Temperature measurement sampling probe automatic loading and unloading device and use method thereof

Abstract

The invention relates to the field of liquid or fluid sampling devices, in particular to an automatic loading and unloading device for a temperature measurement sampling probe and a using method thereof. The automatic loading and unloading device for the temperature measurement sampling probe comprises a robot (1) and a probe (2), a gripper (12) is arranged at the outer end of an operating arm (11) of the robot (1), the gripper (12) holds the probe (2), and the automatic loading and unloading device is characterized by further comprising a bottom plate (3), a guide cone (4) and a clamping device (5), and the bottom plate (3) is vertically arranged; the guide cone (4) is in a horn shape, the small round end of the guide cone (4) serves as the bottom to be fixed to the bottom plate (3), and the connector (13) is arranged above the top of the guide cone (4). The clamping devices (5) are movably buckled on the two sides of the bottom plate (3) through the inner ends and arranged below the bottoms of the guide cones (4), the spring shifting pieces (51) and the anti-skid plates (52) are sequentially embedded in the middles of the clamping devices (5), and anti-skid teeth (521) are arranged on the side faces of the anti-skid plates (52). The application method of the automatic loading and unloading device for the temperature measurement sampling probe comprises the steps of mounting and dismounting. The device is high in automation degree and reliable in assembly and disassembly.

Description

Automatic loading and unloading device for temperature sampling probes and its usage method Technical Field

[0001] This invention relates to the field of liquid or fluid sampling devices, specifically to an automatic loading and unloading device for a temperature sampling probe and its usage method. Background Technology

[0002] Currently, the installation and disassembly of molten iron temperature sampling probes are mainly done manually. The probes need to come into contact with high-temperature liquid molten metal during temperature measurement, and remain in a burning state after the measurement is completed. The installation and disassembly work environment is complex, belonging to a typical high-temperature, noisy, and dusty area, and the manual labor intensity is relatively high.

[0003] To reduce the time humans are exposed to the field, industrial robots are now being used for installing temperature sampling probes. However, industrial robots require high precision, and the machining tolerances of the temperature sampling paper tubes and the dimensional changes caused by inconsistent burning levels after sampling are the main reasons for positioning deviations and collisions during probe installation and removal. The main problems with existing gripper structures are low positioning accuracy and insufficient clamping force when installing probes. If the grippers slip during probe removal, the operation may fail, damaging the temperature gun connectors or the robot. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology and provide a sampling device with a high degree of automation and reliable assembly and disassembly, this invention discloses an automatic assembly and disassembly device for temperature sampling probes and its usage method.

[0005] The present invention achieves its objective through the following technical solution: an automatic loading and unloading device for a temperature sampling probe, comprising a robot and a probe, wherein the outer end of the robot's manipulator arm is provided with a gripper that grips the probe, characterized in that: it further comprises a base plate, a guide cone, and a clamp, wherein the base plate is vertically arranged; the guide cone is flared, with its small round end fixed to the base plate as the bottom, and a connector is located above the top of the guide cone; the clamp is movably fastened to both sides of the base plate through its inner end and is located below the bottom of the guide cone, wherein a spring pawl and an anti-slip plate are sequentially embedded in the middle of the clamp, and the side of the anti-slip plate is provided with anti-slip teeth.

[0006] The automatic loading and unloading device for the temperature sampling probe is characterized by: further comprising a synchronizing cylinder; the guide cone includes a fixed block, a fixed cone cylinder, a slider, and a movable cone cylinder; the fixed block is fixed on the base plate; the cross-section of the fixed cone cylinder is semi-circular and gradually opens from bottom to top; the bottom end of the fixed cone cylinder is fixed on the fixed block; the slider is movably embedded in the groove of the base plate; the cross-section of the movable cone cylinder is semi-circular and gradually opens from bottom to top; the bottom end of the movable cone cylinder is fixed on the slider; the synchronizing cylinder is fixed on the base plate by a cylinder body; the moving end of the piston rod of the synchronizing cylinder is connected to the slider; the piston rod of the synchronizing cylinder pushes the slider to slide along the groove of the base plate toward the fixed block, causing the fixed cone cylinder to move toward the movable cone cylinder until they are joined together; the fixed cone cylinder and the movable cone cylinder are joined together to form a complete trumpet shape, and the taper of the trumpet shape is between 1 and 10.

[0007] The method of using the automatic loading and unloading device for temperature sampling probes, including installation and disassembly, is characterized by the following steps: a. Installation: The gripper of the robot arm holds the probe from bottom to top through the lower clamp. Under the centering action of the guide cone, the deviation between the axis of the connector at the end of the temperature gun and the axis of the probe is corrected, so that the probe is accurately fitted into the connector. After the robot moves upward a certain distance, the robot installs the probe in place. The anti-slip plate on the clamp increases the friction between the anti-slip plate and the end of the probe to prevent slippage. After the system detects the probe installation completion signal, the clamp opens and the robot returns to the standby position; b. Disassembly: The robot moves to the working position, closes the gripper to clamp the probe, and the gripper of the robot arm holds the probe vertically downward through the lower gripper to separate the probe from the connector. After running for .S, the movement stops and the gripper is checked for slippage. If the gripper does not slip, the downward movement continues to complete the probe disassembly operation. If the gripper slips, the spring lever in the gripper assists in turning the probe end to complete the probe disassembly.

[0008] The method of using the automatic loading and unloading device for temperature sampling probes, including installation and disassembly, is characterized by the following steps: a. Installation: The piston rod of the synchronous cylinder extends, pushing the slider towards the fixed block to assemble the moving cone and the fixed cone. The gripper of the robot arm holds the probe from bottom to top through the lower clamp. Under the centering action of the guide cone, the deviation between the axis of the connector at the end of the temperature gun and the axis of the probe is corrected, so that the probe is accurately fitted into the connector. After the robot moves upward a certain distance, the piston rod of the synchronous cylinder retracts, pulling the slider away from the fixed block to separate the moving cone and the fixed cone. The robot installs the probe in place. Under the clamping force of the synchronous cylinder, the anti-slip plate on the clamp increases the friction force between the anti-slip teeth and the probe end to prevent slippage. After the probe is installed in place, the system detects the probe installation completion signal, the clamp opens, and the robot returns to the standby position; b. Disassembly: When the robot moves to the working position, the piston rod of the synchronous cylinder retracts, pulling the slider away from the stationary block to separate the moving cone and the stationary cone. The gripper closes to clamp the probe. The gripper of the robot arm pulls the probe vertically downward through the lower gripper to separate the probe from the connector. After running for .sec, the movement stops, and the gripper is checked for slippage. If the gripper does not slip, the robot continues to move downward to complete the probe disassembly operation. If the gripper slips, the spring lever in the gripper assists in moving the probe end to complete the probe disassembly.

[0009] The method of using the automatic loading and unloading device for the temperature sampling probe is characterized by the following steps when disassembling: The following steps are performed to detect whether the clamp is slipping: Close the guide cone and check whether the guide cone can be fully closed: If a signal indicating that the guide cone is fully closed is received, it indicates that there is no probe component inside the guide cone and the clamp is not slipping; if a signal indicating that the guide cone is not fully closed is not received, it indicates that a probe component is stuck inside the guide cone, preventing the guide cone from closing completely and causing the clamp to slip.

[0010] This invention addresses the installation and removal of temperature sampling probes by incorporating a robotic gripper mechanism. This mechanism enables the robot to automatically install and remove temperature sampling probes, and solves the stability and reliability issues during the installation and removal of temperature sampling probes.

[0011] The present invention has the following beneficial effects: The present invention uses an automatic control program to control two synchronous cylinders to drive the guide cone and the clamp respectively, resulting in high centering accuracy; the clamp is equipped with a serrated anti-slip plate, increasing friction and improving clamping force; moreover, this component is replaceable, facilitating maintenance; a spring-loaded lever is installed on the clamp, allowing reliable probe removal even if the clamp slips without affecting probe installation; ultimately, it achieves automatic installation and removal of the temperature sampling probe; the installation and removal success rate is high, improving the reliability of the entire temperature sampling process. Attached Figure Description

[0012] Figure 1 is a schematic diagram of the present invention; Figure 2 is a structural schematic diagram of the guide cone fixed cone and the moving cone when they are separated in the present invention; Figure 3 is a structural schematic diagram of the guide cone fixed cone and the moving cone when they are joined in the present invention; Figure 4 is a schematic diagram of the present invention during use; and Figure 5 is a schematic diagram of the present invention during use. Detailed Implementation

[0013] The present invention will be further illustrated below through specific embodiments. Embodiments

[0014] An automatic loading and unloading device for a temperature sampling probe includes a robot 1, a probe 2, a base plate 3, a guide cone 4, a gripper 5, and a synchronous cylinder 6, as shown in Figures 1 to 3. The specific structure is as follows: the outer end of the robot 1's operating arm 11 is provided with a gripper 12, which grips the probe 2; the base plate 3 is vertically arranged; the guide cone 4 is trumpet-shaped, with its small round end fixed to the base plate 3 as the bottom, and a connector 13 is located above the top of the guide cone 4; the gripper 5 is movably fastened to both sides of the base plate 3 through its inner end and is located below the bottom of the guide cone 4, with a spring pawl 51 and an anti-slip plate 52 sequentially embedded in the middle of the gripper 5, and the side of the anti-slip plate 52 is provided with anti-slip teeth 521.

[0015] This embodiment also includes a synchronizing cylinder 6. The guide cone 4 includes a fixed block 41, a fixed cone cylinder 42, a slider 43, and a movable cone cylinder 44. The fixed block 41 is fixed on the base plate 5. The cross-section of the fixed cone cylinder 42 is semi-circular and gradually opens from bottom to top. The bottom end of the fixed cone cylinder 42 is fixed on the fixed block 41. The slider 43 is movably embedded in the groove of the base plate 5. The cross-section of the movable cone cylinder 44 is semi-circular and gradually opens from bottom to top. The bottom end of the movable cone cylinder 44 is fixed on the slider 43. The synchronizing cylinder 6 is fixed on the base plate through the cylinder body. The moving end of the piston rod of the synchronizing cylinder 6 is connected to the slider 43. The piston rod of the synchronizing cylinder 6 pushes the slider 43 to slide along the groove of the base plate 5 toward the fixed block 41, so that the fixed cone cylinder 42 moves toward the movable cone cylinder 44 until they are joined together. The fixed cone cylinder 42 and the movable cone cylinder 44 are joined together to form a complete trumpet shape, and the taper of the trumpet shape is between 1 and 10.

[0016] In this embodiment, the following steps are performed sequentially: a. Installation: As shown in Figure 4, the piston rod of the synchronous cylinder 6 extends, pushing the slider 43 towards the fixed block 41 to make the moving cone 44 and the fixed cone 42 assemble. The gripper 12 of the robot 1's operating arm 11 holds the probe 2 from bottom to top through the lower gripper 5. Under the centering action of the guide cone 4, the deviation between the axis of the end connector 13 of the temperature measuring gun and the axis of the probe 2 is corrected, so that the probe 2 is accurately fitted into the connector 13. After the robot 1 moves upward a certain distance, the piston rod of the synchronous cylinder 6 retracts, pulling the slider 43 away from the fixed block 41 to separate the moving cone 44 and the fixed cone 42. The robot 1 installs the probe 2 in place. Under the clamping force of the synchronous cylinder 7, the anti-slip plate 52 on the gripper 5 increases the friction force with the end of the probe 2 through the anti-slip teeth 521 to avoid slippage. After the probe 2 is installed in place, the system detects the signal that the probe 2 is installed, the gripper 5 opens, and the robot 1 returns to the standby position; b. Disassembly: As shown in Figure 5: Robot 1 moves to the working position, the piston rod of synchronous cylinder 6 retracts, pulling slider 43 away from fixed block 41, causing moving cone 44 and fixed cone 42 to separate. Gripper 5 closes to clamp probe 2. The gripper 12 of robot 1's operating arm 11 pulls probe 2 vertically downwards through the lower gripper 5, separating probe 2 from connector 13. After 0.8 seconds, the operation stops, and the gripper 5 is checked for slippage. If the gripper 5 does not slip, the downward movement continues, completing the disassembly of probe 2. When... If the clamp 5 slips, the spring lever 51 in the clamp 5 will assist in moving the end of the probe 2 to complete the removal of the probe 2. The following steps are taken to check whether the clamp 5 is slipping: Close the guide cone 4 and check whether the guide cone 4 can be fully closed: If a signal is received that the guide cone 4 is fully closed, it means that there is no probe 2 component inside the guide cone 4 and the clamp 5 is not slipping; if a signal is not received that the guide cone 4 is closed, it means that there is a probe 2 component stuck inside the guide cone 4, preventing the guide cone 4 from being closed, and the clamp 5 is slipping.

Claims

1. An automatic loading and unloading device for a temperature sampling probe, comprising a robot (1) and a probe (2), wherein the outer end of the operating arm (11) of the robot (1) is provided with a gripper (12) that grips the probe (2), characterized in that: It also includes a base plate (3), a guide cone (4) and a clamp (5). The base plate (3) is vertically set. The guide cone (4) is trumpet-shaped. The small round end of the guide cone (4) is fixed on the base plate (3) as the bottom. The connector (13) is located above the top of the guide cone (4). The clamp (5) is movably fastened to both sides of the base plate (3) through its inner end and is located below the bottom of the guide cone (4). The spring pawl (51) and the anti-slip plate (52) are sequentially embedded in the middle of the clamp (5). The side of the anti-slip plate (52) is provided with anti-slip teeth (521).

2. The automatic loading and unloading device for temperature sampling probes as described in claim 1, characterized in that: It also includes a synchronizing cylinder (6), and the guide cone (4) includes a fixed block (41), a fixed cone cylinder (42), a slider (43), and a moving cone cylinder (44). The fixed block (41) is fixed on the base plate (5). The cross-section of the fixed cone cylinder (42) is semi-circular and gradually opens from bottom to top. The bottom end of the fixed cone cylinder (42) is fixed on the fixed block (41). The slider (43) is movably embedded in the groove of the base plate (5). The cross-section of the moving cone cylinder (44) is semi-circular and gradually opens from bottom to top. The bottom end of the cylinder (44) is fixed on the slider (43); the synchronous cylinder (6) is fixed on the base plate through the cylinder body, and the moving end of the piston rod of the synchronous cylinder (6) is connected to the slider (43). The piston rod of the synchronous cylinder (6) pushes the slider (43) to slide along the sliding groove of the base plate (5) towards the fixed block (41) so that the fixed cone cylinder (42) moves towards the moving cone cylinder (44) until they are assembled. The fixed cone cylinder (42) and the moving cone cylinder (44) are assembled into a complete trumpet shape, and the taper of the trumpet shape is between 1 and 10.

3. The method of using the automatic loading and unloading device for temperature sampling probes as described in claim 1 or 2, including installation and disassembly, is characterized in that: The following steps are performed sequentially: a. Installation: The gripper (12) of the robot (1) operating arm (11) holds the probe (2) from bottom to top through the lower gripper (5). Under the centering action of the guide cone (4), the deviation between the axis of the connector (13) at the end of the temperature measuring gun and the axis of the probe (2) is corrected, so that the probe (2) is accurately fitted into the connector (13). After the robot (1) moves upward a certain distance, the robot (1) installs the probe (2) in place. The anti-slip plate (52) on the gripper (5) increases the friction force between the anti-slip plate (521) and the end of the probe (2) to prevent slippage. After the system detects the signal that the probe (2) is installed in place, the gripper (5) opens and the robot (1) returns to the standby position; b. Disassembly: The robot (1) moves to the working position, closes the gripper (5) to clamp the probe (2), and the gripper (12) of the robot (1) operating arm (11) clamps the probe (2) through the lower gripper (5) and pulls the probe (2) vertically downward to separate the probe (2) from the connector (13). After running for 0.8 seconds, the operation stops and the gripper (5) is checked for slippage. If the gripper (5) does not slip, it continues to move downward to complete the disassembly of the probe (2). If the gripper (5) slips, the spring lever (51) in the gripper (5) is used to assist in turning the end of the probe (2) to complete the disassembly of the probe (2).

4. The method of using the automatic loading and unloading device for temperature sampling probes as described in claim 2, including installation and disassembly, is characterized in that: The following steps are performed sequentially: a. Installation: The piston rod of the synchronous cylinder (6) extends, pushing the slider (43) towards the fixed block (41) to make the moving cone (44) and the fixed cone (42) assemble. The gripper (12) of the robot (1) operating arm (11) holds the probe (2) from bottom to top through the lower clamp (5). Under the centering action of the guide cone (4), the deviation between the axis of the end connector (13) of the temperature measuring gun and the axis of the probe (2) is corrected, so that the probe (2) is accurately fitted into the connector (13). After the robot (1) moves upward a certain distance, The piston rod of the synchronous cylinder (6) retracts, pulling the slider (43) away from the fixed block (41), causing the moving cone (44) and the fixed cone (42) to separate. The robot (1) installs the probe (2) into place. Under the clamping force of the synchronous cylinder (7), the anti-slip plate (52) on the gripper (5) increases the friction force between the anti-slip teeth (521) and the end of the probe (2) to prevent slippage. The probe (2) is installed in place. After the system detects the signal that the probe (2) is installed, the gripper (5) opens, and the robot (1) returns to the standby position; b. Disassembly: The robot (1) moves to the working position, the piston rod of the synchronous cylinder (6) retracts, and the slider (43) is pulled away from the fixed block (41) to separate the moving cone (44) and the fixed cone (42). The gripper (5) is closed to clamp the probe (2). The gripper (12) of the robot (1) operating arm (11) pulls the probe (2) vertically downward through the lower gripper (5) to separate the probe (2) from the connector (13). After running for 0.8 seconds, the action stops and the gripper (5) is checked for slippage. If the gripper (5) does not slip, it continues to move downward to complete the disassembly of the probe (2). If the gripper (5) slips, the spring paddle (51) in the gripper (5) is used to assist in paddle movement of the end of the probe (2) to complete the disassembly of the probe (2).

5. The method of using the automatic loading and unloading device for temperature sampling probes as described in claim 3, characterized in that: During disassembly, the following steps are taken to check whether the clamp (5) is slipping: Close the guide cone (4) and check whether the guide cone (4) can be fully closed: When a signal is received that the guide cone (4) is fully closed, it means that there is no probe (2) component inside the guide cone (4) and the clamp (5) is not slipping; when no signal is received that the guide cone (4) is closed, it means that there is a probe (2) component inside the guide cone (4) that is stuck and prevents the guide cone (4) from being closed, and the clamp (5) is slipping.

6. The method of using the automatic loading and unloading device for temperature sampling probes as described in claim 4, characterized in that: During disassembly, the following steps are taken to check whether the clamp (5) is slipping: Close the guide cone (4) and check whether the guide cone (4) can be fully closed: When a signal is received that the guide cone (4) is fully closed, it means that there is no probe (2) component inside the guide cone (4) and the clamp (5) is not slipping; when no signal is received that the guide cone (4) is closed, it means that there is a probe (2) component inside the guide cone (4) that is stuck and prevents the guide cone (4) from being closed, and the clamp (5) is slipping.

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