Replacement System and Replacement Method for Metallurgical Temperature Measurement Sampling Probe

Abstract

The metallurgical temperature measuring sampling probe (200) exchange system is installed on a temperature measuring gun (100) for measuring the temperature of a molten metal ladle, and includes a six-axis robot (1), a jig (2) attached to the end of the six-axis robot (1), a storage shelf (3) for storing the temperature measuring sampling probe (200), a shear (4), and a scrap box (5). The temperature measuring gun (100), storage shelf (3), shear (4), and scrap box (5) are each sequentially provided in different orientations within the rotation range of the six-axis robot (1), and the scrap box (5) is provided near the shear (4). The fixture (2) includes a base (21), a clamping claw (22) for clamping a temperature sampling probe (200) arranged in parallel at the tip of the base (21), a positioning claw (23), and a detection device (24) located between the clamping claw (22) and the positioning claw (23), and the center line of the clamping space of the clamping claw (22) and the center line of the positioning space of the positioning claw (23) are located on the same axis, and the detection source of the detection device (24) passes through this axis. Instead of manually fitting or removing the temperature sampling probe (200), it can reduce the labor intensity of the operator, reduce the health hazards of high-risk environments, and improve work efficiency. A method for replacing the metallurgical temperature sampling probe (200) replacement system is also disclosed.

Description

Technical Field

[0001] The present invention relates to metallurgical technology, and particularly to an exchange system and an exchange method for a metallurgical temperature measurement and sampling probe.

Background Art

[0002] In processes such as steelmaking and continuous casting in the steel metallurgy process, it is necessary to extract a molten metal sample from the molten metal and analyze parameters such as its chemical composition based on the sample. When extracting the molten metal sample, usually, a rod-shaped temperature measurement and sampling probe having a temperature measurement and sampling function is fitted into a temperature measurement and sampling lance (hereinafter referred to as a temperature measurement lance) that moves in the vertical direction, and the temperature measurement lance is inserted into a ladle (container) filled with liquid molten metal together with the temperature measurement and sampling probe by a conveying mechanism. A thermocouple for detecting the temperature of the molten metal is attached to the tip of the probe. After the molten metal enters the mold through the sampling port of the probe and the probe leaves the ladle, the metal solidifies in the mold to form a solid sample. After the sample is taken out, it needs to be sent to an analysis room to detect parameters such as its chemical composition.

[0003] Normally, such a temperature measurement and sampling probe mainly consists of two-stage paper-made oval tubes and is divided into a clamping region and a sampling region. In order to analyze the metal components in the ladle in real time, the solidified metal sample body must be separated from the sampling region of the temperature measurement and sampling probe in a timely manner. At present, the temperature measurement and sampling probe is manually fitted into the temperature measurement lance, the temperature measurement lance holds the temperature measurement and sampling probe and enters the ladle filled with molten metal. After the temperature measurement and sampling operation is completed, it is lifted up. The operator often extracts the probe from the temperature measurement lance and knocks on the paper tube in the sampling region to take out the metal sample body. When operating manually, the probe body is often in a burning state. Moreover, the black smoke, dust in steelmaking and the high temperature of the ladle damage the physical health of the operator.

[0004] As a conventional method for replacing a temperature measurement sampling probe, for example, Chinese Patent Application No. CN201922259240.4 discloses a "robot temperature measurement sampling automatic insertion / extraction device" including a sampling device, an automatic gripping device, a sampling rod storage device, and a specimen storage device. In response to the high working efficiency and harsh environmental conditions of steelmaking temperature measurement sampling, the characteristics of the operating accuracy and programmability of the robot are combined to realize the processes of automatic sampling and storage. The structural form and technical details of a specific gripping device are not described in this technical means.

[0005] Chinese Patent Application No. CN201811613127.5 discloses an "automatic docking device for a temperature measurement probe and a temperature measurement gun". The automatic docking device includes an angular robot and a translational motion robot, both of which are fixed to a frame, the frame is installed on the robot, and two half-tapered plates are respectively fixed to two clamp fingers of the angular robot. When the clamp fingers of the angular robot are in a clamped closed state, the two half-tapered plates are brought into contact with each other to form a tapered drum. The axis of the tapered drum is perpendicular to the positioning plate, and a position sensor is attached to the positioning plate. The position sensor attached to this patent cannot detect the position of the probe's clamping claw, nor can it detect the axis of the temperature measurement gun, which may affect the docking operation.

Summary of the Invention

[0006] The object of the present invention is to provide a replacement system and method for a metallurgical temperature measurement sampling probe that can reduce the labor intensity of operators, reduce the harm to health in a high-risk environment, and improve work efficiency, instead of manually fitting or removing a temperature measurement sampling probe.

[0007] To achieve the above object, the technical means of the present invention are as follows. A replacement system for a metallurgical temperature measurement sampling probe installed in a temperature measurement gun for measuring the temperature of a molten metal ladle, comprising a six-axis robot, a jig attached to the end of the six-axis robot, a storage shelf for storing the temperature measurement sampling probe, a shearing machine for cutting and separating the sampling area and the clamping area of the temperature measurement sampling probe, and a scrap box. The temperature measurement gun, the storage shelf, the shearing machine, and the scrap box are respectively installed at different orientations within the turning range of the six-axis robot, and the scrap box is installed near the shearing machine. The temperature measurement sampling probe is in a round bar shape, with a sampling area and a clamping area provided. The clamping area has a hollow structure and has an opening into which the temperature measurement gun is inserted. The temperature measurement gun is in a round bar shape, the diameter of its head part is smaller than the diameter of the body, and a gradually changing transition area is provided between the two. The jig includes a base, clamping claws arranged in parallel at the tip of the base for clamping the temperature measurement sampling probe, positioning claws, and a detection device located between the clamping claws and the positioning claws. The center line of the positioning space of the positioning claws and the center line of the clamping space of the clamping claws are on the same axis, and the detection source of the detection device passes through this axis.

[0008] Furthermore, it further includes a safety protection fence surrounding the temperature measurement gun, the six-axis robot, the storage shelf, the shearing machine, and the scrap box.

[0009] Preferably, the clamping claws include a left support arm, a right support arm, a translational motion cylinder that can drive the left and right support arms to move towards each other, and left and right clamping blocks respectively installed at the ends of the left and right support arms. Axially along the center of the opposing surfaces of the left and right clamping blocks, a V-shaped or trapezoidal concave groove is provided. The length of the left and right clamping blocks is 3 to 4 times the outer diameter of the clamping area of the temperature measurement sampling probe.

[0010] Preferably, the left support arm and the right support arm have a C-shaped structure. Preferably, a number of trenches are provided at equal intervals on both sides of the V-shaped or trapezoidal groove of the left and right clamping blocks.

[0011] Preferably, the trench has a depth of 5 to 10 mm, and adjacent trenches are disposed at intervals of 30 to 40 mm.

[0012] Preferably, the positioning claw includes an angular cylinder and left and right positioning fingers installed on both swing arms of the angular cylinder, and the left and right positioning fingers each have a clamping portion located at the base and the tip of the base, and the clamping portion is V-shaped and its inner bottom is an arc-shaped concave surface, and preferably, an arc-shaped chamfer is provided on the inner surfaces of both ends of the V-shaped clamping portion, and the inner diameter of the positioning space surrounded by the left and right positioning fingers crossing and closing matches the outer diameter of the body of the temperature gun, and the center line of the positioning space surrounded by the left and right positioning fingers crossing and closing and the center line of the clamping space formed by the closure of the left and right clamping blocks of the clamping claws are the same straight line.

[0013] Preferably, the detection device is a non-contact distance sensor, preferably a laser sensor.

[0014] In the method for replacing the metallurgical temperature measuring sampling probe of the present invention, 1) A six-axis robot moves a jig to approach the temperature gun, scans the jig with a detection device to detect the position of the temperature gun, and then moves to a shelf where the jig is placed, uses the clamping jaws of the jig to grasp the clamping area of the temperature sampling probe, and uses the detection device to confirm whether the position of the temperature sampling probe in the clamping jaws of the jig is at the axis; 2) The 6-axis robot moves the temperature measurement sampling probe to approach the head part of the temperature measurement gun. The left and right positioning fingers of the positioning claws cross and close, surrounding the head part of the temperature measurement gun in the positioning space surrounded by both. After that, the clamping claw grips the temperature measurement sampling probe, inserts the head part of the temperature measurement gun into the temperature measurement sampling probe for fitting. After the head part of the temperature measurement gun enters at least 30 mm inside the clamping area of the temperature measurement sampling probe, the left and right positioning fingers of the positioning claws release the temperature measurement gun. Then, the 6-axis robot moves the temperature measurement sampling probe to complete the fitting to the temperature measurement gun. After that, the 6-axis robot detaches from the temperature measurement gun, and the temperature measurement sampling probe is lowered so that the temperature measurement gun enters the molten metal ladle to detect the temperature of the molten metal and obtain a molten metal sample. 3) After the temperature measurement and sampling operations are completed, the temperature measurement gun rises. The 6-axis robot moves the jig to approach the upper part of the temperature measurement gun. The left and right positioning fingers of the positioning claws move oppositely to grip and position the upper part of the temperature measurement gun. Subsequently, the left and right clamping blocks of the clamping claw move oppositely and clamp the clamping area of the temperature measurement sampling probe. Then, the left and right positioning fingers of the positioning claws release the temperature measurement gun. The clamping claw is moved by the 6-axis robot to extract the temperature measurement sampling probe from the temperature measurement gun. 4) The 6-axis robot moves the jig to send the sampling area of the temperature measurement sampling probe into the shearing machine. After cutting off the sampling area of the temperature measurement sampling probe, the 6-axis robot moves the jig to bring the clamping area part of the temperature measurement sampling probe to the scrap box. At the same time, the left and right clamping blocks of the clamping claw separate, throw the clamping area of the temperature measurement sampling probe into the scrap box, and the 6-axis robot returns to the standby position. This includes the steps.

[0015] Preferably, in step 3), after the clamping claw is moved by the 6-axis robot to extract the temperature measurement sampling probe from the temperature measurement gun, the left and right positioning fingers of the positioning claws close again. If the left and right positioning fingers of the positioning claws close completely, it further confirms that the temperature measurement sampling probe has been completely extracted from the temperature measurement gun.

[0016] Comparing the present invention with the conventional method for replacing the temperature-measuring sampling probe, Chinese Patent Application No. CN201922259240.4 discloses a "robot temperature-measuring sampling automatic insertion and extraction device". The structural form and technical details of the specific gripping device are not described in the technical means. Neither the structural design nor the usage method of the positioning claws and clamping claws provided in the present invention is mentioned, and the method for processing the probe after the sampling operation is not disclosed either.

[0017] Chinese Patent Application No. CN201811613127.5 discloses a "temperature-measuring probe and automatic docking device for a temperature-measuring gun". Compared with the disclosed technical means, in the present invention, when closed, the positioning claws arranged vertically have a larger positioning range, so the semi-tapered plate structure in the comparative example is not required, and the temperature-measuring gun can be positioned better. In addition, the detection device installed between the positioning claws and the clamping claws of the present invention can not only directly detect the position of the probe in the clamping claws, but also measure the axial attitude and position of the temperature-measuring gun in the process of approaching different orientations of the temperature-measuring gun by a jig. The position sensor attached to the upper surface of the frame in the patent is different from both the mounting position and the detection method in the present invention, and moreover, it cannot detect the position of the probe in the clamping claws.

[0018] The present invention has the following effects. 1) The present invention uses a 6-axis robot to align the jig to realize a plurality of operations such as picking up, storing, fitting, extracting, and post-processing of the temperature-measuring sampling probe. The working surface is compact, the efficiency is high, and continuous long-time work can be carried out.

[0019] 2) The left and right positioning fingers of the positioning claws in the jig of the present invention are in a V-shaped structure, and an arc-shaped concave surface is provided at the inner bottom. When the positioning claws are closed, the left and right positioning fingers are arranged to intersect vertically, so as to execute a large positioning range with small structural dimensions.

[0020] 3) In the present invention, a detection device is installed between the positioning claw and the clamping claw to directly detect the position of the clamping claw of the temperature measurement sampling probe. Moreover, during the process of approaching the jig to the temperature measurement gun in different orientations, the axial attitude and the end position of the temperature measurement gun can be measured, effectively expanding the function of the jig and enhancing the clamping stability and reliability.

[0021] 4) The trenches installed on both side surfaces in the V-shaped or trapezoidal concave grooves of the left and right clamping blocks of the clamping claw in the jig of the present invention can effectively enhance the clamping stability of the clamped temperature measurement sampling probe. In particular, after carbonizing the surface of the clamping area of the temperature measurement sampling probe after the temperature measurement sampling is completed, the trench edge can crush the carbonized layer and can derive carbon slag from inside the trench, thereby effectively enhancing the frictional force on the surface of the clamping block.

Brief Description of the Drawings

[0022]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Embodiment for Carrying out the Invention

[0023] Referring to FIGS. 1 to 7, in the replacement system of the metallurgical temperature measurement sampling probe provided by the present invention, it is installed on a temperature measurement gun 100 for measuring the temperature of a molten metal ladle, and includes a six-axis robot 1, a jig 2 attached to the end of the six-axis robot 1, a storage shelf 3 for storing the temperature measurement sampling probe 200, a shearing machine 4 for cutting and separating the sampling area 201 and the clamping area 202 of the temperature measurement sampling probe 200, and a scrap box 5 (as shown by the dashed frame in FIG. 1). It should be understood that the molten metal ladle is a container for containing molten metal.

[0024] In some other embodiments, the replacement system may not be provided with the scrap box 5. The replacement system of the metallurgical temperature measurement sampling probe of the present invention fits the temperature measurement sampling probe 200 and the temperature measurement gun 100, so that the temperature measurement sampling probe 200 measures the temperature of the molten metal ladle and samples. After the temperature measurement and sampling are completed, the temperature measurement sampling probe 200 and the temperature measurement gun 100 are separated, and the shearing machine 4 cuts the sampling area 201 and the clamping end 202 of the temperature measurement sampling probe 200, and the cut sampling area 201 is for subsequent analysis. The temperature measurement gun 100, the storage shelf 3, the shearing machine 4, and the scrap box 5 are respectively installed at different orientations within the turning range of the six-axis robot 1 in sequence, and the scrap box 5 is installed near the shearing machine 4.

[0025] Note that the six-axis robot 1, the jig 2, the storage shelf 3, and the shearing machine 4 are located on one plane, and a temperature measurement sampling hole 7 is opened on this plane. The molten metal ladle is located below the temperature measurement sampling hole 7 (i.e., in the direction perpendicular to the paper surface). In other words, the molten metal ladle is not located on the same plane as the above-mentioned members. On both sides of the temperature measurement gun 100, a sliding mechanism (as shown in FIG. 1, the sliding mechanism may be a pulley) is provided that clamps the temperature measurement gun 100 and can move it up and down along the direction perpendicular to the paper surface.

[0026] Referring to FIGS. 8 and 9, the temperature measurement sampling probe 200 is in a round bar shape, with a sampling area 201 and a clamping area 202 provided. The clamping area 202 has a hollow structure and has an opening into which the temperature measurement gun 100 is inserted. The temperature measurement gun 100 is in a round bar shape, with a head portion 101 and a gun body 102 provided. The diameter of the head portion 101 is smaller than the diameter of the gun body 102, and a gradually changing transition area 103 is provided between the two.

[0027] After the temperature measurement gun 100 is inserted to a certain depth into the temperature measurement sampling probe 200, the temperature measurement gun 100 and the temperature measurement sampling probe 200 are electrically connected. At this time, the thermocouple located in the sampling area 201 can be used to measure the temperature of the molten metal.

[0028] The jig 2 includes a base 21, a clamping claw 22 that clamps the temperature measurement sampling probe 200 arranged in parallel at the tip of the base 21, a positioning claw 23, and a detection device 24 located between the clamping claw 22 and the positioning claw 23. The detection source of the detection device 24, the center line of the clamping space of the clamping claw 22, and the center line of the positioning space of the positioning claw 23 are located on the same axis.

[0029] Note that the positioning claw 23 does not clamp the head portion 101 of the temperature measurement gun 100, but limits it within the positioning space so that the temperature measurement gun 100 cannot move to a space outside the positioning space.

[0030] Furthermore, referring to FIG. 1, the replacement system of the metallurgical temperature measurement sampling probe of the present application further includes a safety fence 6 surrounding a temperature measurement gun 100, a six-axis robot 1, a storage shelf 3, a shearing machine 4, and a scrap box 5.

[0031] Preferably, referring to FIG. 2 and FIG. 7 together, the clamping claws 22 include a left support arm 221, a right support arm 222, a translational cylinder 223 (Radial Gripper) that can drive the left support arm 221 and the right support arm 222 to move oppositely, and a left clamping block 224 and a right clamping block 225 respectively installed at the ends of the left support arm 221 and the right support arm 222. A V-shaped or trapezoidal concave groove 2241 is provided axially along the central part of the opposing surfaces of the left clamping block 224 and the right clamping block 225. The lengths of the left clamping block 224 and the right clamping block 225 are 3 to 4 times the outer diameter of the clamping area 202 of the temperature measurement sampling probe 200. The left support arm 221 and the right support arm 222 exhibit a C-shaped structure.

[0032] Preferably, referring to FIG. 7, a plurality of trenches 2242 are installed at equal intervals on both side surfaces within the V-shaped or trapezoidal concave groove 2241 (taking the left clamping block 224 as an example, the same hereinafter) of the left clamping block 224 and the right clamping block 225. Preferably, the depth of the trench 2242 is 5 to 10 mm, and the arrangement interval between adjacent trenches 2242 is 30 to 40 mm. Preferably, the arrangement interval between adjacent trenches 2242 is 30 mm.

[0033] Preferably, referring to FIGS. 2, 3, and 8 to 10, the base 21 of the jig 2 is a metal frame, and its front end face is a flat surface.

[0034] Preferably, referring to Fig. 4 in combination with Fig. 5 and Fig. 6, the positioning claw 23 includes an angular cylinder 231, and a left positioning finger 232 and a right positioning finger 233 installed on both swing arms of the angular cylinder 231. The left positioning finger 232 and the right positioning finger 233 each include a base 2321 (taking the left positioning finger 232 as an example, the same applies below) and a clamping portion 2322 located at the tip of the base 2321. The clamping portion 2322 is V-shaped, and its inner bottom portion 23221 is an arc-shaped concave surface. Preferably, an arc-shaped chamfer 23222 is provided on the inner surfaces of both ends of the V-shape of the clamping portion 2322. The positioning space 230 enclosed by the left positioning fingers 232 and the right positioning fingers 233 crossing and closing matches the outer diameter of the body 102 of the temperature measuring gun 100, and the center line of the positioning space 230 enclosed by the left positioning fingers 232 and the right positioning fingers 233 crossing and closing and the center line of the clamping space 220 formed by the closing of the left clamping block 224 and the right clamping block 225 of the clamp claw 22 are on the same axis, and the detection source of the detection device 24 passes through this axis.

[0035] Preferably, the detection device 24 is a non-contact distance sensor, preferably a laser sensor.

[0036] Referring to FIG. 1 to FIG. 10, the replacement method of the metallurgical temperature measuring sampling probe replacement system of the present invention includes: 1) The six-axis robot 1 moves the jig 2 to approach the temperature gun 100, scans the jig 2 with the detector 24, detects the position of the temperature gun 100, then moves to the storage shelf 3, uses the clamping jaws 22 of the jig 2 to grasp the clamping area 202 of the temperature sampling probe 200, and checks with the detector 24 whether the position of the temperature sampling probe 200 in the clamping jaws 22 of the jig 2 is at the axis; 2) The six-axis robot 1 moves the temperature measurement sampling probe 200 to approach the head part 101 of the temperature measurement gun 100. The left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 cross and close, surrounding the head part 101 of the temperature measurement gun 100 in the positioning space surrounded by both. After that, the clamp claw 22 grips the temperature measurement sampling probe 200 and inserts and fits the head part 101 of the temperature measurement gun 100 into the temperature measurement sampling probe. After the head part 101 of the temperature measurement gun 100 enters at least 30 mm inside the clamping area 202 of the temperature measurement sampling probe 200, the left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 release the temperature measurement gun 100. Then, the six-axis robot 1 moves the temperature measurement sampling probe to complete the fitting to the temperature measurement gun 100. After that, the six-axis robot 1 detaches from the temperature measurement gun 100, and the temperature measurement sampling probe is lowered so that the temperature measurement gun 100 enters the molten metal ladle, detecting the temperature of the molten metal and obtaining a molten metal sample, and 3) After the temperature measurement and sampling operations are completed, the temperature measurement gun 100 rises, and the six-axis robot 1 moves the jig 2 to approach above the temperature measurement gun 100. The left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 move oppositely to grip and position the upper part of the temperature measurement gun 100. Subsequently, the left clamping block 224 and the right clamping block 225 of the clamp claw 22 move oppositely and clamp the clamping area 202 of the temperature measurement sampling probe 200. Then, the left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 release the temperature measurement gun 100, and the clamp claw 22 is moved by the six-axis robot 1 to extract the temperature measurement sampling probe 200 from the temperature measurement gun 100, and 4) The six-axis robot 1 moves the jig 2 to send the sampling area 201 of the temperature measurement sampling probe 200 into the shearing machine 4. After cutting off the sampling area 201 of the temperature measurement sampling probe 200, the six-axis robot 1 moves the jig 2 to bring the clamping area part 202 of the temperature measurement sampling probe 200 to the scrap box 5. At the same time, the left clamping block 224 and the right clamping block 225 of the clamp claw 22 separate, throw the clamping area 202 of the temperature measurement sampling probe 200 into the scrap box 5, and the six-axis robot 1 returns to the standby position, including.

[0037] Referring to FIGS. 1 to 10, the replacement method of the replacement system of the metallurgical temperature measurement sampling probe of the present invention is as follows 1) The six-axis robot 1 moves the jig 2 close to the temperature measurement gun 100, scans it with the detection device 24 on the jig 2, detects the position of the temperature measurement gun 100, and then moves to the storage shelf 3 for storing the temperature measurement sampling probe 200. The clamping claw 22 of the jig 2 grips or clamps one end of the clamping area 202 of the temperature measurement sampling probe 200, and the detection device 24 checks whether the position of the temperature measurement sampling probe 200 on the clamping claw 22 of the jig 2 is on the axis 2) The six-axis robot 1 moves the temperature measurement sampling probe 200 to approach the head portion 101 of the temperature measurement gun 100. The head portion 101 of the temperature measurement gun 100 is surrounded by the positioning space enclosed after the left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 cross and close, so that the head portion 101 of the temperature measurement gun 100 is restricted within the positioning space, which is convenient for subsequent fitting with the temperature measurement sampling probe 200. After that, the six-axis robot 1 moves the temperature measurement sampling probe 200 to insert and fit the head portion 101 of the temperature measurement gun 100 into the temperature measurement sampling probe. As shown in FIG. 8, the temperature measurement gun 100 is held so as not to move, and the temperature measurement sampling probe 200 is moved by the six-axis robot 1 to move in the direction approaching the head portion 101 of the temperature measurement gun 100. After the head portion 101 of the temperature measurement gun 100 enters at least 30 mm inside the clamping region 202 of the temperature measurement sampling probe 200, the left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 release the temperature measurement gun 100. Then, the six-axis robot 1 moves the temperature measurement sampling probe 200 to continue the fitting operation until an electrical signal connection occurs between the temperature measurement sampling probe 200 and the temperature measurement gun 100 and the fitting operation of the temperature measurement gun 100 is completed. In other words, the six-axis robot 1 moves the temperature measurement sampling probe 200 and continues to move upward until the fitting of the temperature measurement sampling probe 200 and the temperature measurement gun 100 is completed. Then, the six-axis robot 1 detaches from the temperature measurement gun 100 (for example, after the six-axis robot 1 detaches from the temperature measurement gun 100, the axis robot 1 can move to the standby position to prevent interference with the temperature measurement gun), and the temperature measurement gun 100 moves the temperature measurement sampling probe 200 (for example, by being moved by a sliding mechanism) to lower the temperature measurement sampling probe into the molten metal ladle to detect the temperature of the molten metal and obtain a molten metal sample. 3) After the temperature measurement and sampling operations are completed, the temperature gun 100 rises, and the six-axis robot 1 moves the jig 2 to approach the upper part of the temperature gun 100 (i.e., one end spaced apart from the head part 101 of the temperature gun 100). The left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 move in opposite directions to grip and position the upper part of the temperature gun 100. Subsequently, the left clamping block 224 and the right clamping block 225 of the clamping claw 22 move in opposite directions. After clamping the clamping area 202 of the temperature sampling probe 200, the left positioning finger 232 and the right positioning finger 233 of the positioning claw 23 release the temperature gun 100. Since the clamping claw 22 is moved by the six-axis robot 1, the temperature sampling probe 200 is withdrawn from above the temperature gun 100 (that is, under the movement of the six-axis robot 1, the temperature sampling probe 200 moves in the direction away from the temperature gun 100 until it is completely separated from the temperature gun 100). 4) The six-axis robot 1 moves the jig 2 to send the sampling area 201 of the temperature sampling probe 200 into the shearing machine 4. After cutting off the sampling area 201 of the temperature sampling probe 200, the six-axis robot 1 moves the jig 2 to bring the clamped area 202 part of the temperature sampling probe 200 to the scrap box 5. At the same time, the left clamping block 224 and the right clamping block 225 of the clamping claw 22 separate, throw the clamped area 202 of the temperature sampling probe 200 into the scrap box 5, and the six-axis robot 1 returns to the standby position.

[0038] Preferably, in step 3), after the temperature sampling probe 200 is withdrawn from the temperature gun 100 by moving the clamping claw 22 by the six-axis robot 1, the left positioning finger 232 and the right positioning finger 233 of the positioning claw close again. If the left positioning finger 232 and the right positioning finger 233 of the positioning claw are completely closed, it is further confirmed that the temperature sampling probe 200 has been completely withdrawn from the temperature gun 100.

[0039] The above embodiments are merely for explaining the present invention and do not limit the present invention. It should be recognized by those skilled in the art that any changes and modifications to the above-described embodiments are included in the scope of the claims of the present invention as long as they are within the scope of the gist of the present invention.

Claims

1. In an exchange system for a metallurgical temperature measurement sampling probe installed in a temperature measurement gun for measuring the temperature of a molten metal ladle, comprising a six-axis robot, a jig attached to the end of the six-axis robot, a storage shelf for storing the temperature measurement sampling probe, a shearing machine, and a scrap box, the temperature measurement gun, the storage shelf, the shearing machine, and the scrap box are respectively installed at different orientations within the turning range of the six-axis robot in sequence, and the scrap box is installed near the shearing machine, the temperature measurement sampling probe is in a round bar shape, with a sampling area and a clamping area provided. The shearing machine is for cutting and separating the sampling area and the clamping area of the temperature measurement sampling probe. The clamping area has a hollow structure and has an opening into which the temperature measurement gun is inserted. The temperature measurement gun is in a round bar shape, the diameter of its head part is smaller than the diameter of the gun body, and a gradually changing transition area is provided between the two, the jig includes a base, a clamping claw for clamping the temperature measurement sampling probe arranged in parallel at the tip of the base, a positioning claw, and a detection device located between the clamping claw and the positioning claw. The center line of the clamping space of the clamping claw and the center line of the positioning space of the positioning claw are located on the same axis. The detection source of the detection device passes through the axis. An exchange system for a metallurgical temperature measurement sampling probe is characterized by this.

2. The exchange system for a metallurgical temperature measurement sampling probe according to claim 1, further comprising a safety protection fence surrounding the temperature measurement gun, the six-axis robot, the storage shelf, the shearing machine, and the scrap box.

3. The clamping claw includes a left support arm, a right support arm, a translational motion cylinder that can drive the left support arm and the right support arm to move facing each other, and a left clamping block and a right clamping block respectively installed at the ends of the left support arm and the right support arm. A V-shaped or trapezoidal concave groove is provided longitudinally at the center of the opposing surfaces of the left clamping block and the right clamping block. The lengths of the left clamping block and the right clamping block are 3 to 4 times the outer diameter of the clamping area of the temperature measurement sampling probe. The exchange system for a metallurgical temperature measurement sampling probe according to claim 1 is characterized by this.

4. 4. The metallurgical temperature measuring sampling probe replacement system of claim 3, characterized in that a number of trenches are installed at equal intervals on both sides of the V-shaped or trapezoidal groove of the left clamping block and the right clamping block.

5. The metallurgical temperature sampling probe replacement system according to claim 3 or 4, characterized in that the left support arm and the right support arm have a C-shaped structure.

6. 2. The metallurgical temperature measuring sampling probe replacement system of claim 1, characterized in that the positioning claws include an angular cylinder and a left positioning finger and a right positioning finger installed on both swing arms of the angular cylinder, the left positioning finger and the right positioning finger respectively include a base and a clamping portion located at the tip of the base, the clamping portion is V-shaped and its inner bottom is an arc-shaped concave surface, the positioning space range surrounded by the left positioning finger and the right positioning finger cross-closed and matches the outer diameter of the gun body of the temperature measuring gun, and the center line of the positioning space surrounded by the left positioning finger and the right positioning finger cross-closed and the center line of the clamping space formed by the closure of the left clamping block and the right clamping block of the clamping claw are on the same axis.

7. 2. The metallurgical temperature sampling probe replacement system of claim 1, wherein the detection device is a non-contact distance sensor.

8. The metallurgical temperature measuring sampling probe replacement system according to claim 4, characterized in that the depth of the trench is 5-10 mm, and the spacing between adjacent trenches is 30-40 mm.

9. 7. The metallurgical temperature measuring sampling probe replacement system according to claim 6, wherein the inner surfaces of both ends of the V-shaped clamping portion are provided with arc-shaped chamfers.

10. 8. The metallurgical temperature sampling probe replacement system of claim 7, wherein the non-contact distance sensor is a laser sensor.

11. The method for replacing a metallurgical temperature measuring sampling probe according to any one of claims 1 to 4 or 6 to 10, 1) The six-axis robot moves the jig to approach the pyrometer, scans it with the detection device of the jig, detects the position of the pyrometer, then moves to the storage shelf, and uses the clamping claws of the jig to grip the clamping area of the temperature measurement sampling probe, and the detection device checks whether the position of the temperature measurement sampling probe on the clamping claws of the jig is on the axis center. 2) The six-axis robot moves the temperature measurement sampling probe to approach the head part of the pyrometer. The left positioning finger and the right positioning finger of the positioning claws cross and close, enclosing the head part of the pyrometer in the positioning space surrounded by both. After that, the clamping claws grip the temperature measurement sampling probe, insert and fit the head part of the pyrometer into the temperature measurement sampling probe. After the head part of the pyrometer enters at least 30 mm inside the clamping area of the temperature measurement sampling probe, the left positioning finger and the right positioning finger of the positioning claws release the pyrometer. Then, the six-axis robot moves the temperature measurement sampling probe to complete the fitting on the pyrometer. After that, the six-axis robot detaches from the pyrometer, and the temperature measurement sampling probe is lowered so that the pyrometer enters the molten metal ladle to detect the temperature of the molten metal and obtain a molten metal sample. 3) After the temperature measurement and sampling operations are completed, the pyrometer rises. The six-axis robot moves the jig to approach the upper part of the pyrometer. The left positioning finger and the right positioning finger of the positioning claws move towards each other to grip and position the upper part of the pyrometer. Subsequently, the left clamping block and the right clamping block of the clamping claws move towards each other to clamp the clamping area of the temperature measurement sampling probe. Then, the left positioning finger and the right positioning finger of the positioning claws release the pyrometer. The clamping claws are moved by the six-axis robot to extract the temperature measurement sampling probe from the pyrometer. 4) The six-axis robot moves the jig to feed the sampling area of the temperature measurement sampling probe into the shearing machine. After cutting off the sampling area of the temperature measurement sampling probe, the six-axis robot moves the jig to bring the clamping area portion of the temperature measurement sampling probe to the scrap box. At the same time, the left clamping block and the right clamping block of the clamping claw are separated, and the clamping area of the temperature measurement sampling probe is thrown into the scrap box, and the six-axis robot returns to the standby position. The method for replacing the metallurgical temperature measurement sampling probe replacement system, characterized by including this step.

12. In step 3), after the clamping claw is moved to the six-axis robot to extract the temperature measurement sampling probe from the temperature measurement gun, the left positioning finger and the right positioning finger of the positioning claw are closed again. If the left positioning finger and the right positioning finger of the positioning claw are completely closed, it is further confirmed that the temperature measurement sampling probe has been completely extracted from the temperature measurement gun. The method for replacing the metallurgical temperature measurement sampling probe replacement system according to claim 11, characterized by this.

Images