Molten steel sample sampling device

Abstract

The utility model discloses a molten steel sample picking device. The molten steel sample picking device comprises a vibration centrifugal sorting component and a visual guidance sampling component, the vibration centrifugal sorting component comprises a vibration centrifugal separation bin, a vibration centrifugal disc, a vibration generator, a centrifugal driving assembly and the like, and a discharging opening allowing the broken mud head particles and the upper shells and the lower shells of the molten steel samples to be discharged and preventing the molten steel samples from being discharged is formed in the side wall of the vibration centrifugal separation bin. According to the device, the molten steel samples can be automatically sorted so that the molten steel samples can be reserved in the vibration centrifugal separation bin, then the position and state information of the molten steel samples in the vibration centrifugal separation bin is obtained through the sampling visual CCD assembly of the visual guidance sampling component, and then the molten steel samples are picked up through the picking assembly; according to the device, the molten steel sample picking operation can be automatically completed, the standardized operation process and the efficient operation process are achieved, the manual participation degree is reduced, and the production goals of staff reduction, efficiency improvement and safe production are achieved.

Description

Technical Field

[0001] The present application relates to the technical field of steel metallurgy, and in particular to a sampling device capable of picking up samples of molten steel after breaking during the steel smelting process. Background Art

[0002] The primary purpose of sampling broken molten steel during steelmaking is for quality control and analysis. Since the molten steel may experience temperature, composition, and structure changes during the smelting process, sampling helps monitor these changes, allowing for timely adjustments to smelting parameters and ensuring final product quality. Chemical composition analysis is typically performed on the sampled steel to ensure that its composition meets design requirements, such as strength, hardness, and corrosion resistance. Samples are also often used to measure the molten steel's temperature and undergo metallographic microscopic analysis. Therefore, sampling is a crucial quality control step in steelmaking.

[0003] The traditional steel and metallurgical industry relies on manual sampling of broken molten steel samples. Usually, the molten steel is sampled on the continuous casting table or in the continuous casting ladle before it is tapped out of the furnace and poured into the continuous casting pit. The operator prepares special sampling tools (usually made of high-temperature resistant alloys to resist erosion and damage from high-temperature molten steel) and selects a suitable location to pick up the sample at the furnace tapping port or around the continuous casting pit. The sample is then quickly placed in a pre-prepared sample container and sent to the laboratory for subsequent processing and analysis.

[0004] Molten steel samples are in a reddish, ultra-high-temperature solid state (around 1000°C). Manual sampling poses significant safety risks, impacting both personnel safety and health. Furthermore, the uncontrollable length of time required for manual sampling can easily delay sample analysis and significantly impact the control of existing casting composition. Furthermore, with the advancement of industrial automation, this sampling method is inefficient, inaccurate, and labor-intensive. Therefore, a new technical solution is necessary to address these challenges. Utility Model Content

[0005] The present application provides a molten steel sample picking device to solve the problem of low efficiency of traditional molten steel sample picking operations.

[0006] In order to achieve the above objectives, this application provides the following technical solutions:

[0007] The present application provides a molten steel sample picking device, comprising a vibrating centrifugal sorting component and a visually guided sampling component; the vibrating centrifugal sorting component comprises a separation bin bottom plate, a vibrating centrifugal separation bin arranged above the separation bin bottom plate, a vibration generator and a plurality of booster shrapnel groups arranged below the separation bin bottom plate, and a centrifugal drive assembly arranged below the vibrating centrifugal separation bin, a vibrating centrifugal disc is arranged in the vibrating centrifugal separation bin, the vibrating centrifugal disc is connected to the power output end of the centrifugal drive assembly, and a discharge port is provided on the side wall of the vibrating centrifugal separation bin, which allows the upper shell and lower shell of crushed mud particles and molten steel samples to be discharged and prevents the molten steel samples from being discharged; the visually guided sampling component comprises a sampling visual CCD component and a picking component, the sampling visual CCD component is used to collect image information of the molten steel sample in the vibrating centrifugal separation bin, the image information includes the position and status information of the molten steel sample, and the visually guided sampling component picks up and samples the molten steel sample in the vibrating centrifugal separation bin through the picking component.

[0008] Furthermore, in the above technical solution, the vibrating centrifugal separation chamber is a cylindrical structure, the bottom of the vibrating centrifugal separation chamber is connected to the bottom plate of the separation chamber, and the top of the vibrating centrifugal separation chamber forms a feed port, which is used to receive the molten steel sample that has been broken. The molten steel sample that has been broken includes the upper shell and lower shell of the molten steel sample, the molten steel sample and crushed mud ball particles.

[0009] Furthermore, the vibrating centrifugal disc is a disc-shaped structure, and the height of the upper disc surface gradually increases from the edge of the upper disc surface to the center of the upper disc surface.

[0010] Furthermore, a discharge guide assembly is installed on the outer wall of the vibrating centrifugal separation chamber, and the discharge guide assembly includes a guide groove arranged at the discharge port, and the guide groove is used to receive the upper shell and lower shell of the crushed mud particles and molten steel sample discharged from the discharge port.

[0011] Furthermore, the separation bin bottom plate is a square plate, and a booster spring piece group is respectively provided at the four corners of the separation bin bottom plate, and the booster spring piece group includes a plurality of spring pieces stacked in sequence.

[0012] Furthermore, a platform mounting plate is arranged parallel to the bottom plate of the separation bin, one end of the booster shrapnel group is connected to the bottom plate of the separation bin, and the other end is connected to the platform mounting plate. A mounting seat for adapting to the frame is provided on the platform mounting plate; a through hole is provided in the middle of the platform mounting plate, and the centrifugal drive assembly is connected to the vibrating centrifugal disk through the through hole. The centrifugal drive assembly includes a motor, and a mounting seat hole is provided on the bottom plate of the separation bin to allow the power output shaft of the motor to pass through.

[0013] Furthermore, a platform mounting plate is arranged parallel to the bottom plate of the separation bin, one end of the booster shrapnel group is connected to the bottom plate of the separation bin, and the other end is connected to the platform mounting plate. A sliding part is arranged at the bottom of the platform mounting plate, and the sliding part is adapted to be slidably connected with the slide rail. The vibrating centrifugal separation bin can move back and forth along the slide rail between the discharge port of the sample breaking device and the sample picking station of the visually guided sampling component.

[0014] Furthermore, the first structure of the visually guided sampling component in the present application is as follows: the visually guided sampling component includes a sampling module Z-axis component, a sampling module Y-axis component, a sampling module X-axis component and a sampling module R-axis component, and the sampling vision CCD component and the picking component are both installed on the sampling module R-axis component; the sampling module Z-axis component is a vertically arranged long strip structure, and the sampling module Z-axis component is provided with a slideway that allows the sampling module R-axis component to slide back and forth up and down; the sampling module Y-axis component is a horizontally arranged long strip structure, and the sampling module The Y-axis assembly is provided with a slide that allows the Z-axis assembly of the sampling module to slide back and forth. The X-axis assembly of the sampling module is a horizontally arranged long strip structural member. The length direction of the X-axis assembly of the sampling module is perpendicular to the length direction of the Y-axis assembly of the sampling module. The X-axis assembly of the sampling module is provided with a slide that allows the Y-axis assembly of the sampling module to slide back and forth. The picking assembly includes a vertically arranged connecting rod and a vacuum adsorption head. The sampling visual CCD assembly includes a camera. The R-axis assembly of the sampling module is provided with a weighing sensor for weighing the picked-up molten steel sample.

[0015] Furthermore, the second structure of the vision-guided sampling component in the present application is as follows: the vision-guided sampling component includes a six-axis robot, and the execution end of the six-axis robot is equipped with a sampling vision CCD component and a picking component, the picking component includes a clamp for picking up the molten steel sample in the vibrating centrifugal separation chamber, the sampling vision CCD component includes a camera, and the clamp is provided with a weighing sensor for weighing the picked up molten steel sample.

[0016] Compared with the prior art, this application has at least the following beneficial effects:

[0017] The present application provides a molten steel sample picking device, which uses a vibrating centrifugal sorting component to vibrate and centrifuge the mixture containing the molten steel sample after the sample is broken, and discharges the crushed mud particles and the upper shell and the lower shell of the molten steel sample from the vibrating centrifugal separation bin, and retains the molten steel sample in the vibrating centrifugal separation bin, and then uses the sampling vision CCD component of the visually guided sampling component to take a picture of the molten steel sample in the vibrating centrifugal separation bin to obtain the position and status information of the molten steel sample, and then picks up the molten steel sample in the vibrating centrifugal separation bin through the picking component; when a discharge port is opened on the side wall of the vibrating centrifugal separation bin, a discharge port with a limited height is set on the vibrating centrifugal separation bin according to the free state of the crushed mud particles and the upper shell and the lower shell of the molten steel sample under the action of centrifugal force, and the molten steel sample is used to collect the sample. The size of the discharge port is set according to the thickness difference of the sample outer shell (i.e. the upper shell and the lower shell of the molten steel sample) so that the molten steel sample can be retained in the vibrating centrifugal separation chamber. Therefore, the present application automatically sorts the molten steel sample after breaking through the vibrating centrifugal sorting component, and then determines the position and status of the molten steel sample in the vibrating centrifugal separation chamber through the sampling visual CCD component, and then picks up the sample through the picking component to automatically complete the molten steel sample picking operation. Compared with the traditional manual sampling operation, the present application has standardized operation procedures and efficient operation processes, which improves the sampling efficiency, reduces manual participation, and achieves the production goals of reducing staff, increasing efficiency and ensuring safe production; in addition, the molten steel sample picking device can be used in conjunction with other sample breaking and sample delivery devices to realize a series of automated processing of molten steel samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. It should be understood that the specific shapes and structures shown in the drawings should not generally be regarded as limiting conditions for implementing the present application; for example, based on the technical concepts and exemplary drawings disclosed in this application, those skilled in the art are able to easily make routine adjustments or further optimizations to the addition / reduction / attribution division, specific shapes, positional relationships, connection methods, and dimensional ratios of certain units (components).

[0019] Figure 1 This is a schematic diagram of the overall structure of a molten steel sample picking device provided by the present application in one embodiment;

[0020] Figure 2 This is a schematic diagram of the overall structure of the vibrating centrifugal sorting component in the molten steel sample picking device provided by the present application in one embodiment.

[0021] Description of reference numerals:

[0022] 1. Vibrating centrifugal sorting components; 11. Vibrating centrifugal separation chamber; 12. Separation chamber bottom plate; 13. Vibration generator; 14. Booster spring assembly; 15. Centrifugal drive assembly; 16. Platform mounting plate; 17. Discharge guide assembly; 18. Discharge port; 19. Vibrating centrifugal disc;

[0023] 2. Vision-guided sampling components; 21. Sampling module Z-axis assembly; 22. Sampling module R-axis assembly; 23. Sampling vision CCD assembly; 24. Sampling module Y-axis assembly; 25. Sampling module X-axis assembly; 26. Picking assembly. DETAILED DESCRIPTION

[0024] The present application will be further described below in detail through specific embodiments in conjunction with the accompanying drawings.

[0025] In the description of this application: unless otherwise specified, the meaning of "plurality" is two or more. The terms "first", "second", etc. in this application are intended to distinguish the objects referred to and do not have any special meaning in terms of technical connotation (for example, they should not be understood as emphasizing the degree of importance or order, etc.). Expressions such as "including", "comprising", "having", etc. also mean "not limited to" (certain units, components, materials, steps, etc.).

[0026] Terms such as "upper," "lower," "left," "right," "front," and "rear" used in this application are generally intended to facilitate intuitive understanding when compared with the accompanying drawings and are not intended to be absolute limitations on positional relationships in actual products. Changes to these relative positional relationships, without departing from the technical concepts disclosed in this application, are considered within the scope of this application.

[0027] In order to solve the problems existing in the prior art, the present application provides a molten steel sample picking device, which can automatically pick up samples during the production process, effectively solving the existing problem of manual sampling of molten steel samples after sampling is completed, and isolating the safety risk of ultra-high temperature burns of about 1000°C in the process of manual sampling. In addition, the use of this application can standardize the operation process. Compared with the uncontrollability of manual operation, this application can solidify the operation process, ensure the continuity of the operation, effectively shorten the sampling operation time, and improve the sampling efficiency. Applying this application in production practice can realize unmanned operation, promote safe production, and achieve efficiency improvement by reducing staff. The structure and use process of the molten steel sample picking device are described in detail below.

[0028] The present application provides a molten steel sample picking device, which mainly includes a vibrating centrifugal sorting component 1 and a visually guided sampling component 2. Figure 2The vibrating centrifugal separation component 1 mainly includes a separation chamber bottom plate 12, a vibrating centrifugal separation chamber 11 disposed above the separation chamber bottom plate 12, a vibration generator 13 and a plurality of booster spring groups 14 disposed below the separation chamber bottom plate 12, and a centrifugal drive assembly 15 disposed below the vibrating centrifugal separation chamber 11. A vibrating centrifugal disc 19 is disposed within the vibrating centrifugal separation chamber 11 and is connected to the power output end of the centrifugal drive assembly 15. A discharge port 18 is provided on the side wall of the vibrating centrifugal separation chamber 11 to allow the discharge of crushed mud particles and molten steel samples, while preventing the discharge of molten steel samples. Figure 1 The visually guided sampling component 2 includes a sampling visual CCD component 23 and a picking component 26. The sampling visual CCD component 23 is used to collect image information of the molten steel sample in the vibrating centrifugal separation chamber 11. The image information includes the position and status information of the molten steel sample. The visually guided sampling component 2 picks up the molten steel sample in the vibrating centrifugal separation chamber 11 through the picking component 26.

[0029] The present application can discharge the crushed mud particles and the upper and lower shells of the molten steel sample after sample breaking from the vibrating centrifugal separation chamber 11 through the vibrating centrifugal sorting component 1, and retain the molten steel sample in the vibrating centrifugal separation chamber 11, thereby realizing automatic sorting of the molten steel sample, eliminating manual operation, and providing convenience for subsequent automated sample picking.

[0030] The structure of the vibrating centrifugal sorting component 1 in this application is described in detail below.

[0031] See also Figure 2 The separation bin bottom plate 12 in the vibrating centrifugal sorting component 1 not only serves to mount the vibrating centrifugal separation bin 11 and the cylindrical side wall of the vibrating centrifugal separation bin 11 to form a cavity, but also serves to mount the vibration generator 13 and the centrifugal drive assembly 15. A platform mounting plate 16 is arranged parallel to the bottom of the separation bin bottom plate 12, and four booster spring groups 14 are arranged between the separation bin bottom plate 12 and the platform mounting plate 16. A vibration generator 13 is also arranged at the bottom of the separation bin bottom plate 12. Therefore, the vibrating centrifugal separation bin 11 and the separation bin bottom plate 12 can vibrate relative to the platform mounting plate 16 through the booster spring groups 14 and the vibration generator 13. A centrifugal drive assembly 15 is also mounted on the separation bin bottom plate 12. The centrifugal drive assembly 15 can be a motor. The power output shaft of the motor passes through the separation bin bottom plate 12 and is connected to the vibrating centrifugal disk 19 installed in the vibrating centrifugal separation bin 11. A mounting seat for mounting the power output shaft of the motor is provided on the separation bin bottom plate 12, and a bearing can be accommodated in the mounting seat. During actual installation, the distance between the separation bin bottom plate 12 and the platform mounting plate 16 can be customized according to needs. If the distance between the separation bin bottom plate 12 and the platform mounting plate 16 is difficult to adapt to the installation of the centrifugal drive assembly 15, a through hole can be opened in the middle of the platform mounting plate 16, and the through hole is the makeshift hole for the centrifugal drive assembly 15.

[0032] In one embodiment, the vibrating centrifugal separation chamber 11 is preferably cylindrical in structure, with a feed port formed at its top for receiving the crushed molten steel sample. The crushed molten steel sample in this application includes the upper and lower shells of the molten steel sample, the molten steel sample, and crushed mud ball particles, wherein the crushed mud ball particles are small particles, and the upper and lower shells of the molten steel sample have different thicknesses from the molten steel sample. Therefore, this application can perform vibrating centrifugal separation on these materials based on their different properties.

[0033] During specific application installation, a loading robot can be equipped to automatically insert the sampler mud ball into the molten steel to take samples and then insert the sampler mud ball into the sample breaking device for automatic sample breaking. The material after automatic sample breaking can be directly transported to the feed port of the vibrating centrifugal separation chamber 11 through the conveying device, thus realizing unmanned production.

[0034] In one embodiment, the vibrating centrifugal disk 19 in the present application is a disc-shaped structure, and the height of the upper disk surface gradually increases from the edge to the center of the upper disk surface of the vibrating centrifugal disk 19, that is, the upper surface of the vibrating centrifugal disk 19 is a conical surface with a thin edge and a thick middle. When the sample, the sample shell and the crushed mud particles fall into the vibrating centrifugal separation chamber 11, the sample, the sample shell and the crushed mud particles fall freely into the vibrating centrifugal separation chamber 11 that rotates at high speed and vibrates at high frequency, and collide with the vibrating centrifugal disk 19. The sample, the upper shell of the sample, the lower shell of the sample, and the crushed mud particles are distributed separately in the vibrating centrifugal disk 19 (the vibrating centrifugal disk 19 is tapered, with a high center and low edges), and are distributed and slid to the edge of the vibrating centrifugal disk 19 under the action of centrifugal force. Under the action of the high-speed rotating vibrating centrifugal disk 19, the crushed mud particles and the upper and lower shells of the molten steel sample are discharged through the discharge port 18 of a limited height under the action of centrifugal force; the thickness difference between the molten steel sample and the sample shell is utilized to retain the molten steel sample in the vibrating centrifugal separation chamber 11. Therefore, the present application can automatically sort the molten steel sample mixture after sample breaking, providing convenience for subsequent automatic sample picking.

[0035] In one embodiment, in order to guide the sorted materials to the target location, the present application installs a discharge guide assembly 17 on the outer wall of the vibrating centrifugal separation chamber 11. The discharge guide assembly 17 includes a guide groove arranged at the discharge port 18. The guide groove is used to receive the crushed mud particles and the upper shell and lower shell of the molten steel sample discharged from the discharge port 18. The guide groove can output the sorted materials to a collection box or other post-processing station.

[0036] In one embodiment, the above-mentioned vibrating centrifugal separation chamber 11 is cylindrical, and the separation chamber bottom plate 12 is a square plate. A booster spring group 14 can be set at the four corners of the separation chamber bottom plate 12. At the same time, the platform mounting plate 16 is basically also a square plate, but a triangular convex plate is respectively provided outward on the four sides of the square plate. The four triangular convex plates are respectively connected to the booster spring group 14. Therefore, the booster spring group 14 is not installed vertically, but is installed at an angle relative to the separation chamber bottom plate 12.

[0037] In one embodiment, the vibrating centrifugal sorting component 1 in the present application is mounted on the frame via a platform mounting plate 16 .

[0038] In another embodiment, the vibrating centrifugal sorting component 1 in the present application is adapted for sliding connection with the slide rail through the platform mounting plate 16. Specifically, a sliding member, such as a slider, is provided at the bottom of the platform mounting plate 16. The sliding member is adapted for sliding connection with the slide rail. The vibrating centrifugal separation chamber 11 can move back and forth along the slide rail between the discharge port 18 of the sample breaking device and the sample picking station of the visually guided sampling component 2 below. That is, the vibrating centrifugal separation chamber 11 can receive the molten steel sample mixture after sample breaking at the initial loading position. After the vibrating centrifuge retains the molten steel sample in the vibrating centrifugal separation chamber 11, the vibrating centrifugal sorting component 1 can be driven by the driving device to move along the slide rail to the sample picking station of the visually guided sampling component 2.

[0039] Preferably, the slide rail is a linear slide rail, and the driving device for driving the vibrating centrifugal sorting component 1 to move along the slide rail can be any linear actuator, such as: an electric linear actuator, which uses an electric motor as a driving source and converts the rotational motion generated by the rotating motor into linear motion. Common ones include screw drive and chain drive. Another example is a hydraulic linear actuator, which uses the liquid in the hydraulic system as a power source, controls the flow of the liquid by adjusting the hydraulic valve, and pushes the piston to achieve linear motion.

[0040] In one embodiment, see Figure 1 The structure of the visually guided sampling component 2 in the present application is as follows: the visually guided sampling component 2 mainly includes a sampling module Z-axis component 21, a sampling module Y-axis component 24, a sampling module X-axis component 25 and a sampling module R-axis component 22, wherein the sampling module Z-axis component 21, the sampling module Y-axis component 24, and the sampling module X-axis component 25 constitute a three-dimensional coordinate system structure, and the sampling module R-axis component 22 is installed on the sampling module Z-axis component 21. In the present application, the sampling module Z-axis component 21, the sampling module Y-axis component 24, and the sampling module X-axis component 25 are all sliding guide components. Such a structural design is to achieve arbitrary adjustment of the sampling vision CCD component 23 and the picking component 26 installed on the sampling module R-axis component 22.

[0041] Specifically, the sampling module Z-axis assembly 21 is a vertically arranged long strip structural member. A slideway is provided on the sampling module Z-axis assembly 21 to allow the sampling module R-axis assembly 22 to slide back and forth up and down. The sampling module R-axis assembly 22 is moved and stopped in place on the sampling module Z-axis assembly 21 through sliders and limiters.

[0042] The sampling module Y-axis assembly 24 is a horizontally arranged long strip structural member. A slideway is provided on the sampling module Y-axis assembly 24 to allow the sampling module Z-axis assembly 21 to slide back and forth left and right. The sampling module Z-axis assembly 21 is moved and stopped in place on the sampling module Y-axis assembly 24 through sliders and limiters.

[0043] The sampling module X-axis assembly 25 is a horizontally arranged long strip structural member. The length direction of the sampling module X-axis assembly 25 is perpendicular to the length direction of the sampling module Y-axis assembly 24. A slideway is provided on the sampling module X-axis assembly 25 to allow the sampling module Y-axis assembly 24 to slide back and forth. The sampling module Y-axis assembly 24 is moved and stopped in place on the sampling module X-axis assembly 25 through sliders and limiters.

[0044] The aforementioned pickup assembly 26 can include a vertically mounted connecting rod and a vacuum suction head, enabling sample pickup via vacuum suction. The aforementioned sampling visual CCD assembly 23 includes a camera and image processing module, which captures image information of the molten steel sample, obtains its position and status information, and then visually guides the sampling component 2 to adjust the position of the pickup assembly 26, allowing the sample to be picked up. To simultaneously collect weight information while picking up the sample, a load cell can also be installed on the sampling module R-axis assembly 22 to weigh the picked molten steel sample.

[0045] In another embodiment, the visually guided sampling component 2 in the present application can directly adopt an industrial robot, such as a six-axis robot. The sampling visual CCD component 23 and the picking component 26 can be installed at the execution end of the six-axis robot. The sampling visual CCD component 23 includes a camera and an image processing module. It collects image information of the molten steel sample by taking pictures, obtains the position and status information of the molten steel sample, and sends the obtained information to the control system of the six-axis robot. Then the six-axis robot drives the picking component 26 to locate and pick up the molten steel sample. The picking component 26 can be a fixture installed at the execution end of the six-axis robot, such as a structure such as a clamp, or a vacuum adsorption head can be used, as long as it can achieve sample picking. Similarly, a weighing sensor for weighing the picked up molten steel sample can also be set on the fixture to obtain the weight information of the sample while picking up the sample.

[0046] In actual production practice, after the steel sample is automatically taken out by the receiving robot of the equipment, the steel sample can be broken. After the broken sample mixture is processed, the sample picking device provided in this application can be automatically picked up to realize automated production. The process of automatic sampling operation using the molten steel sample picking device provided in this application is as follows:

[0047] After the sample crushing process, the mixture containing the sample, the sample shell and the crushed mud particles falls into the vibrating centrifugal separation chamber 11. When the sample, the sample shell and the crushed mud particles fall freely into the vibrating centrifugal separation chamber 11 which rotates at high speed and vibrates at high frequency, they collide with the vibrating centrifugal disk 19, so that the sample, the sample upper shell, the sample lower shell and the crushed mud particles are separated and distributed in the vibrating centrifugal disk 19 (the vibrating centrifugal disk 19 has a taper, with a high center and a low edge), and slide to the edge of the vibrating centrifugal disk 19 under the action of centrifugal force. Under the action of the high-speed rotating vibrating centrifugal disk 19, the crushed mud particles and the upper shell and lower shell of the molten steel sample are subjected to the centrifugal force and pass through the discharge port 18 with a limited height. Discharge; utilizing the thickness difference between the molten steel sample and the sample shell, the molten steel sample is retained in the vibrating centrifugal separation chamber 11. At this time, the vibrating centrifugal sorting component 1 stops high-frequency vibration and high-speed rotation, and moves to the sample picking station of the visually guided sampling component 2. After the visually guided sampling component 2 moves to the sampling and photographing station, the industrial camera of the sampling vision CCD component 23 is used to obtain the sample position and status. Then, the visually guided sampling component 2 drives the picking component 26 to pick up the sample according to the information, and adjusts the sample position status according to the position data fed back by the sampling vision CCD component 23 through the sampling module R-axis component 22, and the weighing sensor on the sampling module R-axis component 22 weighs the sample, and the sampling operation is completed.

[0048] In summary, this application provides a molten steel sample picking device, which uses a vibration centrifugal method to sort the samples to ensure efficient and accurate sample picking; and uses a visual CCD-guided XYZR axis module to identify and feedback the position and shape of the sample; this application can also determine the appearance state result by setting a visual template of the sample; and verify the sample weight information through the R-axis weighing sensor to ensure the accuracy of the sample. Therefore, this application uses a single device to replace manual operations to achieve automated sample picking. The equipment has a standardized operating process and a highly efficient operating process, which effectively improves the production operation rhythm, promotes efficient and safe production, ensures personnel safety, and indirectly promotes cost reduction and efficiency improvement.

[0049] The technical features of the above embodiments can be combined arbitrarily (as long as there is no contradiction in the combination of these technical features). In order to make the description concise, not all possible combinations of the technical features in the above embodiments are described; these embodiments that are not explicitly written should also be considered to be within the scope of this specification.

[0050] The present application has been described in a relatively specific and detailed manner through general explanations and specific embodiments. It should be understood that, based on the technical concept of the present application, several conventional adjustments or further innovations may be made to these specific embodiments; however, as long as they do not depart from the technical concept of the present application, the technical solutions obtained by such conventional adjustments or further innovations also fall within the scope of protection of the claims of the present application.

Claims

1. A molten steel sample picking device, characterized in that: It includes a vibrating centrifugal sorting component and a visually guided sampling component; the vibrating centrifugal sorting component includes a separation bin bottom plate, a vibrating centrifugal separation bin arranged above the separation bin bottom plate, a vibration generator and a plurality of booster spring groups arranged below the separation bin bottom plate, and a centrifugal drive assembly arranged below the vibrating centrifugal separation bin, a vibrating centrifugal disk is arranged in the vibrating centrifugal separation bin, the vibrating centrifugal disk is connected to the power output end of the centrifugal drive assembly, and a discharge port is provided on the side wall of the vibrating centrifugal separation bin, which allows the upper shell and lower shell of the crushed mud particles and molten steel samples to be discharged and prevents the molten steel samples from being discharged; the visually guided sampling component includes a sampling visual CCD component and a picking component, the sampling visual CCD component is used to collect image information of the molten steel sample in the vibrating centrifugal separation bin, the image information includes the position and status information of the molten steel sample, and the visually guided sampling component picks up the molten steel sample in the vibrating centrifugal separation bin through the picking component.

2. The molten steel sample picking device according to claim 1, characterized in that: The vibrating centrifugal separation chamber is a cylindrical structure, the bottom of the vibrating centrifugal separation chamber is connected to the bottom plate of the separation chamber, and the top of the vibrating centrifugal separation chamber forms a feed port, which is used to receive the molten steel sample that has been broken. The molten steel sample that has been broken includes the upper shell and lower shell of the molten steel sample, the molten steel sample and crushed mud ball particles.

3. The molten steel sample picking device according to claim 1 or 2, characterized in that: The vibrating centrifugal disk is a disc-shaped structure, and the height of the upper disk surface gradually increases from the edge of the upper disk surface to the center of the upper disk surface.

4. The molten steel sample picking device according to claim 1, characterized in that: A discharge guide assembly is installed on the outer wall of the vibrating centrifugal separation bin, and the discharge guide assembly includes a guide groove arranged at the discharge port, and the guide groove is used to receive the upper shell and lower shell of the crushed mud particles and molten steel sample discharged from the discharge port.

5. The molten steel sample picking device according to claim 1, characterized in that: The separation bin bottom plate is a square plate, and a booster spring piece group is respectively provided at the four corners of the separation bin bottom plate. The booster spring piece group includes a plurality of spring pieces stacked in sequence.

6. The molten steel sample picking device according to claim 1, characterized in that: A platform mounting plate is provided parallel to the bottom of the separation bin, one end of the booster spring group is connected to the separation bin bottom plate, and the other end is connected to the platform mounting plate, and a mounting seat for adapting to the frame is provided on the platform mounting plate; A through hole is provided in the middle of the platform mounting plate, and the centrifugal drive assembly is connected to the vibrating centrifugal disk through the through hole. The centrifugal drive assembly includes a motor, and a power output shaft of the motor is allowed to pass through the mounting seat hole provided on the bottom plate of the separation bin.

7. The molten steel sample picking device according to claim 1, characterized in that: A platform mounting plate is arranged parallel to the bottom plate of the separation bin, one end of the booster spring group is connected to the bottom plate of the separation bin, and the other end is connected to the platform mounting plate. A sliding part is arranged at the bottom of the platform mounting plate, and the sliding part is adapted to be slidably connected to the slide rail. The vibrating centrifugal separation bin can move back and forth along the slide rail below the discharge port of the sample breaking device and the sample picking station of the visually guided sampling component.

8. The molten steel sample picking device according to claim 1, characterized in that: The visually guided sampling component includes a sampling module Z-axis component, a sampling module Y-axis component, a sampling module X-axis component and a sampling module R-axis component, and the sampling vision CCD component and the picking component are both installed on the sampling module R-axis component; The sampling module Z-axis assembly is a vertically arranged long strip structure, and a slideway is provided on the sampling module Z-axis assembly to allow the sampling module R-axis assembly to slide back and forth up and down; The sampling module Y-axis assembly is a horizontally arranged long strip structure, and a slideway is provided on the sampling module Y-axis assembly to allow the sampling module Z-axis assembly to slide back and forth left and right; The sampling module X-axis assembly is a horizontally arranged long strip structure, the length direction of the sampling module X-axis assembly is perpendicular to the length direction of the sampling module Y-axis assembly, and a slideway is provided on the sampling module X-axis assembly to allow the sampling module Y-axis assembly to slide back and forth; The pickup assembly includes a vertically arranged connecting rod and a vacuum adsorption head; The sampling visual CCD component includes a camera; The R-axis assembly of the sampling module is provided with a weighing sensor for weighing the picked-up molten steel sample.

9. The molten steel sample picking device according to claim 1, characterized in that: The vision-guided sampling component includes a six-axis robot, and the execution end of the six-axis robot is equipped with the sampling vision CCD component and the picking component. The picking component includes a clamp for picking up the molten steel sample in the vibrating centrifugal separation chamber, and the sampling vision CCD component includes a camera. The clamp is provided with a weighing sensor for weighing the picked up molten steel sample.

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