WO2012139946A1 - Bestimmung der position eines kontaktstabes an einem sonden-halter einer hüttentechnischen sonde - Google Patents
Bestimmung der position eines kontaktstabes an einem sonden-halter einer hüttentechnischen sonde Download PDFInfo
- Publication number
- WO2012139946A1 WO2012139946A1 PCT/EP2012/056159 EP2012056159W WO2012139946A1 WO 2012139946 A1 WO2012139946 A1 WO 2012139946A1 EP 2012056159 W EP2012056159 W EP 2012056159W WO 2012139946 A1 WO2012139946 A1 WO 2012139946A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- probe holder
- contact rod
- holding
- probe
- movement
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/16—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance of clearance between spaced objects
-
- C—CHEMISTRY; METALLURGY
- C21—METALLURGY OF IRON
- C21C—PROCESSING OF PIG-IRON, e.g. REFINING, MANUFACTURE OF WROUGHT-IRON OR STEEL; TREATMENT IN MOLTEN STATE OF FERROUS ALLOYS
- C21C5/00—Manufacture of carbon-steel, e.g. plain mild steel, medium carbon steel or cast steel or stainless steel
- C21C5/28—Manufacture of steel in the converter
- C21C5/42—Constructional features of converters
- C21C5/46—Details or accessories
- C21C5/4606—Lances or injectors
- C21C5/462—Means for handling, e.g. adjusting, changing, coupling
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/20—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring contours or curvatures, e.g. determining profile
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K1/00—Details of thermometers not specially adapted for particular types of thermometer
- G01K1/14—Supports; Fastening devices; Arrangements for mounting thermometers in particular locations
- G01K1/146—Supports; Fastening devices; Arrangements for mounting thermometers in particular locations arrangements for moving thermometers to or from a measuring position
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/402—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control arrangements for positioning, e.g. centring a tool relative to a hole in the workpiece, additional detection means to correct position
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F27—FURNACES; KILNS; OVENS; RETORTS
- F27D—DETAILS OR ACCESSORIES OF FURNACES, KILNS, OVENS, OR RETORTS, IN SO FAR AS THEY ARE OF KINDS OCCURRING IN MORE THAN ONE KIND OF FURNACE
- F27D21/00—Arrangements of monitoring devices; Arrangements of safety devices
-
- 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
- G01N1/12—Dippers; Dredgers
- G01N1/125—Dippers; Dredgers adapted for sampling molten metals
Definitions
- the present invention relates to a method for determining the position of the free end of a contact rod on ei ⁇ nem probe holder of a metallurgical probe.
- the present invention further relates to a Vorrich ⁇ processing for carrying out the inventive method.
- metallurgical probes which have a probe longitudinal axis and are open at one end face. At the other end they are closed. The probes are usually used only once and then disposed of.
- the probes are plugged onto the probe holder of a measuring probe, or the probe holder is inserted into the probe.
- This has at its end a so-called contact rod, which connects the signal lines in the attached probe with the signal lines in the probe holder.
- the contact rod forms a straight extension of the contact rod end portion of the probe holder.
- the signal lines in the probe holder are subsequently connected to the signal lines in the body of the measuring probe. Through these signal lines, the information measured by the probe, such as temperature of the liquid metal to signal processing devices are passed.
- the Probe is mounted on the probe holder, the probe is immersed in the molten metal of the liquid metal and thus fed the probe to its intended purpose. Thereafter, the probe is pulled out of the molten metal by moving the sublance. Thereafter, the probe is removed from the probe holder.
- the probe holder is often plastically bent.
- the extent of plastic deflection can vary.
- the probe holder of the measuring probe with the end of the contact rod to be inserted into the probe and the probe must be positioned very precisely when inserting the probe in order to avoid breaking off the contact rod when attaching the probe.
- the relatively thin-walled contact rod breaks easily when exposed to forces.
- the probe should therefore be positioned when plugging so that it forms as possible a straight extension ⁇ tion of the contact rod-side end portion of the probe holder - and thus the contact rod - forms. With such a posi ⁇ tioning the probe on the contact rod can be pushed to the probe holder without exerting significant forces on the contact bar.
- the known centering device must be forcibly obvious, since otherwise the probe holder with contact rod could be pulled out of the probe again after insertion into the probe, but could not be removed together with the attached probe from the centering device. Therefore, the known centering device must include an ent ⁇ speaking actuators, respective moving parts, a Ener ⁇ supply and at a control device. It is therefore on the one hand relatively complex and expensive and on the other hand due to the harsh operating conditions in metallurgical plants relatively susceptible to interference.
- the probe holder or the probe holder provided with the end of the measuring lance is often contaminated during the test drive, for example, by slag and molten metal.
- the plugging fri ⁇ shear probes is difficult to probe holder or prevented. If the probes are changed manually, the operator may have to manually remove the contamination from the probe holder. Since the probe holder as mentioned above is often bent plastically and can vary the degree of bending of plas ⁇ tables, an unerring automated feeding a cleaning device is difficult to probe holder. Automated feeding sets knowledge the spatial position of the contact rod end of the probe holder ahead.
- the object of the present invention is to provide a way by which the position of the end of the contact rod can be determined easily and safely. This allows automated manipulations at the end of contact ⁇ rod end of the probe holder, such as auto ⁇ mated insertion of the probe holder in the probe or feeding a cleaning device to the probe holder.
- the task is through
- Survey start position of the surveying device is located, and then movement of the probe holder and / or the surveying ⁇ device is carried out so far in three spatial directions relative to each other until - either in each of the three spatial directions was triggered by the contact rod, a detector of the surveying device,
- the movement of the measuring device is determined until the triggering of the detector.
- the contact rod has two ends. One of these ends is connected to the probe holder. The other end of the contact rod is referred to as the free end of the contact rod.
- the contact bar breaks off relatively easily when forces act on it, especially when the forces are not acting in the direction of its longitudinal axis. It is therefore generally not bent when forces are applied, but breaks off. Therefore, it can be assumed that if a contact rod is present - ie not broken off - this contact rod is not bent. In that case, the contact rod forms a straight line. Extension of the contact rod-side end region of the probe holder. Accordingly, just close to the position of jorstabseiti ⁇ gen end portion of the probe holder from the position of the free end de contact rod. On this kon rod side end portion of the probe holder, the probe is plugged or attacks a cleaning device.
- the distance of the free end of a contact rod of the detectors will - be ⁇ relationship as to the limits of the space areas in which the detectors take Be ⁇ be triggered - determines the surveying device.
- the positions of the detectors - or the space areas, whenever anyone enters the Detekto ⁇ ren are triggered - are known.
- the detectors can be triggered, for example, when touched by the contact rod - for example, provided with elekt ⁇ cal contacts boundaries of the surveying -, or they can be triggered when the contact rod enters a monitored area of them space - for example, in detectors with light barriers or Ultraschallal Craften.
- the following example should serve: if the holding and moving device holds an unobstructed contact rod, the end of the contact rod is - in positioning ⁇ tion of the holding and moving device in the survey start position of the holding and moving device, and positioning the measuring device in the surveying starting position of the measuring device - in the direction of the x-axis of a three-dimensional Cartesian coordinate system tems a cm by a detector - is triggered or to the boundary of the space region, during its entering the detector - away, in the direction of the y-axis of the dreidimensiona ⁇ len Cartesian coordinate system b cm of by a detector - or to the boundary of the space region, when entering the detector is triggered - removed, and in the direction of the z-axis of a three-dimensional Cartesian coordinate system c cm of a detector - or to the boundary of the space area, upon entering the De ⁇ detector is triggered - removed.
- unmoved ⁇ surveying apparatus of the contact rod by means of the holding and BEWE ⁇ constriction device of the probe holder has to be moved to a certain extent in the three spatial directions, so that a detector is triggered in each spatial direction.
- the amount of working ⁇ movement is in this example a cm in the direction of the x-axis, b cm in the direction of the y-axis and c cm in the direction of the z-axis.
- the detectors are triggered to a greater or lesser extent of motion.
- the contact bar can be moved by movement of the probe holder to trigger the detectors, while the Vermes ⁇ sungsvorraum remains unmoved. It can also be moved to Vermes ⁇ sungsvortechnisch while the probe holder is not moved with the contact rod. It is also possible to move both the probe holder with the contact rod and the measuring device.
- the movement of the probe holder with contact rod and / or the measuring device relative to one another takes place so far in three spatial directions until the detectors have been triggered in all three spatial directions. In this case, probe holders with contact rod and / or measuring device can be moved one after the other in a respective spatial direction until a detector is triggered in the respective spatial direction. It is also possible for probe holders with contact rod and / or measuring device to be moved simultaneously in two or three spatial directions.
- the movement of the probe holder and / or the measuring device is limited to a maximum extent presettable by the operator of the method. If this preset maximum amount of movement is exceeded without a detector being triggered, the movement will be stopped.
- the lack of triggering of a detector indicates that either the probe holder or the contact rod is bent beyond an acceptable level, or is bent such that the contact rod is out of range, or that the contact rod is not present at all, for example he broke off. In these cases, replacement of the probe holder with contact rod and / or contact rod is necessary.
- the maximum amount of movement can be selected and preset by the operator of the method according to the invention. It is, for example, chosen so that the measuring probe can still be introduced even with bent probe holder through the opening provided for this purpose in a vessel with liquid metal. If the probe holder is bent so much that the measuring lance would no longer be able to pass through this opening, this bending beyond the acceptable extent can be determined by moving the probe holder and / or the measuring device to the maximum extent preset by the operator of the method the movement no detector is triggered. In this way, the absence of the contact rod can be determined.
- the inventive method the spatial Posi ⁇ tion of the free end of a contact rod on a Probenhai ter, which is held by a holding and moving device in Vermes tion start position defined.
- the new position of the free end of the contact rod is also defined. Accordingly, an automated supply of probes or cleaning devices is possible. In this case, either the probe can be automatically brought to the free end de contact rod, or the contact rod is automatically brought to the probe, or probe and Kon ⁇ tact bar are brought together; The same applies mutatis mutandis ⁇ for the approach of cleaning device to the probe holder.
- the probe holder after determining the position of the free end of the contact rod on the probe holder, the probe holder is subjected to a predetermined deflection.
- the position of the contact rod-side end of the probe holder is known before the bending, and the bending itself takes place to a defined extent, the position of the contact rod-side end of the probe holder is also known after the bending. Accordingly, an automated To ⁇ leadership of probes or cleaning devices just as easy as if no bending occurs.
- the advantage of defined deflection for example, is that the holding and moving device, automated probe delivery devices, or automated device delivery devices need to be moved less widely to interact with the probe holder - plugging the probe, cleaning the probe holder enable.
- Another object of the present invention is a device for carrying out the method according to the invention.
- Such a device comprises a holding and moving for a probe holder with contact rod, and is characterized in that it also comprises
- a surveying device having a measuring range with detectors which can be triggered by the contact rod
- the holding and moving device for the probe holder with contact rod is used in the case of movement, of course, for the defined movement of the probe holder with contact rod, that is, the extent of movement in all spatial directions is controllable and detectable. Accordingly, defined movement is to be understood in the device for the defined movement of the measuring device.
- the holding and moving device for a probe holder with contact rod can for example be designed as a movable robot arm with gripper system. It may also be, for example, the held by a manipulator Bezie ⁇ hung intermittently movable by the manipulator measuring probe, where the probe holder is fixed.
- the surveying device can be made stationary.
- Another object of the present invention is a further device for carrying out the method according to the invention.
- a device comprises a holding and Movement device for a probe holder with contact rod, and is characterized in that it also includes
- a surveying device having a measuring range with detectors which can be triggered by the contact rod
- the measuring device can be designed, for example, as a tool for a movable robot arm with or without a gripper system.
- Another object of the present invention is a further device for carrying out the method according to the invention.
- a device comprises a holding and moving device for a probe holder with contact rod, and is characterized in that it also comprises
- a surveying device having a measuring range with detectors which can be triggered by the contact rod
- the holding and moving device for the probe holder with contact rod is used in the case of movement, of course, for the defined movement of the probe holder with contact rod, that is, the extent of movement in all spatial directions is controllable and detectable. Accordingly, defined movement is to be understood in the device for the defined movement of the measuring device.
- detector is understood to mean a device which emits a signal through the contact rod upon contact by the contact rod or upon entering the area monitored by the device for changes in a prevailing state, that is to say it is triggered.
- the detectors may be rarotlicht at ⁇ play as light barriers, for example, laser or Inf-. Such detectors are triggered when the contact rod at least partially interrupts the beam of the laser or infrared light.
- the detectors may also be ultrasonically sound barriers, or they may be capacitive or inductive detectors which can detect changes in the area of their field detected by entering the contact rod in this area. It can also provide electrical switch contacts which are di ⁇ rectly or by mechanical deflection, for example Fahenendschalter triggered, act itself. Such detectors are mounted, for example, on a measuring range limiting walls and are triggered by the contact rod contact.
- the device for determining the triggering of a detector can be chosen from the repertoire known to the person skilled in the art of determining the triggering of a detector in the sense of the present invention.
- the detectors can deliver electrical signals that are picked up by a remote site with evaluation as example ⁇ as a control and regulation device. Delivery of radio signals or other types of signals may also be provided.
- the holding and moving device for a probe holder for example, be designed as a movable robot arm with Greifersys ⁇ tem, or as a manipulator for the measuring lance.
- the measuring device can be designed, for example, as a tool for a movable robot arm, with or without a gripper system. It can also be made stationary.
- the device according to the invention also comprises a bending device for the controlled bending of the probe holder.
- the probe holder By means of such a bending device, the probe holder, after determining the position of its intended end for receiving a metallurgical probe end of a deflection in a defined extent be subjected.
- the bending device can be held immobile after insertion of the probe holder, while the holding and moving device and thus the probe holder is moved to a defined extent. It is also possible to hold the holding and moving device and thus the probe holder immobile after insertion of the contact rod in the bending device and to move the bending device in a defined extent. In principle, both holding and moving device - and thus the Son- The denhalter - and bending device relative to each other in a defined extent to be moved.
- the bending device can be embodied, for example, as a movable tool for a robot arm, with or without a gripper system. It can also be made stationary.
- a tool for a robot arm which has both the bending device and the measuring device.
- the bending device is considered to be one
- the device according to the invention also comprises a cleaning device for cleaning the probe holder and / or the measuring head bearing the probe holder.
- the cleaning device can be held immobile after partial or complete insertion of the probe holder, while the holding and moving device and thus the probe holder is moved to a defined extent. It is also possible to hold the holding and moving device and thus the probe holder immobile after introduction of the probe holder in the cleaning device and to move the cleaning device to a defined extent. In principle, both holding and moving device - and thus the probe holder - and cleaning device can be moved relative to each other to a defined extent.
- the probe holder is cleaned by mechanical action.
- the relative movement may, for example, be circular, or a forward and backward movement within a certain angular range about the longitudinal axis of the probe holder, or rectilinear - for example, forward and backward movement in the direction of the longitudinal axis of the probe holder, or hybrid forms of such movements.
- the cleaning device has cleaning agents that act on the contamination of the probe holder and / or the measuring probe head supporting the probe holder - for example, a teeth-equipped cleaning crown, in the opening of the probe holder and / or the probe holder bearing measuring lance is introduced.
- the cleaners may have their own drive units, so to ⁇ can also take place a relative movement between cleaning ⁇ medium and probe holder and / or the probe holder supporting measuring lance head additionally to the relative motion between the cleaning device and probe holder and / or the probe holder supporting measuring lance head.
- the cleaning device can be designed, for example, as a tool for a movable robot arm. It can also be made stationary.
- the cleaning device is considered to be of one
- purification device and Verbiegevoriques are designed as tangible of egg nem gripper system of the surveying device construction ⁇ parts, it is advantageously possible to either produce or Verbiegevoriques wasvor- direction with the measuring device to combine. This reduces the expenditure on equipment for providing a bending function and a cleaning function.
- FIG. 1 shows, in a sequence of three FIGS. 1 a, 1 b, 1 c, how a bent probe holder can come about.
- Figure 2 shows a section of an inventive
- FIG. 3 shows a detail of an inventive device
- FIG. 4 shows a detail of an inventive device
- FIG. 1 a shows a longitudinal section through the lower section of the body of a measuring lance 1, on the probe holder 2 of which a hos-technology probe 3 is plugged.
- a metallurgical vessel 5 in this case a converter, liquid metal 6 and scrap 7 is present.
- the measuring lance 1 is moved by means of a Mani ⁇ pulators, not shown, in the direction of molten metal 6 down.
- Figure lb shows how the probe 3 impinges on the downwards movement on a piece of scrap 7, wherein the impact is shown with a ge ⁇ zagged star. The inclusion of not essential for the presentation of this situation reference numerals has been omitted for reasons of clarity.
- Figure lc shows that the probe holder 2 has been bent by the impact.
- Figure 2 shows a part of a holding and moving device 8 for the probe holder 2 with contact rod 4. In this case, this holding and moving device 8 is given by a manipulator acting on the measuring lance.
- the measuring lance 1 and thus also the probe holder 2 can be moved defined with contact rod 4, for example, in the surveying start position of the holding and moving device. Shown is the holding and moving device 8 in its surveying start position.
- the defined movement is controlled and can be carried out in all three spatial directions of a Cartesian coordinate system with appropriate design of the holding and moving device ⁇ 8.
- the amount of movement is with ⁇ means of a device for determining the extent of taking place by means of the holding and moving means movement 9, which is connected to the holding and moving means 8 by means Sig ⁇ nal effet 10 detectable.
- the signal line 10 is designed as physically present line, but it could also be designed as a radio signal transmission.
- the measuring device 11 is arranged on a tool 15 graspable by a robot arm 14.
- the Ro ⁇ boterarmes 14 can be moved in all three spatial directions of a Cartesian coordinate system 11, the tool 15 and thus the surveying device ⁇ be triggered until the detectors Vermes ⁇ sungsvorraum.
- a device for determining the extent of movement of the surveying device until the triggering of a detector of the surveying device by the contact rod is present.
- this device for determining the extent of movement of the measuring device until the triggering of a detector of the measuring device by the contact rod is at the same time the device for determining the extent of a movement taking place by means of the holding and moving device 8.
- the robot arm is connected via signal line 16 to the device for determining the amount of movement of the surveying device to trip a detector of the surveying device ⁇ through the contact rod.
- the signal tung 16 is out ⁇ provided as physically present line, but it could also be implemented as a radio signal transmission.
- the Sig ⁇ naltechnisch 12 is configured as physically present line, but it could also be implemented as a radio signal transmission.
- the first control and regulating device 13 also serves as a device for detecting a triggering of a detector. To determine the position of the free end of the contact rod 4, the holding andorientsvorrich ⁇ device 8 and the measuring device 11 are first placed in a survey start position of the holding and moving device 8 and in a survey start position of the surveying device 11.
- a second control and regulating device 17 the device for determining the extent of a movement taking place by means of the holding and moving device 9, at the same time a device for determining the extent ei ⁇ ner movement of the measuring device to the triggering of a detector of the surveying device by the contact rod is connected to the first control and regulating device 13 via signal lines 18 and 19.
- Each of the signal lines 18 and 19 is designed as a physically present line, but they could also be used as a radio signal transmission in each case. be carried out mediation.
- the second control and regulation ⁇ device receives information on the movements of the tool and also ⁇ infor mation might receive on their movements in movement of the measuring lance. It also receives information about the triggering of the detectors of the measuring device 12 and the necessary amount of movement. Based on this information, the movements are controlled and regulated. Links of the second control and regulating device 17 with the drives for the motions are not shown separately for the sake of clarity.
- the measuring lance 1 and the probe holder 2 is not moved to determine the position of the free end of the contact rod.
- the position of the free end of the contact rod is determined by movement of the measuring device 11 arranged on the tool 15 by means of the robot arm 14.
- the position of the free end of the contact rod could also be determined by means of a defined movement of the measuring lance or the probe holder 2, without the measuring device 11 arranged on the tool 15 being moved by means of the robot arm 14.
- defined movement of the measuring device 11 arranged on the tool 15 by means of the robot arm 14 and the measuring lance 1 or of the probe holder 2 could also take place for determining the position of the free end of the contact rod.
- FIG. 3 shows a detail of a device according to the invention, while a bent probe holder 2 is subjected to a defined bending.
- Robot arm 14 engages a tool 20, is arranged on the measuring device 11.
- the walls IIa, IIb, 11c provided with switching contacts and thus act on contact by the contact rod 4 as detectors, which are triggered by the touch.
- the triggering is reported to a first control and regulating device 13.
- the analogous to Figure 2 parts of the device act as described in Figure 2.
- the tool 20 has a gripper system with two gripper fingers 21a, 21b, which has a bending advantage.
- direction 22 for controlled bending of the probe holder 2 comprises.
- the second control and regulating device 17 are now via signal lines, not shown, to the robot, not shown, on which the robot arm 14 is movably mounted before, that a movement of the robot arm and thus the bending device 22 for controlled bending of the probe holder 2 is to take place that the Son ⁇ denhalter published in a given from the second control and adjustment apparatus 17 in a second extent of the tax and regulation device 17 is bent predetermined direction.
- FIG. 4 shows a section of a device according to the invention, while a cleaning device 24, which is designed as a tool graspable by a gripper system of a tool containing the measuring device for a robot arm, which cleans a soiled probe holder and the measuring lance head carrying the probe holder.
- the device is up to the presence of the cleaning device 24 instead of the bending device 22 for controlled bending of the probe holder 2, and except for a un ⁇ ferent embodiment of the measuring device 11, analogous to the device described in Figure 3. According ana ⁇ loger device parts has been omitted for clarity on the presentation.
- the Son ⁇ denhalter 2 is then removed by a cleaning agent, in this case, equipped with teeth cleaning crown 25 through mechanical action of the teeth on dirt 26 of the probe holder of these contaminants 26th It is shown how scrapings scraped off by the teeth 26 fall off the probe holder 2.
- the measuring range of the measuring device 11 is limited by light barriers 27 whose light beams are shown in dashed lines. List of reference numbers
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Chemical & Material Sciences (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Materials Engineering (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Manipulator (AREA)
- A Measuring Device Byusing Mechanical Method (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201290000413.4U CN203785798U (zh) | 2011-04-11 | 2012-04-04 | 确定在冶金技术的探针的探针架上的接触棒的位置的装置 |
DE212012000083U DE212012000083U1 (de) | 2011-04-11 | 2012-04-04 | Bestimmung der Position eines Kontaktstabes an einem Sondenhalter einer hüttentechnischen Sonde |
BR212013026295U BR212013026295U2 (pt) | 2011-04-11 | 2012-04-04 | método para determinação da posição da livre extremidade de uma haste de contacto em um retentor de sonda e dispositivo para realização do método |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
AT5162011A AT510292B1 (de) | 2011-04-11 | 2011-04-11 | Bestimmung der position eines kontaktstabes an einem sondenhalter einer hüttentechnischen sonde |
ATA516/2011 | 2011-04-11 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2012139946A1 true WO2012139946A1 (de) | 2012-10-18 |
Family
ID=45724238
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2012/056159 WO2012139946A1 (de) | 2011-04-11 | 2012-04-04 | Bestimmung der position eines kontaktstabes an einem sonden-halter einer hüttentechnischen sonde |
Country Status (5)
Country | Link |
---|---|
CN (1) | CN203785798U (de) |
AT (2) | AT510292B1 (de) |
BR (1) | BR212013026295U2 (de) |
DE (1) | DE212012000083U1 (de) |
WO (1) | WO2012139946A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2821764A1 (de) * | 2013-07-01 | 2015-01-07 | Siemens VAI Metals Technologies GmbH | Testgerät für eine Messlanze zur Durchführung von Messungen bei der Erzeugung und Verarbeitung von Flüssigmetallschmelzen |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016013891A1 (de) * | 2016-11-21 | 2018-05-24 | Kuka Roboter Gmbh | Vermessen einer Bewegungsachse eines Roboters |
CN108789487A (zh) * | 2017-05-04 | 2018-11-13 | 江苏金恒信息科技股份有限公司 | 一种机器人保护框架以及测温取样机器人 |
CN110893534B (zh) * | 2018-09-13 | 2021-08-17 | 宝山钢铁股份有限公司 | 基于视觉测量的冶金技术探针接插标定方法及其接插*** |
CN109176474B (zh) * | 2018-10-25 | 2020-10-09 | 汕头大学 | 一种绳杆混合驱动超冗余机器人 |
CN112067977B (zh) * | 2020-09-29 | 2023-03-31 | 东莞市鸿彩机械设备有限公司 | 一种首件检测装置及检测方法 |
CN115386676B (zh) * | 2022-10-08 | 2023-06-06 | 爱智机器人(上海)有限公司 | 一种钢铁冶炼转炉用智能测温取样枪自动校准装置 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2753161A1 (de) * | 1977-11-29 | 1979-05-31 | Gutehoffnungshuette Sterkrade | Verfahren und vorrichtung zum wechseln von mess- und/oder probennahmesonden fuer stahlschmelzen |
EP0164331A2 (de) * | 1984-05-08 | 1985-12-11 | VOEST-ALPINE Aktiengesellschaft | Vorrichtung zum Reinigen eines Lanzenkopfes einer in ein metallurgisches Gefäss einbringbaren Lanze |
US5929584A (en) * | 1998-04-27 | 1999-07-27 | Pht, Inc. | Tool center point calibration apparatus and method |
DE102004010312A1 (de) * | 2004-03-03 | 2005-09-29 | Thomas Pagel | Verfahren zum Einmessen eines Arbeitspunktes |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
AT387855B (de) * | 1982-12-09 | 1989-03-28 | Voest Alpine Ag | Sondenmanipulator |
JP3238133B2 (ja) * | 1998-12-11 | 2001-12-10 | 川崎重工業株式会社 | 金属精錬用測温サンプリング装置 |
ES2602359T3 (es) * | 2008-12-22 | 2017-02-20 | Kawaso Electric Industrial Kabushiki Kaisha | Sistema de medición de metal fundido con sonda |
-
2011
- 2011-04-11 AT AT5162011A patent/AT510292B1/de not_active IP Right Cessation
-
2012
- 2012-04-04 BR BR212013026295U patent/BR212013026295U2/pt not_active IP Right Cessation
- 2012-04-04 CN CN201290000413.4U patent/CN203785798U/zh not_active Expired - Fee Related
- 2012-04-04 DE DE212012000083U patent/DE212012000083U1/de not_active Expired - Lifetime
- 2012-04-04 WO PCT/EP2012/056159 patent/WO2012139946A1/de active Application Filing
- 2012-04-04 AT ATGM8093/2013U patent/AT13854U1/de not_active IP Right Cessation
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE2753161A1 (de) * | 1977-11-29 | 1979-05-31 | Gutehoffnungshuette Sterkrade | Verfahren und vorrichtung zum wechseln von mess- und/oder probennahmesonden fuer stahlschmelzen |
EP0164331A2 (de) * | 1984-05-08 | 1985-12-11 | VOEST-ALPINE Aktiengesellschaft | Vorrichtung zum Reinigen eines Lanzenkopfes einer in ein metallurgisches Gefäss einbringbaren Lanze |
US5929584A (en) * | 1998-04-27 | 1999-07-27 | Pht, Inc. | Tool center point calibration apparatus and method |
DE102004010312A1 (de) * | 2004-03-03 | 2005-09-29 | Thomas Pagel | Verfahren zum Einmessen eines Arbeitspunktes |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2821764A1 (de) * | 2013-07-01 | 2015-01-07 | Siemens VAI Metals Technologies GmbH | Testgerät für eine Messlanze zur Durchführung von Messungen bei der Erzeugung und Verarbeitung von Flüssigmetallschmelzen |
Also Published As
Publication number | Publication date |
---|---|
BR212013026295U2 (pt) | 2015-11-03 |
AT13854U1 (de) | 2014-10-15 |
CN203785798U (zh) | 2014-08-20 |
AT510292A4 (de) | 2012-03-15 |
AT510292B1 (de) | 2012-03-15 |
DE212012000083U1 (de) | 2013-11-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
AT510292B1 (de) | Bestimmung der position eines kontaktstabes an einem sondenhalter einer hüttentechnischen sonde | |
EP4046755B1 (de) | Vorrichtung und verfahren zum automatisierten entnehmen von in einem behälter angeordneten werkstücken | |
EP2958697B1 (de) | Vorrichtung zum trennen eines werkstückes entlang einer trennlinie | |
DE112017002639T5 (de) | Robotersteuerungsvorrichtung | |
DE102008062622A1 (de) | Verfahren und Vorrichtung zur Befehlseingabe in eine Steuerung eines Manipulators | |
DE102007026299A1 (de) | Industrieroboter und Verfahren zum Programmieren eines Industrieroboters | |
WO2015139717A1 (de) | Montagevorrichtung zum auswechseln einer greiferspitze eines greiferfingers für ein robotersystem | |
EP3336401A1 (de) | Automatisiertes verbinden und trennen zweier fluidleitungen | |
DE2753161C3 (de) | Verfahren und Vorrichtung zum Wechseln von MeB- und/oder Probennahmesonden für Stahlschmelzen | |
EP0444006B1 (de) | Einrichtung zum Ein- und Ausbringen einer Lanze in ein und aus einem metallurgischen Gefäss | |
WO2012110148A1 (de) | Automatisiertes einstecken eines kontaktstabes in eine hüttentechnische sonde | |
DE102015117306B4 (de) | Mehrachs-Maus für einen Mehrachsroboter | |
DE102013101496A1 (de) | Verfahren zur Oberflächenbehandlung eines formstabilen Körpers sowie Vorrichtung zur Durchführung des Verfahrens | |
DE3123801A1 (de) | Verfahren und vorrichtung zur messung der koordinaten vorgegebener messpunkte an einem werkstueck | |
EP0364825A1 (de) | Vorrichtung zur diskontinuierlichen Messdatenerfassung der Schmelze | |
WO2008011978A1 (de) | Verfahren zum erfassen einer giesskurve für eine robotersteuerung und erfassungssystem dazu | |
DE2552270C3 (de) | Vorrichtung zum selbsttätigen Messen und/oder Probenehmen in einer Metallschmelze | |
EP4061572B1 (de) | Verfahren zum abtasten der oberfläche metallischer werkstücke | |
DE102018105041A1 (de) | Schwenkeinheit für einen Handhabungsroboter und zugehöriges Verfahren | |
EP2711108B1 (de) | System und Verfahren zur Positionsbestimmung eines metallurgischen Gefäßes | |
EP3649418A1 (de) | Führen einer sonde | |
EP1088960A2 (de) | Verfahren und Vorrichtung zur Bewegung eines Auslegers eines Arbeits- oder Rettungsgeräts | |
EP3159075A1 (de) | Stranggiessanlage zur herstellung eines metallischen strangs oder einer bramme und verfahren zum betreiben einer solchen stranggiessanlage | |
WO2008052512A1 (de) | Automatisierter billardspieler | |
DE202014005738U1 (de) | Vorrichtung zur Bestimmung des TCP |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201290000413.4 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 12718106 Country of ref document: EP Kind code of ref document: A1 |
|
DPE1 | Request for preliminary examination filed after expiration of 19th month from priority date (pct application filed from 20040101) | ||
ENP | Entry into the national phase |
Ref document number: 91102012 Country of ref document: AT Kind code of ref document: A |
|
WWE | Wipo information: entry into national phase |
Ref document number: 212012000083 Country of ref document: DE Ref document number: 2120120000836 Country of ref document: DE |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 212013026295 Country of ref document: BR |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 12718106 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 212013026295 Country of ref document: BR Kind code of ref document: U2 Effective date: 20131011 |