8. The spacing adjuster 11 includes a telescopic motor 111, a telescopic rod 112, a contact plate 113, a slide rail 114, a fixing hoop 115, and a base plate 116. The base plate 116 is installed on the slide rail 114. The fixing hoop 115 is used to fix the telescopic arms 8 and is connected to the base plate 116. One end of the base plate 116 is provided with a contact plate 113. The contact plate 113 is connected to the telescopic motor 111 through the telescopic rod 112. The telescopic motor 111 drives the contact plate 113 to push and pull through the telescopic rod 112, so that the base plate 116 moves along the slide rail 114.

[0069] In this embodiment, both telescopic arms 8 are adjustable in both length and width directions to accommodate circular workpieces 12 of different sizes. When adjusting in the width direction, a telescopic motor 111 drives the telescopic rod 112 to push and pull the contact plate 113, causing the base plate 116 to move along the slide rail 114. This, in turn, moves the telescopic arms 8 on the base plate 116, ultimately adjusting the distance between the two telescopic arms 8. In practical applications, the distance between the two telescopic arms 8 can be adjusted electrically or using limit screws.

[0070] In addition, in this embodiment, a cooling system 10 is provided to improve the temperature resistance of the telescopic arm, protect the robot from high-temperature damage, and effectively extend its service life. Specifically, a water pump 101 is connected to the telescopic arm 8 via a water pipe 102, and water in the cooling water tank 103 is used to cool the telescopic arm 8 through the water pipe 102. In practical applications, the cooling water tank 103 is filled with water, and the cooling water tank 103 and the battery pack 4 can act as counterweights to prevent the circular workpiece 12 from becoming too heavy and causing the robot to lose balance. Alternatively, if the weight of the robot needs to be reduced, the cooling system can be removed as needed.

[0071] The circular workpiece 12 can be cylindrical or spherical. Three temperature measuring holes are drilled on the circular workpiece 12. The depth of the temperature measuring holes is half the thickness of the circular workpiece 12, and they are arranged vertically to facilitate the insertion of the thermocouple 13 into the circular workpiece 12.

[0072] Specifically, refer to Figure 4The telescopic arm 8 has a hollow structure and is made of a high-temperature resistant alloy, such as 310S stainless steel, which has advantages such as high structural strength and high temperature resistance, thereby extending its service life. The telescopic arm 8 is provided with a cooling water inlet 81 and a cooling water outlet 82, which are separated by a partition 83.

[0073] Specifically, the thermocouple 13 is fitted with a corundum protective sleeve or a stainless steel protective sleeve. In practical applications, if an S-type thermocouple with a corundum sleeve is used, the thermocouple can meet the heating temperature range of the high-temperature workpiece.

[0074] When using this invention: At the beginning, the experimenter places the circular workpiece 12 at the front end of the telescopic arm 8 and the main furnace door 15 at the middle end of the telescopic arm 8. The distance between the circular workpiece 12 and the main furnace door 15 is the distance from the middle of the furnace chamber to the edge of the furnace opening. The S-type thermocouple 13 with a corundum sleeve structure is inserted into the temperature measuring hole of the circular workpiece 12 through the hole of the main furnace door 15. The lead wire of the thermocouple 13 is connected to the central control platform 16 through the lead wire protector 14.

[0075] Fill the cooling water tank with water. The cooling water tank and battery pack can act as counterweights to prevent the robot from losing balance due to excessive weight of the circular workpiece 12.

[0076] Manipulate the robot to ensure that the circular workpiece 12 is aligned with the furnace chamber. Then, move the robot forward to send the circular workpiece 12 into the center of the furnace chamber, while the main furnace door 15 reaches the furnace opening. Lower the support platform 7 so that the circular workpiece 12 and the main furnace door 15 contact the furnace bottom. Shorten the telescopic arm 8 so that it moves out of the furnace and install the auxiliary furnace door 151.

[0077] When the circular workpiece 12 is heated to 1100℃ in the electric furnace, the auxiliary furnace door 151 is removed, and the telescopic arm 8 extends into the electric furnace. After the front end of the telescopic arm 8 contacts the circular workpiece 12, the supporting platform 7 is raised to lift the circular workpiece 12 and the main furnace door 15. During this process, the water pump 101 starts to work to cool the telescopic arm 8.

[0078] The robot is manipulated to move backward, and the circular workpiece 12 is moved out of the electric furnace for high-speed gas quenching experiment. At this time, the central control platform 16 records the quenching experiment temperature data throughout the process and displays it in real time.

[0079] In addition, when adjusting the distance between the two telescopic arms 8, such as Figure 5 and Figure 6 As shown, the telescopic motor 111 can be adjusted to control the length of the telescopic rod 112. The telescopic rod 112 can control the contact plate 113 to push or pull the base plate 116 along the slide rail 114. The telescopic arm 8 is fixed to the base plate 116 by the fixing hoop 115.

[0080] In addition to manual manipulation of the robot's movement, a movement route can be set on the ground, and a program can be programmed so that the robot can automatically run along the set movement route using the tracking navigation sensor 3.

[0081] In addition, when the telescopic arm 8 enters the electric furnace to pick up the round workpiece 12, the robot can remain stationary while the telescopic arm 8 extends into the electric furnace, or the length of the telescopic arm 8 can remain unchanged while the robot moves forward to allow the telescopic arm 8 to enter the electric furnace.

[0082] In summary, this invention can safely and quickly remove workpieces from high-temperature environments, avoiding the safety issues associated with traditional manual clamping methods. It also improves the efficiency of workpiece removal and solves the problem of insufficient manual strength to clamp workpieces. Furthermore, it can measure the temperature of the workpiece in real time during the transfer process, especially the complete measurement of the cooling process from removal from the high-temperature environment to the quenching process, providing a complete data chain for quenching research and improving the accuracy of quenching experimental research.

[0083] The descriptions and practices disclosed in this invention are readily apparent and understandable to those skilled in the art, and various modifications and refinements can be made without departing from the principles of this invention. Therefore, any modifications or improvements made without departing from the spirit of this invention should also be considered within the scope of protection of this invention.

Claims

1. A robotic device for automatic temperature measurement and handling of circular workpieces in high-temperature environments, characterized in that, include: A moving mechanism, used to drive the robot to move; The lifting mechanism, located above the moving mechanism, is used to drive the robot to move up or down. A circular workpiece picking mechanism is located above the lifting mechanism and is used to automatically pick up circular workpieces (12) in a high-temperature environment. The temperature measuring mechanism is connected to the circular workpiece picking mechanism and is used to automatically measure the temperature of the circular workpiece (12); The central control platform (16) is electrically connected to the temperature measuring mechanism, the moving mechanism, the lifting mechanism, and the round workpiece picking mechanism. It is used to control the robot and display the robot's working status and real-time temperature measurement data in real time. The moving mechanism includes a chassis (1), a battery pack (4) mounted on the chassis (1), and a steering servo (5). The battery pack (4) is located at the rear end of the chassis (1), and the steering servo (5) is located on one side of the battery pack (4). The bottom of the chassis (1) is provided with four moving wheels (17), and all four moving wheels (17) are connected to the chassis (1) through moving wheel brackets (18). Each moving wheel (17) is driven by an independent moving wheel motor (2). Tracking navigation sensors (3) are installed on the two front moving wheels (17), and the two rear moving wheels (17) are connected to the steering servo (5). The lifting mechanism includes a hydraulic lifting rod (6) and a bearing platform (7) mounted on a chassis (1), with the bearing platform (7) horizontally positioned above the hydraulic lifting rod (6); The circular workpiece taking mechanism includes a support frame (9) on a bearing platform (7) and two telescopic arms (8) installed on the support frame (9). The two telescopic arms (8) are spaced apart. The front ends of the two telescopic arms (8) carry circular workpieces (12). The rear ends of the two telescopic arms (8) are connected to a cooling system (10). The middle ends of the two telescopic arms (8) are equipped with furnace doors, which include a main furnace door (15) and an auxiliary furnace door (151). The temperature measuring mechanism includes a thermocouple (13). The front end of the thermocouple (13) passes through the hole of the main furnace door (15) and is inserted into the temperature measuring hole of the circular workpiece (12). The rear end of the thermocouple (13) is connected to the central control platform (16) through a lead wire protector (14).

2. The automatic temperature measurement and unloading robot device for circular workpieces in high-temperature environments according to claim 1, characterized in that, The central control platform (16) includes a multi-function display screen (161), a motion controller (162), a lifting controller (163), a telescopic controller (164), a wireless transceiver (165), and a temperature collector (166); the motion controller (162), the lifting controller (163), the telescopic controller (164), the wireless transceiver (165), and the temperature collector (166) are all electrically connected to the multi-function display screen (161).

3. The automatic temperature measurement and unloading robot device for circular workpieces in high-temperature environments according to claim 1, characterized in that, The cooling system (10) includes a water pump (101), a water pipe (102) and a cooling water tank (103). The cooling water tank (103) is located below the battery pack (4), and the water pump (101) is located on one side of the cooling water tank (103). The water pump (101) is connected to the telescopic arm (8) through the water pipe (102).

4. The automatic temperature measurement and unloading robot device for circular workpieces in high-temperature environments according to claim 1, characterized in that, The support frame (9) is provided with a spacing adjuster (11) for adjusting the distance between the two telescopic arms (8). The spacing adjuster (11) includes a telescopic motor (111), a telescopic rod (112), a contact plate (113), a slide rail (114), a fixing hoop (115), and a base plate (116). The base plate (116) is installed on the slide rail (114). The fixing hoop (115) is used to fix the telescopic arm (8) and is connected to the base plate (116). One end of the base plate (116) is provided with a contact plate (113). The contact plate (113) is connected to the telescopic motor (111) through the telescopic rod (112). The telescopic motor (111) drives the contact plate (113) to be pushed and pulled through the telescopic rod (112) so that the base plate (116) moves along the slide rail (114).

5. The automatic temperature measurement and unloading robot device for circular workpieces in high-temperature environments according to claim 1, characterized in that, The telescopic arm (8) is a hollow structure and is a high-temperature resistant alloy telescopic arm. The telescopic arm (8) is provided with a cooling water inlet (81) and a cooling water outlet (82) respectively. A partition (83) is provided between the cooling water inlet (81) and the cooling water outlet (82).

6. The automatic temperature measurement and unloading robot device for circular workpieces in high-temperature environments according to claim 1, characterized in that, The thermocouple (13) is fitted with a corundum protective sleeve or a stainless steel protective sleeve.

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