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1.发明公开
公开(公告)号：EP4372343A1
公开(公告)日：2024-05-22
申请号：EP22863453.1
申请日：2022-08-30
发明人： YE, Changhong , WU, Ruimin , SONG, Xitao , WEI, Zhenhong , SHEN, Chen , SUN, Xinghong , HUANG, Tianmao
IPC分类号： G01K13/12
摘要： Provided is a replacement system for a metallurgical temperature measuring and sampling probe (200). The replacement system is arranged at a temperature measuring gun (100) for measuring the temperature of a molten metal ladle, and comprises: a six-axis manipulator (1), a clamping tool (2) mounted at a tail end of the six-axis manipulator (1), a shelf (3) for storing the temperature measuring and sampling probe (200), a shearing machine (4), and a waste material box (5), wherein the temperature measuring gun (100), the shelf (3), the shearing machine (4), and the waste material box (5) are sequentially arranged in different directions within a rotation range of the six-axis manipulator (1), respectively; the waste material box (5) is arranged close to the shearing machine (4); the clamping tool (2) comprises a base (21), a clamping jaw (22) configured to clamp the temperature measuring and sampling probe (200) and a positioning jaw (23) which are arranged in parallel at a front end of the base (21), and a detection device (24) located between the clamping jaw (22) and the positioning jaw (23); a center line of a clamping space of the clamping jaw (22) and a center line of a positioning space of the positioning jaw (23) are located on the same axis, and a detection source of the detection device (24) passes through the axis. Instead of manually sleeving or pulling out the temperature measuring and sampling probe (200), the replacement system can reduce the labor intensity of operators, reduce the harm of the high-risk environment to health, and improve the working efficiency. Further disclosed is a replacement method of the replacement system for the metallurgical temperature measuring and sampling probe (200).
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2.发明公开
公开(公告)号：EP4145087A1
公开(公告)日：2023-03-08
申请号：EP21827901.6
申请日：2021-06-23
发明人： SONG, Xitao , WU, Ruimin , WEI, Zhenhong , GONG, Xingdong
IPC分类号： G01B11/27
摘要： A method for calibrating an elongated metallurgical tool based on a laser distance sensor (6). A temperature measurement/sampling tool (3) is driven by an industrial robot (1) so that a standard temperature measurement/sampling gun (4) enters a calibration area, the standard temperature measurement/sampling gun (4) reciprocates at the vicinity of a laser distance sensor (6), the standard axis is obtained by using a vector on a generatrix of the standard temperature measurement/sampling gun (4) based on the laser distance sensor (6), the position and orientation of the temperature measurement/sampling tool (3) is adjusted so that the axis of the standard temperature measurement/sampling gun (4) is parallel to the set standard axis, and moreover, positioning and identification is performed on an end TCP point of the temperature measurement/sampling tool (3) to obtain a tool coordinate system corresponding to the temperature measurement/sampling tool (3), and deformation of the standard temperature measurement/sampling gun (4) can be detected in the calibration process, to ensure the accuracy and stability of system operation of the industrial robot (1). In addition, also provided is a device for calibrating an elongated metallurgical tool based on a laser distance sensor (6).
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公开(公告)号：EP4130647A1
公开(公告)日：2023-02-08
申请号：EP21808158.6
申请日：2021-05-14
发明人： SONG, Xitao , WU, Ruimin , WEI, Zhenhong
摘要： Disclosed in the present invention is a method for plugging/unplugging a probe of a metallurgical automatic sublance. A laser distance sensor is mounted on an end-effector of a drive device; the drive device drives the laser distance sensor to scan the automatic sublance according to setting areas; position and orientation information of the automatic sublance is calculated by a calculation unit; according to the position and orientation information of the automatic sublance, a gripper on the end-effector implements a process of plugging/unplugging the probe of the automatic sublance. According to the present invention, an existing automatic sublance does not need to be improved, and only external sensors need to be used for plugging/unplugging detection, so that the plugging/unplugging process can be accurately carried out.
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4.发明公开
公开(公告)号：EP3851242A1
公开(公告)日：2021-07-21
申请号：EP19859501.9
申请日：2019-09-12
发明人： WEI, Zhenhong , WU, Ruimin , SONG, Xitao , YE, Changhong , LIU, Junjiang , XU, Guodong
摘要： A metallurgical technology probe insertion calibration method employing visual measurement and an insertion system thereof. A vision sensor (5), a cylindrical rod (1), and a metallurgical technology probe (2) are used to construct an agreed region (6). In the agreed region (6), the vision sensor (5) acquires relative positions and orientations of the cylindrical rod (1) and the metallurgical technology probe (2), and an acquired position and orientation result is used to control a driving device (3) to insert the cylindrical rod (1) into the metallurgical technology probe (2). In order to improve the accuracy and reliability of the insertion, a standard probe (7) and a fixing device (4) are used together to perform effective calibration on an initial position, orientation, and axis in the insertion. During the insertion, the driving device (3) ensures that the orientation of the cylindrical rod (1) substantially remains unchanged, and an axis direction is used as a reference direction for insertion and a feeding motion, such that the cylindrical rod (1) initially enters the metallurgical technology probe (2); then, the vision sensor (5) is further used to correct an effective length of the cylindrical rod (1) in the metallurgical technology probe (2), such that the cylindrical rod (1) is accurately inserted into the metallurgical technology probe (2).
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