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Device and method for calibrating elongated metallurgical tools based on laser ranging sensor

A technology of laser ranging and sensors, applied in the direction of measuring devices, optical devices, instruments, etc., can solve problems such as difficult to achieve concentric coincidence, achieve high accuracy, good scientific performance, and ensure accurate and stable effects

Active Publication Date: 2022-07-19
BAOSHAN IRON & STEEL CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Due to factors such as manufacturing errors, assembly errors, self-deflection, and long-term external forces during use, the temperature measurement / sampling tool is quite different from the design model. The axis of the standard temperature measurement / sampling gun and the axis of the temperature measurement / sampling tool body It is difficult to achieve true concentric coincidence between the two, and due to the space limitation caused by the large-scale characteristics of the temperature measurement / sampling tool, this kind of slender tool is not suitable for the calibration method of the tool coordinate system that comes with the robot. The calibration of the coordinate system, so it is necessary to design an external device to assist the temperature measurement / sampling tool in the calibration of the coordinate system

Method used

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  • Device and method for calibrating elongated metallurgical tools based on laser ranging sensor
  • Device and method for calibrating elongated metallurgical tools based on laser ranging sensor
  • Device and method for calibrating elongated metallurgical tools based on laser ranging sensor

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no. 1 example

[0058] as attached Figure 1-4 As shown, in the prior art, the temperature measurement / sampling tool 3 is usually installed on the flange 2 at the end of the robot, has obvious slender characteristics, and can measure temperature / sampling as the robot 1 changes its position and posture. The front end of the sampling tool 3 is connected with a standard temperature measurement / sampling gun 4 through a thread. During the socket connection process of the probe 5 and the temperature measurement / sampling operation process, the main working part of the tool is the standard temperature measurement / sampling gun 4. In order to ensure The robot performs temperature measurement / sampling system operations accurately and stably.

[0059] This embodiment provides a device for calibrating elongated metallurgical tools based on a laser ranging sensor, and the calibration device includes a typical laser ranging sensor 6 and a calibration device 7 outside the laser ranging sensor 6 . Among them...

no. 2 example

[0085] as attached Figure 17 As shown, the second embodiment of the present invention is similar to the first embodiment with the following design changes. Based on the calibration device 7 of the laser ranging sensor 6, the calibration verification result is assisted in the process of the temperature measurement / sampling tool 3 moving to find the TCP point; the indication of the laser ranging sensor 6 can be used as the reliability of the axial calibration result and the deformation of the gun body quantity detection.

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Abstract

The invention discloses a device and method for calibrating slender metallurgical tools based on a laser ranging sensor in the technical field of steel manufacturing control. The temperature measuring / sampling tool is driven by an industrial robot to make a standard temperature measuring / sampling gun enter the calibration area, The standard temperature measuring / sampling gun moves back and forth near the laser ranging sensor. By using the marking device based on the laser ranging sensor, the vector on a bus line of the standard temperature measuring / sampling gun is used to obtain the standard axis, and the tool pose is adjusted to the standard measuring device. The temperature / sampling gun axis is parallel to the set standard axis. At the same time, the TCP point at the end of the temperature measurement / sampling tool is positioned and identified to obtain the tool coordinate system, and the deformation of the standard temperature measurement / sampling gun can be detected during the calibration process. , to ensure the accuracy and stability of the robot system operation.

Description

technical field [0001] The invention relates to the technical field of steel manufacturing control, and more particularly, to a device and method for calibrating elongated metallurgical tools based on a laser ranging sensor. Background technique [0002] In the LF, EAF and other sections of the steel smelting process, the tools used for temperature measurement / sampling can generally reach a length of 3.0-4.5m, and their diameter is generally not more than 0.1m, so they have obvious slender characteristics. The temperature measurement / sampling tool is fixedly connected to the end of the flange of the drive device (a typical drive device is an industrial robot with 6 degrees of freedom, hereinafter referred to as the robot), and the temperature measurement / sampling tool can change with the robot's position and attitude. The front end is connected with a standard temperature measurement / sampling gun through a thread. The main working part of the tool is the standard temperature...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01B11/16
CPCG01B11/16G01B11/026G01K15/00G01K15/005B25J9/1692
Inventor 宋希韬吴瑞珉魏振红龚兴东
Owner BAOSHAN IRON & STEEL CO LTD
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