Intelligent robot system adaptive to pail type sampler

Abstract

The utility model discloses an intelligent robot system adaptive to a pail type sampler, and relates to the technical field of metallurgical equipment. Comprising a temperature-measuring oxygen-determining filling robot, a slag thickness-measuring sampling robot, a temperature-measuring oxygen-determining slag breaking device, a slag thickness-measuring sampling slag breaking device, a temperature-measuring high-oxygen-low-oxygen rod bin, a slag thickness-measuring rod bin, a sampling pail bin, a pre-cooling water tank, a breaking device, an automatic cooling device, a sorting and screening robot, an uncovering device, an air conveying device, an electric control-visual control system and a container bag. Lifting the barrel sampler; according to the utility model, a series of actions of temperature measurement, sampling, oxygen determination, slag thickness measurement, demolding, cooling, screening, filling and air conveying are realized by utilizing an intelligent robot and a visual automation technology, so that the targets of intelligence and unmanned operation are achieved. A series of problems of high labor intensity, high safety risk, low hit probability, high secondary waste cost and the like of current manual operation are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of metallurgical equipment, in particular to an intelligent robot system adapted to a bucket-lifting type sampler. Background Art

[0002] In the existing steel smelting process, the temperature and chemical composition must be mastered in real time, and the composition and heating time must be adjusted continuously before the required product indicators are met. In order to improve the competitiveness of products, domestic first-line steel companies have developed a series of high-value-added silicon steel products. In the past, traditional product composition samplers could not meet the process requirements. In order to adapt to the new process requirements, the sampler is designed to be a bucket type. In the smelting process of special steel grades, it is necessary to complete the work of measuring slag thickness, temperature, determining high oxygen, determining low oxygen, and taking oxygen. In the existing technology, manual sampling and temperature measurement are used, which has the risk of high temperature burns, and the insertion depth and position of manual operation are different each time, and the temperature in the molten steel cannot show a good linear relationship; the sampler will bring steel slag to affect the final composition, and the steel slag will wrap the bucket sampler completely and cannot enter the next operation; after the sampler takes out the sample, the manual cooling and demoulding time cannot be fixed, and due to different personal strength, the knocking force is too large to demould; manually sending the sample into the air delivery system for chemical analysis will also cause risks such as burns and mechanical damage. Based on this, it is necessary to design an intelligent robot system that is suitable for a bucket-type sampler to solve the problems existing in the above-mentioned prior art. Utility Model Content

[0003] The purpose of the utility model is to provide an intelligent robot system that is suitable for a bucket-type sampler, which realizes automatic sampling, cooling, demoulding and transportation of samples without manual intervention, and solves a series of problems such as high labor intensity, high safety risks, low hit probability and high secondary waste cost of current manual operation.

[0004] To achieve the above purpose, the utility model provides the following solutions:

[0005] The utility model provides an intelligent robot system adapted to a bucket-lifting sampler, including a temperature measurement and oxygen determination filling robot, a slag thickness measurement sampling robot, a temperature measurement and oxygen determination slag breaking device, a slag thickness measurement sampling slag breaking device, a temperature measurement-high oxygen-low oxygen rod bin, a slag thickness measurement rod bin, a sampling bucket bin, a precooling water tank, a breaking device, an automatic cooling device, a sorting and screening robot, a cover opening device, an air delivery device, an electric control-visual control system, a container bag, and a bucket-lifting sampler;

[0006] The temperature measurement and oxygen determination filling robot is provided with a first hand gripper for grabbing the measuring rods in the temperature measurement-high oxygen-low oxygen rod bin;

[0007] The slag thickness measuring sampling robot is equipped with a second hand gripper for clamping the measuring rod in the slag thickness measuring rod bin and the sampling bucket in the sampling bucket bin;

[0008] The temperature measurement and oxygen determination slag breaking device comprises a temperature measurement and oxygen determination gun rod, a first slag breaking gun rod and a first driver. The temperature measurement and oxygen determination gun rod and the first slag breaking gun rod are respectively driven by the first driver to reciprocate up and down. A temperature measurement and oxygen determination probe is installed at the end of the temperature measurement and oxygen determination gun rod, and a first slag breaking gun head is installed at the end of the first slag breaking gun rod.

[0009] The slag thickness measuring and sampling slag breaking device comprises a sampling and slag thickness measuring gun rod, a sampler, a second slag breaking gun rod, a second slag breaking gun head and a second driver. The sampling and slag thickness measuring gun rod and the second slag breaking gun rod are respectively driven by the second driver to reciprocate up and down. The end of the sampling and slag thickness measuring gun rod is used to install the measuring rod in the slag thickness measuring rod bin or to install the sampling bucket. The end of the second slag breaking gun rod is connected to the second slag breaking gun head or the sampler through a quick-change joint.

[0010] The temperature measurement-high oxygen-low oxygen rod bin comprises a high oxygen rod bin, a temperature measurement rod bin and a low oxygen rod bin;

[0011] The slag thickness measuring rod bin is used to contain the measuring rod for measuring slag thickness;

[0012] The sampling bucket bin is used to hold the sampling bucket;

[0013] The demolition device is used to knock and demolish the bucket sampler;

[0014] The automatic cooling device comprises a water storage tank, a drain basket, a first lifting drive device, a sample box positioning seat, a sample box and a sample box detector. The drain basket is arranged above the water storage tank and is driven by the first lifting drive device to move up and down. The sample box positioning seat is arranged on one side of the water storage tank. The sample box is mounted on the sample box positioning seat in cooperation. The sample box detector is used to detect whether the sample box is installed on the sample box positioning seat.

[0015] The sorting and screening robot comprises a sorting robot body, a visual system and a third gripper, wherein the visual system and the third gripper are installed at the end of the sorting robot body, and the third gripper is used to grab the sample box, the bucket sampler and the sample in the bucket sampler;

[0016] The cover opening device includes an operating table, a lifting snap ring and a detection sensor. The lifting snap ring is arranged above the operating table and is driven to rise and fall by a lifting drive device. The detection sensor is used to detect whether the sample box is placed on the operating table. The lifting snap ring is used to pull up the upper cover on the sample box or press the upper cover down onto the sample box.

[0017] Preferably, a waste barrel is further included, and the waste barrel includes a barrel body and a wheel seat arranged at the lower end of the barrel body.

[0018] Preferably, the bucket sampler comprises a lifting cup and a handle, and the handle is fixedly connected to the outer side wall of the lifting cup.

[0019] Preferably, the demolition device includes a support leg, a work surface, a hanging bracket, a second lifting drive device, a lifting guide rod, a demolition arm, a waste box, a clamping head and a turning table, the support leg is arranged at the lower end of the work surface, the hanging bracket is arranged at the upper end of the work surface, the lifting guide rod is fixedly arranged on the hanging bracket, the demolition arm is slidably arranged on the lifting guide rod and is driven to lift and lower by the second lifting drive device, the clamping head is arranged on the work surface and is used to clamp and fix the bucket sampler, the turning table is arranged on the work surface and is driven by the turning drive device, and the waste box is arranged on one side of the turning table and is used to hold the waste dumped by the turning table.

[0020] Preferably, the high-oxygen rod bin, the temperature measuring rod bin and the low-oxygen rod bin all include a first bracket, a first box body, a first counting sensor and a grille, a first adjustment base is provided at the bottom of the first bracket, the first box body is installed on the first bracket, the first counting sensor is installed on the first box body, the grille is arranged in the first box body, and the grille has a U-shaped positioning guide groove.

[0021] Preferably, the slag thickness measuring rod bin includes a second bracket, a second box body, a second counting sensor, a slag measuring rod, a position sensor and a guide plate. A second adjustment base is provided at the bottom of the second bracket. The second box body is installed on the second bracket. The guide plate is arranged at the upper end of the second box body. A plurality of guide holes are provided on the guide plate. The inner bottom of the second box body is provided with the position sensors corresponding to the guide holes respectively. The slag measuring rod passes through the guide holes and is placed on the position sensor. The second counting sensor is installed on the second box body.

[0022] Preferably, the sampling bucket bin includes a third bracket, a third box body, a guide grid and a third counting sensor. A third adjustment base is provided at the bottom of the third bracket. The third box body is installed on the third bracket. The third counting sensor is installed on the third box body. The guide grid is arranged in the third box body.

[0023] Preferably, the precooling water tank comprises a water tank body, a base leg is provided at the bottom of the water tank body, a water inlet is provided on the water tank body, an overflow port is provided at the upper part of the side of the water tank body, and a slag discharge port is provided at the bottom of the side of the water tank body.

[0024] Compared with the prior art, the utility model has achieved the following technical effects:

[0025] The utility model uses intelligent robots and visual automation technology to achieve a series of actions such as temperature measurement, sampling, oxygen determination, slag thickness measurement, demoulding, cooling, screening, filling, and air delivery, achieving the goal of intelligence and unmanned operation. It solves a series of problems such as high labor intensity, high safety risks, low hit probability, and high secondary waste costs in current manual operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic top view of an intelligent robot system adapted to a bucket-type sampler provided by the utility model;

[0028] Figure 2 It is a front view schematic diagram of the utility model with a container bag;

[0029] Figure 3 It is a schematic diagram of the temperature measurement and oxygen determination filling robot in the present utility model;

[0030] Figure 4 This is a schematic diagram of the slag thickness measuring sampling robot in the utility model;

[0031] Figure 5 It is a front view of the temperature measuring and oxygen determining slag breaking device in the utility model;

[0032] Figure 6 It is a side view of the temperature measuring and oxygen determining slag breaking device in the utility model;

[0033] Figure 7 It is a front view of the slag thickness measuring, sampling and slag breaking device in the utility model;

[0034] Figure 8 It is a side view of the slag thickness measuring, sampling and slag breaking device in the utility model;

[0035] Fig. 9 It is a front view of any one of the temperature measurement-high oxygen-low oxygen rod bins in the utility model;

[0036] Fig.10 It is an axonometric diagram of any one of the temperature measurement-high oxygen-low oxygen rod bins in the utility model;

[0037] Fig.11This is a front view of the slag thickness measuring rod bin in the utility model;

[0038] Fig.12 It is a top view of the slag thickness measuring rod bin in the utility model;

[0039] Fig.13 This is a front view of the sampling bucket bin in the utility model;

[0040] Fig.14 It is a side view of the sampling bucket bin in the utility model;

[0041] Fig.15 It is a top view of the precooling water tank in the utility model;

[0042] Fig.16 It is a side view of the precooling water tank in the utility model;

[0043] Fig.17 It is a front view of the demolition device in the utility model;

[0044] Fig.18 It is a top view of the demolition device in the utility model;

[0045] Fig.19 It is a front view of the automatic cooling device in the utility model;

[0046] Fig. 20 It is a top view of the automatic cooling device in the utility model;

[0047] Fig.21 This is a schematic diagram of the sorting and screening robot in the present utility model;

[0048] Fig. 22 It is a schematic diagram of a waste barrel in the utility model;

[0049] Fig.23 It is a schematic diagram of the cover opening device in the utility model;

[0050] Fig.24 It is a schematic diagram of the mid-lift bucket sampler of the present utility model.

[0051] In the figure: 1-temperature measurement and oxygen determination filling robot, 101-first robot body, 102-first hand gripper, 103-first drag chain, 104-first walking track;

[0052] 2-slag thickness measuring sampling robot, 201-second robot body, 202-second hand gripper, 203-second drag chain, 204-second walking rail;

[0053] 3-temperature measurement and oxygen determination slag breaking device, 301-travel chain, 302-temperature measurement and oxygen determination gun rod, 303-temperature measurement and oxygen determination probe, 304-first slag breaking gun rod, 305-first slag breaking gun head, 306-first driver, 307-first slider, 308-first guide wheel, 309-slag breaking gun quick-change joint;

[0054] 4-slag thickness measuring sampling and slag breaking device, 401-second walking chain, 402-sampling and slag thickness measuring gun rod, 403-sampler, 404-second slag breaking gun rod, 405-second slag breaking gun head, 406-second driver, 407-second slider, 408-second guide wheel, 409-slag breaking sampler gun quick change joint;

[0055] 5-temperature measurement-high oxygen-low oxygen rod bin, 501-first adjustment base, 502-first bracket, 503-first box, 504-first counting sensor, 505-grid;

[0056] 6-slag thickness measuring rod bin, 601-second adjustment base, 602-second bracket, 603-second box, 604-second counting sensor, 605-slag measuring rod, 606-station position sensor, 607-guide plate;

[0057] 7-sampling bucket bin, 701-third adjustment base, 702-third bracket, 703-third box, 704-guide grid, 705-third counting sensor;

[0058] 8-precooling water tank, 801-base legs, 802-water tank inlet, 803-water tank overflow, 804-water tank body, 805-slag discharge port;

[0059] 9-dismantling device, 901-support leg, 902-working table, 903-suspension bracket, 904-second lifting drive device, 905-lifting guide rod, 906-dismantling arm, 907-waste box, 908-clamping head, 909-turning table;

[0060] 10-automatic cooling device, 1001-frame, 1002-lifting slider, 1003-sample box, 1004-overflow outlet, 1005-drain outlet, 1006-water inlet valve, 1007-drain basket, 1008-first lifting drive device, 1009-sample box positioning seat, 10010-sample box detector, 10011-water storage tank;

[0061] 11-sorting and screening robot, 1101-base, 1102-sorting robot body, 1103-visual system, 1104-third hand grip;

[0062] 12-waste barrel, 1201-wheel seat, 1202-barrel body;

[0063] 13-opening device, 1301-structural support, 1302-operating table, 1303-lifting clamp, 1304-detection sensor;

[0064] 14-air conveying device; 15-electric control-visual control system; 16-container package;

[0065] 17- bucket sampler, 1701- cup, 1702- handle. DETAILED DESCRIPTION

[0066] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0067] The purpose of the utility model is to provide an intelligent robot system that is suitable for a bucket-type sampler, which realizes automatic sampling, cooling, demoulding and transportation of samples without manual intervention, and solves a series of problems such as high labor intensity, high safety risks, low hit probability and high secondary waste cost of current manual operation.

[0068] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0069] like Figure 1-Figure 24 As shown, this embodiment provides an intelligent robot system adapted to a bucket-type sampler, including a temperature measurement and oxygen determination filling robot 1, a slag thickness measurement sampling robot 2, a temperature measurement and oxygen determination slag breaking device 3, a slag thickness measurement sampling slag breaking device 4, a temperature measurement-high oxygen-low oxygen rod bin 5, a slag thickness measurement rod bin 6, a sampling bucket bin 7, a pre-cooling water tank 8, a dismantling device 9, an automatic cooling device 10, a sorting and screening robot 11, a waste barrel 12, a cover opening device 13, an air conveying device 14, an electric control-visual control system 15, a container bag 16 and a bucket sampler 17.

[0070] The temperature measurement and oxygen determination filling robot 1 adopts a six-axis structure adapted to the metallurgical environment. In order to avoid high temperature and dust, high-temperature protective clothing and air-cooling and water-cooling are added; it includes a first robot body 101, the first robot body 101 is equipped with a first hand gripper 102, the first hand gripper 102 is in the shape of a duckbill forceps, and a circular arc hole is left at the bite to clamp the measuring rod in the temperature measurement-high oxygen-low oxygen rod bin 5; the first robot body 101 is installed with a first walking rail 104, the first robot body 101 can move back and forth in a straight line on the first walking rail 104, and all pipes and wires on the first robot body 101 are driven by the first drag chain 103 to move synchronously with the first robot body 101.

[0071] The slag thickness measuring and sampling robot 2 adopts a six-axis structure adapted to the metallurgical environment. In order to avoid high temperature and dust, high-temperature protective clothing and air-cooling and water-cooling are added; it includes a second robot body 201, the second robot body 201 is equipped with a second hand gripper 202, the second hand gripper 202 is in the shape of a duckbill forceps, and arc holes are left at the bite to clamp the measuring rods and sampling buckets in the slag thickness measuring rod bin 6 and the sampling bucket bin 7; the second robot body 201 is installed with a second walking rail 204, the second robot body 201 can move back and forth in a straight line on the second walking rail 204, and all pipes and wires on the second robot body 201 move synchronously with the second robot body 201 driven by the second drag chain 203.

[0072] The temperature measuring and oxygen determination slag breaking device 3 comprises a first walking chain 301, a temperature measuring and oxygen determination gun rod 302, a temperature measuring and oxygen determination probe 303, a first slag breaking gun rod 304, a first slag breaking gun head 305, a first driver 306, a first slider 307, a first guide wheel 308 and a slag breaking gun quick-change joint 309. When installed (looking straight ahead), in the left and right directions, the temperature measuring and oxygen determination slag breaking device 3 is at an angle of 5°-20° to the left or 5°-20° to the right with respect to the vertical plane, and in the front and rear directions, the temperature measuring and oxygen determination slag breaking device 3 is at an angle of 10°-25° forward or 10°-25° backward with respect to the vertical plane; the temperature measuring and oxygen determination gun rod 302 and the first slag breaking gun rod 304 are respectively connected by a first driver 306 drives it to reciprocate up and down, a temperature measuring and oxygen determining probe 303 is installed at the end of the temperature measuring and oxygen determining gun rod 302, and a first slag breaking gun head 305 is installed at the end of the first slag breaking gun rod 304. The first slag breaking gun head 305 can be quickly replaced through the slag breaking gun quick-change joint 309. During reciprocating lifting, all pipelines are lifted and lowered synchronously with them in the first walking chain 301. In order to ensure that the first slag breaking gun rod 304 and the temperature measuring and oxygen determining gun rod 302 do not bend when rising and falling and are accurately positioned, a first slider 307 and a first guide wheel 308 are added, and the movement process of the first slider 307 is limited by the cooperation with the first slide rail, and the movement process of the first guide wheel 308 is guided.

[0073] The slag thickness measuring and sampling slag breaking device 4 comprises a second walking chain 401, a sampling and slag thickness measuring gun rod 402, a sampler 403, a second slag breaking gun rod 404, a second slag breaking gun head 405, a second driver 406, a second slider 407, a second guide wheel 408 and a slag breaking sampler gun quick-change joint 409. When installed (looking straight ahead), in the left and right directions, the slag thickness measuring and sampling slag breaking device 4 has an angle with the vertical plane of 5°-20° to the left or 5°-20° to the right, and in the front and rear directions, the angle between the slag thickness measuring and sampling slag breaking device 4 and the vertical plane is 10°-25° forward or 10°-25° backward; the sampling and slag thickness measuring gun rod 402 and the second slag breaking gun rod 404 are respectively connected by a second driver The sampler 403 and the second slag breaking gun head 405 can be quickly replaced through the slag breaking sampler gun quick-change joint 409. During reciprocating lifting, all pipelines are synchronously lifted and lowered with the second walking chain 401. In order to ensure that the second slag breaking gun rod 404 sampling and slag thickness measuring gun rod 402 do not bend when rising and falling and the position is accurate, a second slider 407 and a second guide wheel 408 are added. The movement process of the second slider 407 is limited by the cooperation of the second slide rail, and the movement process is guided by the second guide wheel 408.

[0074] The temperature measurement-high oxygen-low oxygen rod bin 5 includes a high oxygen rod bin, a temperature measurement rod bin and a high oxygen rod bin. A single rod bin includes a first adjustment base 501, a first bracket 502, a first box 503, a first counting sensor 504, and a grid 505. The first adjustment base 501 is arranged at the bottom of the first bracket 502. The first adjustment base 501 is a screw-type adjustment base. The first bracket 502 is a profile structure, on which the first box 503 is installed. The first box 503 determines the shape according to the filling quantity. The first counting sensor 504 is installed on the first box 503 and is used to calculate the remaining number of measuring rods. A grid 505 is arranged in the first box 503. The grid 505 has a U-shaped positioning guide groove for guiding the measuring rod. The grid 505 is tilted, with the inside lower and the outside higher, forming an angle of 10°-45° with the horizontal plane.

[0075] The slag thickness measuring rod bin 6 includes a second adjustment base 601, a second bracket 602, a second box body 603, a second counting sensor 604, a slag measuring rod 605, a position sensor 606 and a guide plate 607. The second adjustment base 601 is arranged at the bottom of the second bracket 602. The second box body 603 composed of a steel plate is arranged on the second bracket 602. A guide plate 607 is arranged on the upper part of the second box body 603. The guide plate 607 is provided with a plurality of guide holes. The bottom of the second box body 603 is provided with position sensors 606 corresponding to the guide holes respectively. The slag measuring rod 605 is inserted into the guide holes on the guide plate 607 and placed on the corresponding position sensor 606. The position sensor 606 is used to feedback whether there is a position. The second counting sensor 604 is installed on the second box body 603 to calculate the number of slag measuring rods 605 used.

[0076] The sampling bucket bin 7 includes a third adjustment base 701, a third bracket 702, a third box body 703, a guide grid 704 and a third counting sensor 705. The third adjustment base 701 is arranged at the bottom of the third bracket 702. A rectangular third box body 703 is placed on the upper part of the third bracket 702. The third box body 703 is divided into a plurality of guide grids 704. The guide grids 704 are arranged at an angle of 10°-45° to the horizontal plane. The third counting sensor 705 is installed on the third box body 703 to calculate the remaining number of sampling buckets.

[0077] The precooling water tank 8 includes a water tank body 804 and base legs 801. The water tank body 804 is a rectangular structure, and the base legs 801 are installed at the bottom as support. A water tank water inlet 802 is provided on one side of the water tank body 804, and a water tank overflow port 803 is provided on the upper part of the side of the water tank body 804, which can be automatically / manually controlled. A slag discharge port 805 is provided at the bottom of the side of the water tank body 804, and slag can be discharged quickly according to the slag accumulation situation to ensure the purity of the water.

[0078] The demolition device 9 includes a support leg 901, a work surface 902, a suspension bracket 903, a second lifting drive device 904, a lifting guide rod 905, a demolition arm 906, a waste box 907, a clamping head 908 and a turning table 909; the support leg 901 is a frame formed by splicing profiles, the work surface 902 is installed on the support leg 901, and the waste box 907, the clamping head 908 and the turning table 909 are respectively arranged on the work surface 902. The suspension bracket 903 is arranged just above the work surface 902, and the second lifting drive device 904 is installed on the upper part of the suspension bracket 903. The second lifting drive device 904 is connected to the demolition arm 906, and the drive The dynamic demolition arm 906 moves up and down along the lifting guide rod 905; when the bucket sampler 17 is placed on the clamping head 908, the clamping head 908 detects the presence of an object and clamps it, and the second lifting drive device 904 drives the demolition arm 906 to descend into place. After the demolition arm 906 contacts the bucket sampler 17, the demolition arm 906 knocks at a low speed or a high speed to demolish. After the action is completed, the second lifting drive device 904 drives the demolition arm 906 to rise to the standby position, and the turning table 909 pours the residue into the waste box 907 by turning over. The power of the second lifting drive device 904, the turning table 909 and the demolition arm 906 is pneumatic or electric.

[0079] The automatic cooling device 10 includes a frame 1001, a lifting slider 1002, a sample box 1003 (existing equipment), an overflow port 1004, a drain port 1005, a water inlet valve port 1006, a drain basket 1007, a first lifting drive device 1008, a sample box positioning seat 1009, a sample box detector 10010, and a water storage tank 10011; the frame 1001 is assembled with profiles, and a water storage tank 10011 (carbon steel or stainless steel or other materials) is arranged in the middle of the upper part of the frame 1001. The water storage tank 10011 is provided with an overflow port 1004, a drain port 1005, and a water inlet valve port 1006, and the positions are determined according to the flow rate. The overflow port 1004 and the drain port 100 5. A three-way connection is arranged after the valve, and automatic / manual switches are set for the overflow port 1004, the drain port 1005, and the water inlet valve port 1006. A drain basket 1007 is arranged directly above the water storage tank 10011. The drain basket 1007 (made of carbon steel or stainless steel, etc.) is a cantilevered prismatic frame with sieve holes all over the bottom. The drain basket 1007 is connected to the lifting slider 1002, and the lifting slider 1002 is driven to rise and fall by the first lifting drive device 1008. The upper part of the sample box 1003 (existing equipment) is a pressed cover, and the sample box positioning seat 1009 is adapted to the bottom of the sample box 1003. The sample box detector 10010 is used to detect whether there is a sample box 1003 on the sample box positioning seat 1009.

[0080] The sorting and screening robot 11 includes a base 1101, a sorting robot body 1102, a visual system 1103 and a third gripper 1104; the bottom of the base 1101 is fixed on the working platform, and the upper part is connected to the sorting robot body 1102; the visual system 1103 is installed at the end of the sorting robot body 1102, and the visual system 1103 is composed of a lens, a shell, a PC, and an algorithm, which can realize functions such as sample shape discrimination and position detection; the third gripper 1104 is installed at the end of the sorting robot body 1102, and the third gripper 1104 is a clamp-type structure, which can grab the sample box 1003, the bucket sampler 17 and the samples in the bucket sampler 17.

[0081] The waste barrel 12 is a barrel-type movable structure, including a wheel seat 1201 and a barrel body 1202. The barrel body 1202 is circular, and the wheel seat 1201 is installed at the bottom of the barrel body 1202. After the waste is full, it can be pushed / pulled away to pour out the waste inside.

[0082] The cover opening device 13 includes a structural support 1301, an operating table 1302, a lifting snap ring 1303 and a detection sensor 1304; the lifting snap ring 1303 is arranged above the operating table 1302 and is driven to rise and fall by a lifting drive device, which is a pneumatic drive element. The detection sensor 1304 is used to detect whether a sample box 1003 is placed on the operating table 1302. When the sample box 1003 is detected on the operating table 1302, the lifting snap ring 1303 pulls up the upper cover on the sample box 1003, and the sample box 1003 is removed by the sorting and screening robot 11. When the sample box 1003 is detected again, the lifting snap ring 1303 presses the upper cover down onto the sample box 1003.

[0083] The air delivery device 14 is a cabinet-type structure and is an existing device, which will not be described in detail here.

[0084] The electric control-visual control system 15 includes a box, a PLC, a program and an algorithm, which belongs to the existing conventional technology and will not be described in detail here.

[0085] The container package 16 is a barrel-type structure, and is a container for molten steel. It is an existing device and will not be described in detail here.

[0086] The bucket sampler 17 includes a lifting cup 1701 and a handle 1702 , and the handle 1702 is fixedly connected to the outer side wall of the lifting cup 1701 .

[0087] The utility model slag thickness measurement sampling workflow:

[0088] Measuring slag thickness: when the container package 16 reaches the working position, the slag-breaking gun of the slag-measuring and sampling slag-breaking device 4 works to break the slag, and the slag-measuring and sampling robot 2 grabs the measuring rod of the slag-measuring rod bin 6, and then goes down into the container package 16. After that, the slag-measuring and sampling robot 2 grabs the measuring rod and rises to compare it at the scale, and transmits the data to the main control. This is one of the work processes; the second work process is that the slag-measuring and sampling robot 2 grabs the measuring rod of the slag-measuring and sampling rod bin 6, and installs it on the sampling and slag-measuring gun rod 402 of the slag-measuring and sampling slag-breaking device 4. The slag-measuring and sampling slag-breaking device 4 goes down into the container package 16 and then rises. The slag-measuring and sampling robot 2 grabs the measuring rod and compares it with the scale, and transmits the data. The above two work processes can complete the work of measuring slag thickness.

[0089] Sampling: The slag thickness sampling robot 2 grabs the sampling bucket in the sampling bucket bin 7 and installs it on the sampling and slag thickness measuring gun rod 402 of the slag thickness sampling and slag breaking device 4, and then goes down into the container package 16. The sampling and slag thickness measuring gun rod 402 of the slag thickness sampling and slag breaking device 4 rises, and the slag thickness sampling robot 2 takes down the sampling bucket, and after preliminary cooling in the pre-cooling water tank 8, it is disassembled in the disassembly device 9, and the sorting and screening robot 11 puts the sample in the sampling bucket into the automatic cooling device 10, and the sorting and screening machine Person 11 takes the sample box out of the air conveying device 14, puts the sample box into the cover opening device 13 to open the cover, and the visual system on the sorting and screening robot 11 identifies the sample in the automatic cooling device 10. After the identification is completed, the position information is given to the sorting and screening robot 11, and the sample is grabbed according to the position information and put into the sample box. After the sample box is filled, it goes to the cover opening device 13 to close the cover. After the sorting and screening robot 11 grabs the sample box and sends it to the air conveying device 14, it sends a number and finally delivers the sample box to the laboratory.

[0090] Temperature measurement and oxygen determination workflow:

[0091] After the container package 16 arrives at the working position, the main control room issues a corresponding operation instruction. According to the instruction, the temperature measurement and oxygen determination filling robot 1 grabs the measuring rod (temperature measurement, high oxygen, low oxygen) corresponding to the instruction. The temperature measurement and oxygen determination filling robot 1 installs the corresponding measuring rod on the temperature measurement and oxygen determination gun rod 302 of the temperature measurement and oxygen determination slag breaking device 3, and inserts it into the container package 16 to complete the temperature measurement and oxygen determination operation. The temperature measurement and oxygen determination gun rod 302 on the temperature measurement and oxygen determination slag breaking device 3 rises to the standby position, and the temperature measurement and oxygen determination filling robot 1 unplugs the measuring rod that has completed the operation and discards it.

[0092] The present invention uses specific examples to illustrate the principle and implementation of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An intelligent robot system adapted to a bucket sampler, characterized in that: It includes a temperature measurement and oxygen determination filling robot, a slag thickness measurement sampling robot, a temperature measurement and oxygen determination slag breaking device, a slag thickness measurement sampling slag breaking device, a temperature measurement-high oxygen-low oxygen rod bin, a slag thickness measurement rod bin, a sampling bucket bin, a pre-cooling water tank, a breaking device, an automatic cooling device, a sorting and screening robot, a lid opening device, a wind conveying device, an electric control-visual control system, a container bag, and a bucket sampler; The temperature measurement and oxygen determination filling robot is provided with a first hand gripper for grabbing the measuring rods in the temperature measurement-high oxygen-low oxygen rod bin; The slag thickness measuring sampling robot is equipped with a second hand gripper for clamping the measuring rod in the slag thickness measuring rod bin and the sampling bucket in the sampling bucket bin; The temperature measurement and oxygen determination slag breaking device comprises a temperature measurement and oxygen determination gun rod, a first slag breaking gun rod and a first driver. The temperature measurement and oxygen determination gun rod and the first slag breaking gun rod are respectively driven by the first driver to reciprocate up and down. A temperature measurement and oxygen determination probe is installed at the end of the temperature measurement and oxygen determination gun rod, and a first slag breaking gun head is installed at the end of the first slag breaking gun rod. The slag thickness measuring and sampling slag breaking device comprises a sampling and slag thickness measuring gun rod, a sampler, a second slag breaking gun rod, a second slag breaking gun head and a second driver. The sampling and slag thickness measuring gun rod and the second slag breaking gun rod are respectively driven by the second driver to reciprocate up and down. The sampling and slag thickness measuring gun rod is used to install the measuring rod in the slag thickness measuring rod bin or to install the sampling bucket. The end of the second slag breaking gun rod is connected to the second slag breaking gun head or the sampler through a quick-change joint. The temperature measurement-high oxygen-low oxygen rod bin comprises a high oxygen rod bin, a temperature measurement rod bin and a low oxygen rod bin; The slag thickness measuring rod bin is used to contain the measuring rod for measuring slag thickness; The sampling bucket bin is used to hold the sampling bucket; The demolition device is used to knock and demolish the bucket sampler; The automatic cooling device comprises a water storage tank, a drain basket, a first lifting drive device, a sample box positioning seat, a sample box and a sample box detector. The drain basket is arranged above the water storage tank and is driven by the first lifting drive device to move up and down. The sample box positioning seat is arranged on one side of the water storage tank. The sample box is mounted on the sample box positioning seat in cooperation. The sample box detector is used to detect whether the sample box is installed on the sample box positioning seat. The sorting and screening robot comprises a sorting robot body, a visual system and a third gripper, wherein the visual system and the third gripper are installed at the end of the sorting robot body, and the third gripper is used to grab the sample box, the bucket sampler and the sample in the bucket sampler; The cover opening device includes an operating table, a lifting snap ring and a detection sensor. The lifting snap ring is arranged above the operating table and is driven to rise and fall by a lifting drive device. The detection sensor is used to detect whether the sample box is placed on the operating table. The lifting snap ring is used to pull up the upper cover on the sample box or press the upper cover down onto the sample box.

2. The intelligent robot system adapted to the bucket sampler according to claim 1, characterized in that: It also includes a waste barrel, which includes a barrel body and a wheel seat arranged at the lower end of the barrel body.

3. The intelligent robot system adapted to the bucket sampler according to claim 1, characterized in that: The bucket sampler comprises a lifting cup and a handle, wherein the handle is fixedly connected to the outer side wall of the lifting cup.

4. The intelligent robot system adapted to the bucket sampler according to claim 1, characterized in that: The demolition device includes a support leg, a work surface, a hanging bracket, a second lifting drive device, a lifting guide rod, a demolition arm, a waste box, a clamping head and a turning table. The support leg is arranged at the lower end of the work surface, the hanging bracket is arranged at the upper end of the work surface, the lifting guide rod is fixedly arranged on the hanging bracket, the demolition arm is slidably arranged on the lifting guide rod and is driven to rise and fall by the second lifting drive device, the clamping head is arranged on the work surface and is used to clamp and fix the bucket sampler, the turning table is arranged on the work surface and is driven by the turning drive device, and the waste box is arranged on one side of the turning table and is used to hold the waste dumped by the turning table.

5. The intelligent robot system adapted to the bucket sampler according to claim 1, characterized in that: The high oxygen rod bin, the temperature measuring rod bin and the low oxygen rod bin all include a first bracket, a first box body, a first counting sensor and a grille. A first adjustment base is provided at the bottom of the first bracket. The first box body is installed on the first bracket. The first counting sensor is installed on the first box body. The grille is arranged in the first box body and has a U-shaped positioning guide groove.

6. The intelligent robot system adapted to the bucket sampler according to claim 1, characterized in that: The slag thickness measuring rod bin includes a second bracket, a second box body, a second counting sensor, a slag measuring rod, a position sensor and a guide plate. A second adjustment base is provided at the bottom of the second bracket. The second box body is installed on the second bracket. The guide plate is arranged at the upper end of the second box body. A plurality of guide holes are provided on the guide plate. The bottom of the second box body is provided with the position sensors corresponding to the guide holes respectively. The slag measuring rod passes through the guide holes and is placed on the position sensor. The second counting sensor is installed on the second box body.

7. The intelligent robot system adapted to the bucket sampler according to claim 1, characterized in that: The sampling bucket bin includes a third bracket, a third box body, a guide grid and a third counting sensor. A third adjustment base is provided at the bottom of the third bracket. The third box body is installed on the third bracket. The third counting sensor is installed on the third box body. The guide grid is arranged in the third box body.

8. The intelligent robot system adapted to the bucket sampler according to claim 1, characterized in that: The precooling water tank comprises a water tank body, a base leg is arranged at the bottom of the water tank body, a water inlet is arranged on the water tank body, an overflow port is arranged at the upper part of the side of the water tank body, and a slag discharge port is arranged at the bottom of the side of the water tank body.

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