• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This invention relates to devices for replacing measuring or sampling probes. The aim of the invention is to improve the reliability of the device. This goal is achieved by the fact that in the device for replacing measuring or sampling probes placed on the console and set in motion by means of adjusting means, the grip suspension is made in the form of internal and external rotating frames, the pivot axes of which are angled to each other, and the point the intersections of the axes lie on the vertical axis of the peaks, while the grip is placed on the inner frame with the possibility of rotation around a point lying above the center of gravity or the frame is provided with elastic return devices. 1 hp f-ly, 5 ill. I WITH with
    公开号:SU1438631A3
    申请号:SU833674610
    申请日:1983-12-06
    公开日:1988-11-15
    发明作者:Фолер Йоханн
    申请人:Фоест-Альпине Аг (Фирма)；
    IPC主号:
    专利说明:

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    The invention relates to devices for replacing measuring and / or sampling probes which, with frictional contact, can be pulled over a mounting unit, located at the lower end of the vertical head, but with a movable jib that has a clamping grip probe that can be retracted from the working position. located under the boom, in a different position (1);
    The aim of the invention is to improve the reliability of the device. In FIG. 1 shows a device installed in the steel industry for replacing the measuring sp1 of sampling probes, top view; in fig. 2 shows in FIG. 1f in FIG. 3 - capture, in axonometry; in fig. 4 - view B and FIG. one; in fig. 5 shows a section in FIG. four.
    The device contains a special manipulator 1, which is fixed on the console 2 by the gripper 3 to receive the probe 4 from the magazine 5, transfer the probe 4 to the boom 6 and remove the probe 4 from the boom 6. The manipulator is rotatable around the vertical axis 7 by drive 8 in the direction of the arrow 9 rack 10, which is installed in the supports of rotation and with the possibility of movement in the vertical direction of the carriage 11. The latter serves to base the movable horizontal direction of the console 2, on the free end 12 of which the clamping device is mounted; ond 4 grip 3. Probe 4 by means of: grip 3 can be removed from the car 5 by turning around axis 7 and moving under the boom 6. By lowering the boom 6, the probe slides onto the mounting assembly mounted on the boom; holding rod 13. To remove probe 4 from boom 6 after measuring and sampling, probe 4 is clamped by gripper 3 and boom b is lifted, whereby probe 4 is removed from the holding rod 13, after which the probe is carried by gripper 3 to the transfer position .
    The grip is equipped with a hydraulic cylinder 14 and two pairs of collet cam 15, which are located vertically on top of each other, opened and closed by means of hydraulics.
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    of the cylinder 14, between the coaxial circular recesses 16 of which the measuring rod 4 can be clamped. Passing the axis 17 of the coaxis with the axis 18 of the boom 6 in the working position of the gripper 3 (see Fig. 1 and 2) passing through the circular grooves, the supporting axis 19 of the collet pair . the cams 15 are fixed in the crossbars 20, which, together with the vertical plate 21, form the inner frame 22. The inner frame 22 is mounted on rotation supports rotatably around a horizontal rotary axis 23 relative to the outer frame 24 spanning the inner frame, so that the pairs of collet cams 15 have the ability rotation relative to the outer frame 24 in the direction of the arrow 25.
    The pivot axis 23 connecting the inner frame 22 with the outer frame 24 intersects the axis 17 passing through circular recesses 16 at point 26. The outer frame 24 has the ability to rotate on the console 2 around the horizontal axis 28 parallel to the movement direction 27 of the console 2, which is installed under angle to the rotary axis 23. close to 90. The axis 28 intersects the rotary axis 23 also at point 26.
    The axes 23 and 28 form the gimbal gimbal 3 so that the axis 17 passing through the large recesses 16 can be aligned in any direction. Meanwhile, the gripper 3 can be centered on the inclined holding rod 13 6, on which the probe 4 should be pulled, which prevents damage to the contact 29 provided on the retaining rod and ensures perfect fit of the probe 4 on the holding rod 13, preventing damage to the probe 4 .
    So that the grip 3 in the quiescent position takes up a stable normal position ext. The frame 24 with respect to the console 2 is supported by a plane 28 perpendicular to the axle 28, the ti 30 (Fig. 4 and 5), which is pivotally connected to the outer frame 24 on one side, and on the other side by a sliding ring 31 - with the console. On both sides of the sliding ring 31 abut with pre-tensioning screw
    the springs 32 and 33, which, as necessary, abut their ends, opposite to the sliding ring, against the supporting plates 34 fixed to the t 30.
    From FIG. 5, the normal position of the outer frame is shown: 24 with respect to the cantilever 2. As soon as the outer frame 24 is deflected, turning around the axis 28, relative to the cantilever 2 in one direction along arrow 35, one of the springs is compressed, and the other is beaten. The resulting, unequal spring forces acting as a return force, tend, after deflecting the outer frame 24, to return it to its normal position.
    FIG. 4 shows the bearing of the outer frame 24 with respect to the inner frame 22, with the ha 36 being fixed on one side on the outer frame 24, and the other side by means of the sliding ring 37 - on the inner one; frame 22. When lengthening the gi 38 screw spring rests on the support plate 39. Opposite the end of the spring 40 rests on the amp & ring. As soon as the inner frame 22 is rotated relative to the outer frame 24 in one of the directions along arrow 41, the spring 40 compressing or expanding tends to return the inner frame to the normal position, in which the spring 40 balances the torque from its own weight of the inner frame 22 together with pairs of collet cam 15.
    The gripper 3 can be designed in such a way that the total pivot point of the outer and inner frames 24 and 22 and the pairs of collet cam 15 (together with the hydraulic cylinder 14) comes to a position below the intersection point 26 of the axes 23 and 28 of the gimbal. In this case, the gripper 3 is returned to its normal position due to its own gripping weight without the use of springs 32, 33 and 40.
    So that when the retaining rod 13 is inserted into the opening 42 of the probe 4, there is no undesirable deflection of the probe 4 from the axis 17, the holding rod 10 comes into frictional contact with the probe in the gap 43,
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    located below the intersection point 26 of the axes 23 and 28 of the gimbal. Due to a one-sided temperature effect on the boom 6 inside the metallurgical tank, a curvature of the boom 6 may occur, which leads to misalignment of the fixing rod 13 and the probe 4 held in the mounting position with the help of the grip 3. In order to allow the mounting of the probe 4 on the holding rod to The gripper 3 is provided with a centering device 44.
    The device works as follows.
    The gripper 3 is located on the cantilever 2, which is mounted for movement on the turntable 10 by means of the trolley 11. Due to the rotation of the stand 10, the gripper can be rotated in the direction of the arrow 9 (Fig. 1). Rotation of the grip around the vertical axis 7 is not necessary, since the ability to move the grip depends on the location of the magazine. The grip can be brought from the working floor from below the boom to another position using control means.
    The centering device 44 allows the boom to be straightened with the rod above the probe 4.
    The probe is not in contact with the centering device, since the centering device serves only to center the rod when it is inserted into the probe. The probe 4 is held only by the grooves 16. If the boom or the rod is curved, then when the probe is removed during the closure of the pairs of collet cams 15 when they are in contact with the probe, the collet pairs are aligned accordingly to the probe in an inclined position. Such a correction is possible due to the cardan installation of the grip, that is, due to the possibility of turning the grip in any direction. Collet cams 15 securely hold both the new probe and the probe, the diameter of which has changed somewhat during operation.
    During the measurement process, i.e. when sampling by immersing the probe in a vessel containing the observed melt, for example in a steel-making converter, bending of the carrier can occur: probe fasteners30
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    knot or the impact of the probe on the still molten material, sludge due to the collision of the probe with pieces of slag floating on the molten material. After retracting the boom, the probe takes an inclined position, due to which it cannot be reliably captured by the grab.
    Difficulties arise in the seizure of the next probe, since the probe — in order to perceive the pushing forces when the probe is pulled over the mounting point — is held by the gripper in an exactly vertical position as rigidly as possible. When the boom is pulled over the fastening assembly, which is done right-handed by lowering the boom, due to the misalignment of the fastening assembly and the probe, damage or destruction of the probe by the fastening assembly can occur, as well as damage to the contacts of the fastening assembly; What may be the Cause of erroneous measurements and lead to the impossibility of further measurements.
    The proposed device allows for a reliable pulling of the probe onto the mounting assembly, which occupies a relatively different position relative to the probe, while preventing the mounting assembly and probes from being damaged and, after measuring, the probes are reliably gripped by the gripper.
    This is possible due to the gimbal gimbal suspension, which can, when in contact with the measuring probe and the fixing unit, adapt itself to their position.
    The grip can be rotated, the exit from the rest position, against the action of the return force, and the return force is caused by either an elastic organ, or the location of the center of gravity of the grip below the point of intersection of the axes of the gimbal. Thanks
    Therefore, after the probe is pulled onto the mounting assembly, the grip always returns to its original position. To hold the grip and to a stable position by the beginning of the thrust, the mounting assembly gets into frictional contact with the probe in the interval below the point of intersection of the axles of the gimbal.
    权利要求:
    Claims (2)
    [1]
    1. A device for replacing measuring or sampling probes placed on a cantilever and pulled with a frictional closure on a holder located at the lower end of a vertically movable peak with a locking probe hook, driven by mounting means from the working position under the peak in a lateral position, characterized in that, in order to increase the reliability of the device, the grip suspension is made in the form of internal and external pivoting frames, the axes of rotation of which are located at an angle to one another. And the intersection of the axes lies on the vertical axis of the peaks, the grip is placed on the inside frame is rotatable about a point lying above the center m zhes-
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    Types or frames are provided with resilient return devices.
    [2]
    2. Device pop, 1, characterized in that each resilient return device is made in the rod, which is nirno connected to the outer frame and provided with a sliding ring and an elastic element placed under it, while one of the resilient return devices is pivotally connected to the inner frame and the other is pivotally connected to the console.
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    类似技术:
    公开号 | 公开日 | 专利标题
    SU1438631A3|1988-11-15|Device for replacing the measuring or sampling probes
    JPH0776797B2|1995-08-16|Remotely operable positioning and supporting device for remote processing equipment
    US4258571A|1981-03-31|Magazine with centering and coupling elements for measuring and sampling devices
    HU209608B|1994-09-28|Apparatus of connecting blowing lance with switch unit
    US4591134A|1986-05-27|Arrangement for cleaning a lance head of a lance introducible into a metallurgical vessel
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    JP2995038B2|1999-12-27|Probe mounting device
    SU1622278A1|1991-01-23|Load-engaging device
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    SU850543A1|1981-07-30|Pipe-engaging device
    SU884756A1|1981-11-30|Apparatus for changing pendulum stand rolls
    SU550237A1|1977-03-15|Tilter bucket
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    同族专利:
    公开号 | 公开日
    EP0113653A1|1984-07-18|
    CS921783A2|1989-08-14|
    DD213759A5|1984-09-19|
    MX7484E|1989-03-29|
    KR840007029A|1984-12-04|
    ATA447482A|1988-08-15|
    PL244804A1|1984-07-16|
    EP0113653B1|1987-10-07|
    US4537072A|1985-08-27|
    CA1203093A|1986-04-15|
    AT387855B|1989-03-28|
    ES527881A0|1984-11-01|
    CS268659B2|1990-04-11|
    PL139714B1|1987-02-28|
    DE3374027D1|1987-11-12|
    ES8501120A1|1984-11-01|
    JPS59114462A|1984-07-02|
    JPH0469341B2|1992-11-05|
    KR870002114B1|1987-12-08|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US3948093A|1975-06-30|1976-04-06|International Business Machines Corporation|Six degree of freedom force transducer for a manipulator system|
    US4145922A|1976-12-06|1979-03-27|Westinghouse Electric Corp.|Thermal power measurement apparatus|
    JPS5528977B2|1977-04-20|1980-07-31|
    DE2753161C3|1977-11-29|1980-10-09|M.A.N. Maschinenfabrik Augsburg- Nuernberg Ag, 8900 Augsburg|Method and device for changing measuring and / or sampling probes for molten steel|
    DE2807152C2|1978-02-20|1984-11-22|Fried. Krupp Gmbh, 4300 Essen|Device for handling measuring and sampling probes by means of measuring lances in melts|
    JPS5852528Y2|1978-08-16|1983-11-30|
    DE2839255B1|1978-09-09|1980-03-06|Demag Ag Mannesmann|Transport device for probe tubes for attachment to temperature measuring or sample lances on metallurgical furnaces, in particular steel mill converters|
    JPS566878U|1979-06-26|1981-01-21|
    EP0036912A1|1980-03-26|1981-10-07|Maschinenfabrik Meyer AG.|Gripping head for manipulator|
    DE3044609C2|1980-11-27|1990-08-23|Mannesmann Ag, 4000 Duesseldorf, De|
    SE457010B|1983-09-17|1988-11-21|Glyco Antriebstechnik Gmbh|ADJUSTABLE LUBRICANT PUMP|DE3540946A1|1985-11-19|1987-05-21|Krupp Gmbh|DEVICE FOR HANDLING A HEIGHT-ADJUSTABLE PROBE LAMP, COUPLABLE PROBE, IN PARTICULAR MEASURING AND SAMPLING PROBE|
    NL8602195A|1986-08-29|1988-03-16|Hoogovens Groep Bv|OXY STEEL FACTORY.|
    US4816730A|1986-12-22|1989-03-28|E. I. Du Pont De Nemours And Company|Autosampler|
    DE4306332A1|1993-02-24|1994-08-25|Mannesmann Ag|Device for changing measuring and / or sample probes|
    AT400905B|1994-04-22|1996-04-25|Voest Alpine Ind Anlagen|DEVICE FOR INSERTING A LANCE IN A METALLURGICAL VESSEL|
    DE102004028789B3|2004-06-16|2006-01-05|Heraeus Electro-Nite International N.V.|Device for carrying out measurements and / or sampling in molten metals|
    US7727319B2|2006-04-19|2010-06-01|Crayola Llc|Water-based ink system|
    AT510292B1|2011-04-11|2012-03-15|Siemens Vai Metals Tech Gmbh|DETERMINATION OF THE POSITION OF A CONTACT TABLE TO A PROBE HOLDER OF A HORIZONTAL PROBE|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    AT0447482A|AT387855B|1982-12-09|1982-12-09|PROBE MANIPULATOR|
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