Automatic sample preparation and sending device for temperature measurement and sampling of molten iron and use method thereof

Abstract

The invention relates to the field of configuration of indicating equipment or measuring equipment for metal casting, in particular to an automatic sample preparation and sending device for molten iron temperature measurement and sampling and a using method thereof. The automatic sample preparation and sending device is characterized by comprising a temperature measurement and sampling robot, a temperature measurement probe box, a probe recycling box and full-process sample preparation and sending equipment, the temperature measuring and sampling robot is used for grabbing a temperature measuring and sampling probe, inserting a temperature measuring and sampling gun body, pulling out the probe and selectively putting the probe into a recycling box or an inlet of the full-process sample preparing and sending equipment; the full-process sample preparation and delivery equipment comprises a probe breaking system, a sample separation system, a sample detection system and a robot delivery system. The device is high in automation degree, safe and reliable.

Description

Technical Field

[0001] This invention relates to the field of configuration of indicating or measuring devices for metal casting, specifically to an automatic sample preparation and delivery device for molten iron temperature measurement and sampling, and its usage method. Background Technology

[0002] In the pretreatment process of molten iron in steel plants, traditional temperature measurement, sampling, sample preparation, and sample delivery operations are mainly performed manually. Operators wear high-temperature protective gloves, insert the temperature sampling probe into the temperature sampling gun, remove the probe after sampling, cool and break the probe to separate the sample block, manually clamp and knock it to demold, water-cool it, load it into a pneumatic sample delivery container, and select a sample number to send it to the testing laboratory. This process is carried out in high-temperature and harsh environments, resulting in high labor intensity for operators and a risk of burns. Currently, there is a lack of fully automated integrated equipment on the market that can complete the entire process from probe installation and removal, sample block separation, demolding, robotic gripping, to pneumatic sample delivery. Existing technologies are mostly limited to the automation of single steps, such as probe removal, automatic demolding, automatic lid opening, or pneumatic sample delivery, and the connections between steps still require manual intervention, failing to form a complete end-to-end automation solution. Summary of the Invention

[0003] In order to overcome the shortcomings of the prior art and provide a highly automated, safe and reliable molten iron measuring device, this invention discloses a configuration of an indicating device or measuring device for metal casting.

[0004] The present invention achieves its objective through the following technical solution: An automated sample preparation and delivery device for molten iron temperature measurement and sampling is characterized by comprising a temperature measurement sampling robot, a temperature measurement probe box, a probe recovery box, and a full-process sample preparation and delivery equipment. The temperature measurement sampling robot is used to grab the temperature measurement sampling probe, insert it into the temperature measurement sampling gun body, pull out the probe, and select to place it in the recovery box or the inlet of the full-process sample preparation and delivery equipment. The full-process sample preparation and delivery equipment includes a probe breaking system, a sample separation system, a sample detection system, and a robot delivery system, which are used to realize fully automated operation of probe breaking, sample separation, detection, and pneumatic delivery.

[0005] Furthermore, the probe breaking system includes a probe breaking clamp, a probe breaking pressure plate, a probe breaking rotary cylinder, probe breaking scissors, a waste / material discharge flap, and a vibratory hammer, used to clamp, break, cut, and hammer away the sample block.

[0006] Furthermore, the sample separation system includes a demolding mechanism, a lifting platform, a sample collection mechanism (14), a 3D detection system, a smoke exhaust system, and a sample gripping robot; the demolding mechanism consists of left and right demolding hammers and a separation grid, which are used to hammer and break up the sample block and separate the sample through the grid.

[0007] Furthermore, the sample testing system includes a 2D camera and a sample weighing platform for determining the front and back of the sample and weighing it.

[0008] Furthermore, the robot delivery system includes a bottle-opening mechanism, a pneumatic sample delivery mechanism, and a PLC controller for capping, delivering sample bottles, and coordinating the return of empty bottles.

[0009] Furthermore, the vibratory hammer employs a specific hammering rhythm, and the 3D detection system calculates the grasping path and angle through a programming model.

[0010] Furthermore, the smoke exhaust system includes a smoke exhaust fan for discharging fumes generated during the demolding process.

[0011] Furthermore, the sample-grabbing robot is used to grab the cooled sample, flip it over, and load it into a sample delivery bottle.

[0012] A method for using an automatic sample preparation and delivery device for molten iron temperature measurement and sampling, characterized by the following steps: a temperature sampling robot grabs and inserts a probe to complete temperature measurement and sampling, then pulls it out; a probe breaking system clamps, breaks, cuts, and hammers the sample block to separate it; a sample separation system hammers and breaks up the sample block, separates the sample, and calculates the grabbing path; a sample detection system determines the front and back sides and flips it over; a robot delivery system fills the bottle, caps it, and pneumatically delivers it to the testing laboratory, then returns the empty bottle, opens the cap, and puts it back in its original position.

[0013] Furthermore, the hammering separation is performed using a vibrating hammer at a preset rhythm, the calculation of the grasping path uses a 3D camera programming model, and the sending is coordinated by a PLC controller.

[0014] This invention integrates a temperature-measuring sampling robot, a probe breaking system, a sample separation system, a sample testing system, and a robot delivery system to achieve fully unmanned and automated operation from probe installation to pneumatic sample delivery. This avoids manual intervention in high-temperature environments, improving production efficiency and safety. The core of this invention lies in the seamless collaboration of multiple systems, including precise probe insertion and removal by the robot, demolding and separation using a dedicated vibrating hammer and hammering rhythm, 3D / 2D vision-assisted grasping, positioning, and front / back identification, and PLC-coordinated pneumatic sample delivery and retrieval loops, forming a highly integrated end-to-end solution.

[0015] The present invention has the following beneficial effects: it solves the problems of high labor intensity and high safety risks in the manual temperature measurement, sampling, sample preparation and delivery operations in the existing molten iron pretreatment. The automatic device for molten iron sampling, sample preparation and delivery can reduce manual links. It replaces manual breaking of probes with a special breaking device, completes sample demolding with a special demolding device, and completes sample grasping, positioning and front and back judgment with 3D vision and 2D vision. It reduces the safety risk of burns and scalds caused by high temperature and harsh environment, avoids repetitive labor with high physical intensity, and greatly improves work efficiency. Attached Figure Description

[0016] Figure 1 This is a structural diagram of the present invention. Figure 2 This is a perspective view of the probe breaking system in this invention. Figure 3 This is a perspective view of the sample separation system in this invention. Figure 4 This is a three-dimensional view of the 3D detection system in this invention. Figure 5 This is a perspective view of the sample weighing platform in this invention. Figure 6 This is a perspective view of the sample collection mechanism in this invention. Figure 7 This is a perspective view of the water tank in this invention. Figure 8 This is a perspective view of the sample-grabbing robot in this invention. Figure 9 This is a perspective view of the bottle-opening mechanism in this invention. Detailed Implementation

[0017] The present invention will be further illustrated below through specific embodiments. Example

[0018] An automated sample preparation and delivery device for molten iron temperature measurement and sampling includes a temperature measurement and sampling robot 1, a temperature probe box 2, a probe recovery box 3, and a full-process sample preparation and delivery system, such as... Figures 1-9 As shown, the specific structure is: The temperature sampling robot 1 is installed near the temperature sampling gun. It is used to grab the temperature sampling probe from the probe box, insert it into the gun body, complete the temperature sampling, and then pull out the probe. The robot can then select, via a touchscreen or remote HMI, whether to place the probe into the recycling bin or the inlet of the end-to-end sample preparation and delivery equipment. The end-to-end sample preparation and delivery equipment includes a probe breaking system, a sample separation system 6, a sample testing system, and a robot delivery system.

[0019] The probe breaking system includes a probe breaking clamp, a probe breaking pressure plate, a probe breaking rotary cylinder, probe breaking shears, a waste / material dropping flap, and a vibrating hammer. The temperature sampling robot 1 inserts the probe into the guide port of the breaking mechanism, moves it forward to the grating trigger position, and then stops. The clamp clamps the probe, the pressure plate presses down to fix it, and the rotary cylinder rotates to break the probe. The robot then retreats, and the shears cut the internal cables. The vibrating hammer strikes the sample block at a specific rhythm, causing the sample block to fall into the demolding device. The flap switches to the waste dropping position, the clamp opens, and the probe head falls into the waste recycling bin.

[0020] The sample separation system 6 includes a demolding mechanism 12, a lifting platform 9, a sample collection mechanism 14 (14), a 3D detection system 10, a fume extraction system, and a sample grabbing robot 13. The demolding mechanism 12 consists of left and right demolding hammers and a separation grid. The demolding hammers break up the sample block at a preset hammering rhythm, and the sample falls onto the lifting platform 9 through the grid; the fume extraction fan exhausts the smoke. The lifting platform 9 moves upward, and the 3D camera calculates the grabbing path and angle through a programmed model; the sample grabbing robot 13 grabs the sample and places it on the 2D detection platform after cooling in the water tank 8. The lifting platform 9 moves downward, the grid extracts the remaining material, and the sample collection mechanism 14 (14) pushes it into the trash can.

[0021] The sample testing and robot delivery system includes a 2D camera, a sample weighing platform 7, a bottle opening mechanism 11, a pneumatic sample delivery mechanism 5, and a PLC controller. The 2D camera determines the front and back of the sample, and the robot flips it over. After processing, the robot loads the sample into a delivery bottle, and the bottle opening mechanism 11 caps it. The robot is then placed into the pneumatic sample delivery mechanism 5, and the PLC sends a command to the testing laboratory. Upon returning an empty bottle, the PLC instructs the robot to retrieve the bottle to the capping mechanism, open the cap, and return it to its original position.

[0022] This embodiment is suitable for high-temperature molten iron environments, enabling unmanned operation, reducing safety risks, and increasing efficiency by more than 20%.

[0023] When using the needle in this embodiment, follow these steps in sequence: Step 1: Temperature sampling robot 1 grabs the probe from the probe box, inserts it into the temperature sampling gun body, pulls out the probe after completing the temperature sampling, and selects to put it into the inlet of the whole process sample preparation and delivery equipment.

[0024] Step 2: The probe breaking system is activated, and the robot moves the probe forward to the grating position; the clamps tighten, the pressure plate presses down, and the rotary cylinder breaks the probe; the robot moves backward, and the scissors cut the cable; the vibratory hammer knocks down the sample block; the flip plate switches, the clamps open, and the probe head is discarded.

[0025] Step 3: The sample separation system 6 receives the sample block, the demolding hammer breaks it up, and the sample falls onto the lifting platform 9; the exhaust fan works; the lifting platform 9 moves upward, and the 3D camera calculates the path; the robot grabs the cooled 2D platform; the grid extracts the remaining material, which is then pushed into the trash can by the sample collection mechanism 14 (14).

[0026] Step 4: The sample testing and delivery system is activated; the 2D camera determines the orientation, and the robot flips the sample; it picks up the bottle, and the bottle-opening mechanism 11 caps it; the pneumatic sample delivery system is inserted, and the PLC sends a command to the testing laboratory. When the empty bottle returns, the PLC instructs the robot to retrieve the bottle, open the cap, and return it to its original position.

[0027] like Figures 1-9 As shown, this embodiment utilizes as follows Figure 1 The overall layout shown demonstrates component coordination, such as... Figure 2 The mechanism by which the probe breaks, as shown, is as follows: Figure 3 The separated hammering rhythms shown are as follows: Figure 4 The 3D path calculation shown is as follows: Figure 5 The lifting and lowering of the platform is shown, as follows: Figure 6 The collection push action shown is as follows: Figure 7 The robot's grasping action is shown below. Figure 8 The bottle cap shown is for opening, and as shown in the image. Figure 9 The valve logic based on the control principle shown ensures smooth operation throughout the entire process.

Claims

1. An automatic sample preparation and delivery device for molten iron temperature measurement and sampling, characterized in that: It includes a temperature sampling robot (1), a temperature probe box (2), a probe recycling box (3), and a full-process sample preparation and delivery device; the temperature sampling robot (1) is used to grab the temperature sampling probe, insert it into the temperature sampling gun body, pull out the probe, and select to put it into the recycling box or the inlet of the full-process sample preparation and delivery device; the full-process sample preparation and delivery device includes a probe breaking system, a sample separation system (6), a sample detection system, and a robot delivery system.

2. The automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 1, characterized in that: The probe breaking system includes a probe breaking clamp, a probe breaking pressure plate, a probe breaking rotary cylinder, probe breaking scissors, a waste / material discharge flap, and a vibrating hammer, used to clamp, break, cut, and hammer away the sample block.

3. The automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 2, characterized in that: The sample separation system (6) includes a demolding mechanism (12), a lifting platform (9), a sample collection mechanism (14), a 3D detection system (10), a smoke exhaust system, and a sample gripping robot (13); the demolding mechanism (12) consists of left and right demolding hammers and a separation grid.

4. The automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 3, characterized in that: The sample testing system includes a 2D camera and a sample weighing platform (7).

5. The automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 4, characterized in that: The robot delivery system includes a bottle opening mechanism (11), a pneumatic sample delivery mechanism (5), and a PLC controller.

6. The automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 5, characterized in that: The vibratory hammer uses a specific hammering rhythm, and the 3D detection system (10) calculates the grasping path and angle through a programming model.

7. The automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 6, characterized in that: The smoke extraction system includes a smoke extraction fan.

8. The automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 7, characterized in that: The sample grabbing robot (13) is used to grab the cooled sample, flip it over, and put it into the sample delivery bottle.

9. The method of using the automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in any one of claims 1 to 8, characterized in that: Includes the following steps: The temperature sampling robot (1) grabs and inserts the probe to complete the temperature sampling and then pulls it out; the probe breaking system clamps, breaks, cuts and hammers to separate the sample block; the sample separation system (6) hammers and breaks the sample block, separates the sample and calculates the grabbing path; the sample detection system judges the front and back and flips it over; the robot sending system fills the bottle, caps it and sends it to the testing laboratory by pneumatic power, and returns the empty bottle to its original position.

10. The method of using the automatic sample preparation and transmission device for molten iron temperature measurement and sampling as described in claim 9, characterized in that: The hammering separation is performed using a vibrating hammer at a preset rhythm, the calculation of the grasping path uses a 3D camera programming model, and the sending is coordinated by a PLC controller.

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