CN113432756A - Full-automatic molten steel temperature measurement sampling robot - Google Patents
Full-automatic molten steel temperature measurement sampling robot Download PDFInfo
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- CN113432756A CN113432756A CN202110768118.9A CN202110768118A CN113432756A CN 113432756 A CN113432756 A CN 113432756A CN 202110768118 A CN202110768118 A CN 202110768118A CN 113432756 A CN113432756 A CN 113432756A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/12—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials
- G01K13/125—Thermometers specially adapted for specific purposes combined with sampling devices for measuring temperatures of samples of materials for siderurgical purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
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Abstract
The invention is suitable for the field of metallurgy, and provides a full-automatic molten steel temperature measurement sampling robot, which comprises an installation benchmark and also comprises: the movable temperature measurement sampling mechanism is installed on an installation reference and comprises a longitudinal moving assembly, a transverse moving assembly, a counterweight assembly and a clamping tool, the clamping tool is used for supporting a sampling rod, and the longitudinal moving assembly is used for adjusting the height of the clamping tool. The lifting assembly moves downwards and then carries out centering clamping on the sampling rod in the stock bin assembly through the clamping and centering assembly, the lifting assembly drives the sampling rod to move upwards to send the sampling rod into the clamping tool, then the clamping and centering assembly is loosened, the longitudinal moving assembly drives the sampling rod to move upwards and then drives the sampling rod to be placed above molten steel, the longitudinal moving assembly rapidly moves the sampling rod downwards to a measuring position, and after temperature measurement and sampling actions are completed within a specified short time, the sampling rod is rapidly lifted to the upper position of the longitudinal moving assembly.
Description
Technical Field
The invention belongs to the field of metallurgy, and particularly relates to a full-automatic molten steel temperature measuring and sampling robot.
Background
The steel-making production always depends on manual work to complete temperature measurement and sampling. The manual operation of holding the temperature measuring gun or the sampling tube, standing on the fixed platform for temperature measurement and sampling, and repeating the operation dozens of times per shift has become one of the more labor intensive operations of post workers. In addition, in the temperature measurement and sampling process, the temperature measurement and sampling are carried out manually, and if molten steel splashes in an emergency situation and the like, workers cannot avoid the temperature measurement and sampling, and the personal injury caused by accidents can be caused.
Most of the existing temperature measurement sampling automation equipment adopts robots to carry out accurate positioning, so that the operation steps are multiple, the operation mechanism is complex, the stability of the equipment during operation is poor, and the fault rate is high in a high-temperature multi-dust environment.
Summary of the invention
The embodiment of the invention aims to provide a full-automatic molten steel temperature measuring and sampling robot, and aims to solve the problems that most of existing temperature measuring and sampling automation equipment adopts robots to perform accurate positioning, so that the operation steps are multiple, the operation mechanism is complex, the running stability of the equipment is poor, and the failure rate is high in a high-temperature and dusty environment.
The embodiment of the invention is realized in such a way that the full-automatic molten steel temperature measurement sampling robot comprises an installation benchmark and further comprises:
the movable temperature measurement sampling mechanism is installed on an installation reference and comprises a longitudinal moving assembly, a transverse moving assembly, a counterweight assembly and a clamping tool, the clamping tool is used for supporting a sampling rod, the longitudinal moving assembly is used for adjusting the height of the clamping tool, the transverse moving assembly is used for adjusting the transverse position of the clamping tool, and the counterweight assembly is used for slowing down the vibration of the longitudinal moving assembly during operation; and
temperature measurement sample automatic feed bin, temperature measurement sample automatic feed bin is installed on the installation benchmark, temperature measurement sample automatic feed bin is including pressing from both sides tight centering subassembly, feed bin subassembly, lifting unit, the feed bin subassembly is used for placing the sampling rod, press from both sides tight centering subassembly and be connected with lifting unit, press from both sides tight centering subassembly and be used for carrying out the centering centre gripping to the sampling rod, lifting unit presss from both sides tight centering subassembly with the sampling rod at feed bin subassembly and presss from both sides and get the transportation between the frock.
According to the technical scheme, the diameter of the sampling end of the clamping tool is larger than the inner diameter of the sampling rod, and a knurling for increasing friction force between the sampling rod and the clamping tool is arranged inside the clamping tool.
Further technical scheme, the lifting unit is including the installation stand of fixed mounting on the installation benchmark, fixed mounting has linear guide and lift cylinder on the installation stand, lift cylinder output is connected with the L shaped plate with linear guide sliding fit, press from both sides tight centering unit mount on the L shaped plate.
Further technical scheme, the feed bin subassembly is including the character cut in bas-relief shape backup pad of fixed mounting on the installation benchmark, fixed mounting has driving motor in the character cut in bas-relief shape backup pad, driving motor output fixed mounting has drive gear, rotate on the installation benchmark be connected with drive gear meshing complex interior ring gear, fixed mounting has the base on the interior ring gear, fixed mounting has the connecting axle on the base, fixed mounting has two deflectors on the connecting axle, the ring shape is provided with a plurality of holes of placing that are used for placing the sampling rod on the deflector.
Further technical scheme, the lateral shifting subassembly is including the X that the interval set up on the installation benchmark to the base, X is installed the X axle drive arrangement who is used for driving the sample rod lateral shifting on to the base.
According to the technical scheme, the longitudinal moving assembly comprises a Z-direction base fixedly mounted on a mounting reference, a rack and a linear guide rail are fixedly mounted on the Z-direction base, a Z-axis sliding plate is mounted on the linear guide rail, an X-direction base is mounted on the Z-axis sliding plate, a speed reducer is fixedly mounted on the Z-axis sliding plate, a gear meshed with the rack is fixedly mounted at the output end of the speed reducer, a motor is mounted on the speed reducer, a Z-axis driving device used for driving the sampling rod to longitudinally move is mounted on the Z-axis sliding plate, and the clamping tool is mounted on the Z-axis driving device.
According to the technical scheme, the Z-axis driving device is a multi-stage telescopic cylinder, the clamping tool is installed at the telescopic end of the multi-stage telescopic cylinder, and a Z-axis heat insulation protection assembly used for protecting heat insulation is arranged on the multi-stage telescopic cylinder.
According to the further technical scheme, the counterweight component comprises a pulley mechanism fixedly mounted at the tail end of the Z-direction base, a steel wire rope connected with a Z-axis sliding plate is connected onto the pulley mechanism in a sliding mode, and the tail end of the steel wire rope is connected with a counterweight block.
When the full-automatic molten steel temperature measuring and sampling robot provided by the embodiment of the invention is used, the lifting assembly moves downwards and then carries out centering clamping on a sampling rod in the stock bin assembly through the clamping and centering assembly, the lifting assembly drives the sampling rod to move upwards to send the sampling rod into the clamping tool and then the clamping and centering assembly is loosened, the longitudinal moving assembly drives the sampling rod to move upwards and then the transverse moving assembly drives the sampling rod to be placed above molten steel, the longitudinal moving assembly rapidly moves the sampling rod downwards to a measuring position, after the temperature measuring and sampling actions are completed within a specified short time, the sampling rod is rapidly lifted to the longitudinal moving assembly for limiting, the transverse moving assembly and the longitudinal moving assembly place the sampling rod into the clamping and centering assembly, the lifting assembly drives the clamping and centering assembly to place the sampling rod back to the stock bin assembly, the stock bin assembly station rotates to take the used sampling rod away from the station, and meanwhile, a new group of sample rods are accurately positioned, the next working cycle is prepared in a standby mode, the working cycle of the full-automatic molten steel temperature measurement sampling robot is completed, and the clamping tool can be adjusted and replaced according to sample rods with different sizes.
Drawings
FIG. 1 is a schematic structural diagram of a full-automatic molten steel temperature measuring and sampling robot provided by an embodiment of the invention;
FIG. 2 is a schematic structural diagram of the bin assembly of FIG. 1 according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of the lifting cylinder of FIG. 1 according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of the horizontal tow chain in FIG. 1 according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of the counterweight assembly of FIG. 1 according to an embodiment of the present invention;
fig. 6 is a schematic structural view of the clamping tool in fig. 1 according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of the clamping and centering assembly in fig. 1 according to an embodiment of the present invention.
In the drawings: the device comprises an installation reference 1, a Z-direction base 2, a Z1 shaft sliding plate 3, an X-direction base 4, an X2 shaft driving device 5, a control system 6, a Z2 shaft driving device 7, a Z2 shaft heat insulation protection component 8, a temperature measurement sampling automatic bin 9, a clamping and centering component 10, a clamping tool 11, a gear 12, a rack 13, a linear guide rail 14, a motor 15, a speed reducer 16, a steel wire rope 17, a pulley mechanism 18, a balancing weight 19, a horizontal drag chain 20, a vertical drag chain 21, a guide plate 22, a connecting shaft 23, an inner gear ring 24, a base 25, a driving gear 26, a driving motor 27, an installation upright post 28, an L-shaped plate 29, a concave supporting plate 30, a placement hole 31, a linear guide rail 32 and a lifting cylinder 33.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Specific implementations of the present invention are described in detail below with reference to specific embodiments.
As shown in fig. 1, a full-automatic molten steel temperature measurement and sampling robot provided for an embodiment of the present invention includes an installation reference 1, and further includes:
the movable temperature measurement sampling mechanism is installed on the installation datum 1 and comprises a longitudinal moving assembly, a transverse moving assembly, a counterweight assembly and a clamping tool 11, the clamping tool 11 is used for supporting a sampling rod, the longitudinal moving assembly is used for adjusting the height of the clamping tool 11, the transverse moving assembly is used for adjusting the transverse position of the clamping tool 11, and the counterweight assembly is used for slowing down vibration during operation of the longitudinal moving assembly; and
temperature measurement sample automatic feed bin 9, temperature measurement sample automatic feed bin 9 is installed on installation benchmark 1, temperature measurement sample automatic feed bin 9 is including pressing from both sides tight centering subassembly 10, feed bin subassembly, lifting unit, the feed bin subassembly is used for placing the sampling rod, press from both sides tight centering subassembly 10 and be connected with lifting unit, press from both sides tight centering subassembly 10 and be used for carrying out the centering centre gripping to the sampling rod, lifting unit presss from both sides tight centering subassembly 10 with the sampling rod and gets the transportation between frock 11 at feed bin subassembly and clamp.
In the embodiment of the invention, when in use, the lifting component moves downwards and then carries out centering clamping on the sampling rod in the stock bin component through the clamping and centering component 10, the lifting component drives the sampling rod to move upwards to send the sampling rod into the clamping and centering tool 11 and then clamp and center the component 10 to be loosened, the longitudinal moving component drives the sampling rod to move upwards and then drives the transverse moving component to drive the sampling rod to be placed above molten steel, the longitudinal moving component rapidly moves the sampling rod downwards to a measuring position, after completing temperature measurement and sampling actions within a specified short time, the sampling rod is rapidly lifted to the longitudinal moving component for limiting, the transverse moving component and the longitudinal moving component place the sampling rod into the clamping and centering component 10, the lifting component drives the clamping and centering component 10 to place the sampling rod back into the stock bin component, the stock bin component station rotates to take the used sampling rod away from the station, and simultaneously complete the accurate positioning of a new group of sampling rods, and standby preparation is carried out on the next working cycle, so that the working cycle of a complete full-automatic molten steel temperature measuring and sampling robot is completed, and the clamping tool 11 can be adjusted and replaced according to sample rods with different sizes.
As shown in fig. 1 and 6, as a preferred embodiment of the present invention, the diameter of the sampling end of the clamping tool 11 is larger than the inner diameter of the sampling rod, and a knurl for increasing the friction force between the sampling rod and the clamping tool 11 is provided inside the clamping tool 11.
In the embodiment of the invention, the sampling end of the clamping tool 11 is fixed on the clamping tool 11 by friction force by means of interference with the sampling rod.
As shown in fig. 1, 3 and 7, as a preferred embodiment of the present invention, the lifting assembly includes a mounting column 28 fixedly mounted on the mounting base 1, a linear guide rail 32 and a lifting cylinder 33 are fixedly mounted on the mounting column 28, an L-shaped plate 29 slidably engaged with the linear guide rail 32 is connected to an output end of the lifting cylinder 33, and the clamping and centering assembly 10 is mounted on the L-shaped plate 29.
In the embodiment of the present invention, the lifting cylinder 33 drives the clamping and centering assembly 10 on the lifting cylinder 33 to move up and down when extending or contracting.
As shown in fig. 1 and 2, as a preferred embodiment of the present invention, the bunker assembly includes a concave support plate 30 fixedly mounted on a mounting base 1, a driving motor 27 is fixedly mounted on the concave support plate 30, a driving gear 26 is fixedly mounted at an output end of the driving motor 27, an inner toothed ring 24 engaged with the driving gear 26 is rotatably connected to the mounting base 1, a base 25 is fixedly mounted on the inner toothed ring 24, a connecting shaft 23 is fixedly mounted on the base 25, two guide plates 22 are fixedly mounted on the connecting shaft 23, and a plurality of placing holes 31 for placing sampling rods are annularly arranged on the guide plates 22.
In the embodiment of the invention, after the sampling rod on the station is used, the driving motor 27 drives the driving gear 26 to rotate, the driving gear 26 drives the inner gear ring 24 to rotate, and the inner gear ring 24 drives the base 25 to switch stations.
As shown in fig. 1, as a preferred embodiment of the present invention, the lateral moving assembly includes X-direction bases 4 spaced apart from each other on the installation reference 1, and X2 shaft driving devices 5 for driving the sampling rod to move laterally are mounted on the X-direction bases 4.
In the embodiment of the invention, the X2 shaft driving device 5 drives the clamping tool 11 to move transversely, the top of the X-direction base 4 is provided with the high-temperature-resistant horizontal drag chain 20, and the gas circuit pipeline, the power supply and the electric signal cables of all the mechanical limit switches are conveyed to the sequence number control system 6, so that the smoothness of the gas circuit and the circuit is ensured, and the accurate and efficient operation of the full-automatic molten steel temperature measurement sampling robot is ensured.
As shown in fig. 1, 4 and 5, as a preferred embodiment of the present invention, the longitudinal moving assembly includes a Z-direction base 2 fixedly mounted on a mounting base 1, a rack 13 and a linear guide 14 are fixedly mounted on the Z-direction base 2, a Z1 shaft sliding plate 3 is mounted on the linear guide 14, the X-direction base 4 is mounted on a Z1 shaft sliding plate 3, a reducer 16 is fixedly mounted on the Z1 shaft sliding plate 3, a gear 12 engaged with the rack 13 is fixedly mounted at an output end of the reducer 16, a motor 15 is mounted on the reducer 16, a Z2 shaft driving device 7 for driving a sampling rod to move longitudinally is mounted on the Z1 shaft sliding plate 3, and the gripping tool 11 is mounted on the Z2 shaft driving device 7.
In the embodiment of the invention, the motor 15 drives the gear 12 to rotate through the speed reducer 16, the gear 12 drives the Z1 shaft sliding plate 3 to move up and down in the vertical direction through the meshing fit with the rack 13, the Z1 shaft sliding plate 3 drives the Z2 shaft driving device 7 to move up and down in the vertical direction, and the Z2 shaft driving device 7 drives the clamping tool 11 to move up and down through self expansion and contraction. The vertical drag chain 21 is designed on the right side of the Z-direction base 2, and an air channel pipeline, a power supply and electric signal cables of all mechanical limit switches are conveyed to the sequence number control system 6, so that smoothness of an air channel and a circuit is guaranteed, and accurate and efficient operation of the full-automatic molten steel temperature measurement sampling robot is guaranteed.
As shown in fig. 1 and 4, as a preferred embodiment of the present invention, the Z2 shaft driving device 7 is a multi-stage telescopic cylinder, the gripping tool 11 is installed at the telescopic end of the multi-stage telescopic cylinder, and a Z2 shaft thermal insulation protection assembly 8 for protection and thermal insulation is arranged on the multi-stage telescopic cylinder.
In the embodiment of the invention, the Z2 shaft driving device 7 is a multi-stage telescopic cylinder, the clamping tool 11 is installed at the telescopic end of the multi-stage telescopic cylinder, the multi-stage telescopic cylinder drives the clamping tool 11 to move in the vertical direction, the Z2 shaft driving device 7 is provided with a quick cylinder mechanism, the Z2 shaft driving device 7 and the accessory mechanisms thereof can rapidly move by supplying and exhausting air to and from a plurality of air inlets and outlets, the contact time of the Z2 shaft driving device 7 and the accessory mechanisms thereof with a high-temperature area is reduced as much as possible, the service efficiency and the service life of the full-automatic molten steel temperature measurement sampling robot are improved, the elastic telescopic mechanism is arranged in the Z2 shaft heat insulation protection assembly 8, and cooling air is conveyed to the high-temperature area which is possibly contacted with a high-temperature environment at the bottom of the Z2 shaft heat insulation protection assembly 8 while the smooth vertical movement of high-temperature-resistant cables with large bending radius is realized. The instantaneous on-off of the current in the temperature measuring rod is solved, and the mechanism achieves the cooling effect.
As shown in fig. 1 and 5, as a preferred embodiment of the present invention, the counterweight assembly includes a pulley mechanism 18 fixedly mounted at the end of the Z-direction base 2, a steel cable 17 connected to the Z1 shaft sliding plate 3 is slidably connected to the pulley mechanism 18, and a counterweight 19 is connected to the end of the steel cable 17.
In the embodiment of the invention, the counterweight assembly consisting of the steel wire rope 17, the pulley mechanism 18 and the counterweight block 19 ensures that the full-automatic molten steel temperature measuring and sampling robot can stably and well operate when the longitudinal moving assembly moves at high speed and high acceleration, avoids the occurrence of positioning error caused by the vibration of the moving assembly, and greatly improves the safety and reliability of the full-automatic molten steel temperature measuring and sampling robot.
The embodiment of the invention provides a full-automatic molten steel temperature measurement sampling robot, when in use, a lifting cylinder 33 contracts to drive a clamping and centering assembly 10 to move downwards, the clamping and centering assembly 10 centers and clamps a sampling rod, the lifting cylinder 33 drives the sampling rod to move upwards through the clamping and centering assembly 10, the sampling rod is accurately inserted into a clamping tool 11, so that the clamping tool 11 supports the sampling rod according to friction force, a Z2 shaft driving device 7 contracts to match a motor 15 and drives a gear 12 to rotate through a speed reducer 16, the gear 12 drives a Z1 shaft sliding plate 3 to move upwards in the vertical direction through meshing matching with a rack 13, the Z1 shaft sliding plate 3 drives a Z2 shaft driving device 7 to move upwards in the vertical direction, the Z2 shaft driving device 7 drives the clamping tool 11 to move upwards through self expansion and contraction to lift the sampling rod, the X2 shaft driving device 5 drives the clamping tool 11 to transversely drive the sampling rod to be above molten steel, the motor 15 drives the gear 12 to rotate through the reducer 16, the gear 12 drives the Z1 shaft sliding plate 3 to move downwards in the vertical direction through the meshing cooperation with the rack 13, the Z1 shaft sliding plate 3 drives the Z2 shaft driving device 7 to move downwards in the vertical direction to drive the sampling rod to be positioned right above the tested molten steel, the Z2 shaft driving device 7 drives the sampling rod to rapidly extend into the molten steel, the Z2 shaft driving device 7 drives the sampling rod to rapidly extract from the molten steel after the test is finished, the motor 15 drives the gear 12 to rotate through the reducer 16, the gear 12 drives the Z1 shaft sliding plate 3 to move upwards in the vertical direction through the meshing cooperation with the rack 13, the Z1 shaft sliding plate 3 drives the Z2 shaft driving device 7 to move upwards in the vertical direction to keep the sampling rod away from the molten steel, the X2 shaft driving device 5 drives the clamping tool 11 to transversely drive the sampling rod to be positioned above the clamping centering component 10, the motor 15 drives the gear 12 to rotate through the reducer 16, the gear 12 is meshed with the rack 13 to drive the Z1 shaft sliding plate 3 to move downwards in the vertical direction, a sampling rod extends into the clamping and centering assembly 10, the clamping and centering assembly 10 fixedly clamps the sampling rod, the lifting cylinder 33 contracts to drive the clamping and centering assembly 10 to move downwards to insert the sampling rod into the annular placing hole 31 in the guide plate 22, the clamping and centering assembly 10 releases the sampling rod, the lifting cylinder 33 drives the clamping and centering assembly 10 to move away from the sampling rod, the driving motor 27 drives the driving gear 26 to rotate, the driving gear 26 drives the inner toothed ring 24 to rotate, the inner toothed ring 24 drives the base 25 to switch stations, the used sampling rod is taken away from the stations, and meanwhile, a new group of sampling rods are accurately positioned;
the full-automatic molten steel temperature measuring and sampling robot has a compact and simple structure and is convenient and fast to install; each part of the modularized design can be independently controlled, and the repeated positioning precision is high; the functions of temperature measurement and sampling can be realized simultaneously; the motion assembly, the electrical components and the outer protection assembly of each mechanism are made of high-temperature-resistant materials and are of a cooling structure, so that the full-automatic molten steel temperature measuring and sampling robot is high in adaptability to the environment, and the design action of each mechanism can be still accurately and smoothly realized even in a high-temperature environment; the potential danger points of point inspection are greatly reduced, the maintenance times are reduced, and the working efficiency of the full-automatic molten steel temperature measurement sampling robot is improved; all moving parts of the full-automatic molten steel temperature measuring and sampling robot are controlled by the servo subsystem, and the mechanical limit switch, the high-temperature-resistant power supply and the signal limit transmission cable which are matched with the servo subsystem can realize the functions of accurate control, accurate positioning and the like of all subsystems in a high-temperature environment. The subsystems have an interlocking logic relationship, so that the overall reliability and safety of the full-automatic molten steel temperature measuring and sampling robot are greatly improved. The full-automatic molten steel temperature measuring and sampling robot has high automation degree, avoids the process of manual interference of accurate positioning of a sample rod, can fully liberate labor force, can greatly improve the positioning efficiency, shortens the operation period, simultaneously avoids the operation of workers in high-risk environment, and greatly reduces the occurrence of industrial accidents; each key part of the movement mechanism adopts a self-lubricating structure and is provided with a high-temperature-resistant protection device, so that the service life of each part is greatly prolonged, the maintenance times and the shutdown maintenance times are reduced to a great extent, much time and labor cost are saved, and the working efficiency of the full-automatic molten steel temperature measurement sampling robot is improved; the full-automatic molten steel temperature measuring and sampling robot is suitable for measuring the temperature and sampling of sample rods with any external dimensions and molten steel in ladles with any spatial layout, and is convenient to use and popularize in the industry and similar working conditions; the cooling gas pipe structure that sweeps cooling gas is all designed to each inside design of mechanism of full-automatic molten steel temperature measurement sampling robot, can carry cooling gas to every mechanism that probably contacts with high temperature environment inside through cooling gas pipe, gives the inside physics cooling of every mechanism, avoids each mechanism to produce the phenomenon emergence of becoming invalid because of high temperature in the course of the work, has improved full-automatic molten steel temperature measurement sampling robot's fail safe nature greatly.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. The utility model provides a full-automatic molten steel temperature measurement sampling robot, includes the installation benchmark, its characterized in that still includes:
the movable temperature measurement sampling mechanism is installed on an installation reference and comprises a longitudinal moving assembly, a transverse moving assembly, a counterweight assembly and a clamping tool, the clamping tool is used for supporting a sampling rod, the longitudinal moving assembly is used for adjusting the height of the clamping tool, the transverse moving assembly is used for adjusting the transverse position of the clamping tool, and the counterweight assembly is used for slowing down the vibration of the longitudinal moving assembly during operation; and
temperature measurement sample automatic feed bin, temperature measurement sample automatic feed bin is installed on the installation benchmark, temperature measurement sample automatic feed bin is including pressing from both sides tight centering subassembly, feed bin subassembly, lifting unit, the feed bin subassembly is used for placing the sampling rod, press from both sides tight centering subassembly and be connected with lifting unit, press from both sides tight centering subassembly and be used for carrying out the centering centre gripping to the sampling rod, lifting unit presss from both sides tight centering subassembly with the sampling rod at feed bin subassembly and presss from both sides and get the transportation between the frock.
2. The full-automatic molten steel temperature measuring and sampling robot according to claim 1, wherein the diameter of the sampling end of the clamping tool is larger than the inner diameter of the sampling rod, and a knurling for increasing the friction force between the sampling rod and the clamping tool is arranged inside the clamping tool.
3. The full-automatic molten steel temperature measuring and sampling robot according to claim 1, wherein the lifting assembly comprises a mounting upright fixedly mounted on a mounting standard, a linear guide rail and a lifting cylinder are fixedly mounted on the mounting upright, an L-shaped plate in sliding fit with the linear guide rail is connected to an output end of the lifting cylinder, and the clamping and centering assembly is mounted on the L-shaped plate.
4. The full-automatic molten steel temperature measurement sampling robot of claim 1, characterized in that the stock bin assembly comprises a concave supporting plate fixedly mounted on a mounting standard, a driving motor is fixedly mounted on the concave supporting plate, a driving gear is fixedly mounted at an output end of the driving motor, an inner toothed ring meshed and matched with the driving gear is rotatably connected on the mounting standard, a base is fixedly mounted on the inner toothed ring, a connecting shaft is fixedly mounted on the base, two guide plates are fixedly mounted on the connecting shaft, and a plurality of placing holes for placing sampling rods are annularly arranged on the guide plates.
5. The full-automatic molten steel temperature measuring and sampling robot according to claim 1, wherein the transverse moving assembly comprises X-direction bases arranged at intervals on a mounting standard, and an X-axis driving device for driving the sampling rod to transversely move is mounted on the X-direction bases.
6. The full-automatic molten steel temperature measuring and sampling robot according to claim 5, wherein the longitudinal moving assembly comprises a Z-direction base fixedly mounted on a mounting datum, a rack and a linear guide are fixedly mounted on the Z-direction base, a Z-axis sliding plate is mounted on the linear guide, an X-direction base is mounted on the Z-axis sliding plate, a speed reducer is fixedly mounted on the Z-axis sliding plate, a gear meshed with the rack is fixedly mounted at an output end of the speed reducer, a motor is mounted on the speed reducer, a Z-axis driving device for driving the sampling rod to longitudinally move is mounted on the Z-axis sliding plate, and the clamping tool is mounted on the Z-axis driving device.
7. The full-automatic molten steel temperature measuring and sampling robot according to claim 6, wherein the Z-axis driving device is a multi-stage telescopic cylinder, the clamping tool is installed at a telescopic end of the multi-stage telescopic cylinder, and a Z-axis heat insulation protection assembly for protecting heat insulation is arranged on the multi-stage telescopic cylinder.
8. The full-automatic molten steel temperature measuring and sampling robot according to claim 6, wherein the counterweight assembly comprises a pulley mechanism fixedly mounted at the end of the Z-direction base, a steel wire rope connected with the Z-axis sliding plate is connected onto the pulley mechanism in a sliding manner, and a counterweight is connected to the end of the steel wire rope.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110768118.9A CN113432756A (en) | 2021-07-07 | 2021-07-07 | Full-automatic molten steel temperature measurement sampling robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110768118.9A CN113432756A (en) | 2021-07-07 | 2021-07-07 | Full-automatic molten steel temperature measurement sampling robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114034835A (en) * | 2022-01-06 | 2022-02-11 | 如皋市宏茂铸钢有限公司 | Molten steel silicon content detection device |
-
2021
- 2021-07-07 CN CN202110768118.9A patent/CN113432756A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114034835A (en) * | 2022-01-06 | 2022-02-11 | 如皋市宏茂铸钢有限公司 | Molten steel silicon content detection device |
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