A fully automatic molten steel temperature measurement and sampling robot

Abstract

The present invention is applicable to the field of metallurgy, and provides a fully automatic molten steel temperature measurement and sampling robot, including an installation base, and also including: a mobile temperature measurement and sampling mechanism, the mobile temperature measurement and sampling mechanism is installed on the installation base, the mobile temperature measurement and sampling mechanism includes a longitudinal moving component, a transverse moving component, a counterweight component and a clamping tool, the clamping tool is used to support the sampling rod, and the longitudinal moving component is used to adjust the height of the clamping tool. After the lifting component moves downward, the sampling rod in the silo component is clamped in the center by the clamping centering component, the lifting component drives the sampling rod to move upward to send the sampling rod into the clamping tool, and then the clamping centering component is released, the longitudinal moving component drives the sampling rod to move upward, and then the transverse moving component drives the sampling rod to be placed above the molten steel, the longitudinal moving component quickly moves the sample rod down to the measurement position, and after completing the temperature measurement and sampling actions within a specified short time, the sample rod is quickly lifted to the upper position of the longitudinal moving component.

Description

Technical Field

[0001] The invention belongs to the field of metallurgy, and in particular relates to a fully automatic molten steel temperature measuring and sampling robot. Background Art

[0002] Steelmaking production has always relied on manual work to measure temperature and take samples. Manual workers hold a temperature gun or sampling tube, stand on a fixed platform to measure temperature and take samples, and repeat this work dozens of times per shift. This has become one of the most labor-intensive jobs for workers. Moreover, during the temperature measurement and sampling process, if there is an emergency and the molten steel splashes, the workers will not have time to avoid it, which may cause accidental personal injury.

[0003] Most of the existing temperature measurement and sampling automation equipment uses robots for precise positioning, which has many operating steps, complex operating mechanisms, poor stability during equipment operation, and a high failure rate in high-temperature and dusty environments.

[0004] SUMMARY OF THE INVENTION

[0005] The purpose of the embodiment of the present invention is to provide a fully automatic molten steel temperature measurement and sampling robot, aiming to solve the problem that most of the existing temperature measurement and sampling automation equipment uses robots for precise positioning, which has many operating steps, complex operating mechanisms, poor stability during equipment operation, and a high failure rate in high temperature and dusty environments.

[0006] The embodiment of the present invention is implemented as follows: a fully automatic molten steel temperature measurement and sampling robot, including an installation reference, and also including:

[0007] A mobile temperature measurement and sampling mechanism, the mobile temperature measurement and sampling mechanism is installed on the installation reference, the mobile temperature measurement and sampling mechanism comprises a longitudinal moving component, a transverse moving component, a counterweight component and a clamping tool, the clamping tool is used to support the sampling rod, the longitudinal moving component is used to adjust the height of the clamping tool, the transverse moving component is used to adjust the transverse position of the clamping tool, and the counterweight component is used to reduce the vibration of the longitudinal moving component during operation; and

[0008] An automatic silo for temperature measurement and sampling is installed on a mounting base. The automatic silo for temperature measurement and sampling includes a clamping and centering component, a silo component, and a lifting component. The silo component is used to place a sampling rod. The clamping and centering component is connected to the lifting component. The clamping and centering component is used to center and clamp the sampling rod. The lifting component transports the sampling rod between the silo component and the clamping tooling through the clamping and centering component.

[0009] According to a further technical solution, the diameter of the sampling end of the clamping tool is larger than the inner diameter of the sampling rod, and knurling is provided inside the clamping tool for increasing the friction between the sampling rod and the clamping tool.

[0010] According to a further technical solution, the lifting assembly includes a mounting column fixedly mounted on a mounting base, a linear guide rail and a lifting cylinder fixedly mounted on the mounting column, an output end of the lifting cylinder is connected to an L-shaped plate that slides with the linear guide rail, and the clamping and centering assembly is mounted on the L-shaped plate.

[0011] A further technical solution is that the silo assembly includes a concave-shaped support plate fixedly installed on the mounting base, a drive motor is fixedly installed on the concave-shaped support plate, a drive gear is fixedly installed on the output end of the drive motor, an internal gear ring rotatably connected to the mounting base and meshing with the drive gear, a base is fixedly installed on the internal gear ring, a connecting shaft is fixedly installed on the base, two guide plates are fixedly installed on the connecting shaft, and a plurality of placement holes for placing sampling rods are arranged in a ring on the guide plate.

[0012] According to a further technical solution, the lateral movement assembly includes an X-axis base spaced apart on the mounting base, and an X-axis driving device for driving the sampling rod to move lateraly is mounted on the X-axis base.

[0013] A further technical solution is that the longitudinal moving assembly includes a Z-axis base fixedly installed on the mounting base, a rack and a linear guide fixedly installed on the Z-axis base, a Z-axis sliding plate installed on the linear guide, the X-axis base is installed on the Z-axis sliding plate, a reducer is fixedly installed on the Z-axis sliding plate, a gear meshing with the rack is fixedly installed on the output end of the reducer, a motor is installed on the reducer, a Z-axis driving device for driving the sampling rod to move longitudinally is installed on the Z-axis sliding plate, and the clamping tool is installed on the Z-axis driving device.

[0014] According to a further technical solution, 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 the multi-stage telescopic cylinder is provided with a Z-axis thermal insulation protection component for heat insulation protection.

[0015] According to a further technical solution, the counterweight assembly includes a pulley mechanism fixedly mounted at the end of the Z-axis base, a steel wire rope connected to the Z-axis sliding plate is slidably connected to the pulley mechanism, and a counterweight block is connected to the end of the steel wire rope.

[0016] The embodiment of the present invention provides a fully automatic molten steel temperature measuring and sampling robot. When in use, the lifting component moves downward and then the sampling rod in the silo component is centered and clamped by the clamping and centering component. The lifting component drives the sampling rod to move upward to send the sampling rod into the clamping tooling and then the clamping and centering component is released. The sampling rod is driven upward by the longitudinal moving component and then the transverse moving component drives the sampling rod to be placed above the molten steel. The longitudinal moving component quickly moves the sample rod down to the measuring position. After completing the temperature measuring and sampling actions within a specified very short time, the sample rod is quickly lifted to the upper limit of the longitudinal moving component. The transverse moving component and the longitudinal moving component place the sampling rod into the clamping and centering component. The lifting component drives the clamping and centering component to put the sampling rod back into the silo component. The silo component station rotates to take the used sampling rod away from the station and simultaneously completes the precise positioning of a new group of sample rods, and stands by to prepare for the next working cycle. Thus, a complete working cycle of the fully automatic molten steel temperature measuring and sampling robot is completed, and the clamping tooling can be adjusted and replaced according to sample rods of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic diagram of the structure of a fully automatic molten steel temperature measurement and sampling robot provided by an embodiment of the present invention;

[0018] Figure 2 The embodiment of the present invention provides Figure 1 Schematic diagram of the structure of the middle silo assembly;

[0019] Figure 3 The embodiment of the present invention provides Figure 1 Schematic diagram of the structure of the lifting cylinder;

[0020] Figure 4 The embodiment of the present invention provides Figure 1 Schematic diagram of the structure of the medium horizontal drag chain;

[0021] Figure 5 The embodiment of the present invention provides Figure 1 A schematic diagram of the structure of the middle counterweight assembly;

[0022] Figure 6 The embodiment of the present invention provides Figure 1 Structural schematic diagram of the middle clamping tooling;

[0023] Figure 7 The embodiment of the present invention provides Figure 1 Schematic diagram of the structure of the clamping and centering components.

[0024] In the accompanying drawings: installation base 1, Z-axis base 2, Z1-axis sliding plate 3, X-axis base 4, X2-axis drive device 5, control system 6, Z2-axis drive device 7, Z2-axis thermal insulation protection component 8, temperature measurement and sampling automatic silo 9, clamping and centering component 10, clamping tooling 11, gear 12, rack 13, linear guide 14, motor 15, reducer 16, wire rope 17, pulley mechanism 18, counterweight 19, horizontal drag chain 20, vertical drag chain 21, guide plate 22, connecting shaft 23, inner gear ring 24, base 25, drive gear 26, drive motor 27, installation column 28, L-shaped plate 29, concave support plate 30, placement hole 31, linear guide 32, lifting cylinder 33. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] The specific implementation of the present invention is described in detail below in conjunction with specific embodiments.

[0027] like Figure 1 As shown, a fully automatic molten steel temperature measurement and sampling robot provided by an embodiment of the present invention includes an installation base 1 and also includes:

[0028] A mobile temperature measurement and sampling mechanism, which is installed on the installation base 1, and includes a longitudinal moving component, a transverse moving component, a counterweight component and a clamping tool 11, wherein the clamping tool 11 is used to support the sampling rod, the longitudinal moving component is used to adjust the height of the clamping tool 11, the transverse moving component is used to adjust the transverse position of the clamping tool 11, and the counterweight component is used to reduce the vibration of the longitudinal moving component during operation; and

[0029] The temperature measuring and sampling automatic silo 9 is installed on the installation base 1. The temperature measuring and sampling automatic silo 9 includes a clamping and centering component 10, a silo component, and a lifting component. The silo component is used to place the sampling rod. The clamping and centering component 10 is connected to the lifting component. The clamping and centering component 10 is used to center and clamp the sampling rod. The lifting component transports the sampling rod between the silo component and the clamping tooling 11 through the clamping and centering component 10.

[0030] In the embodiment of the present invention, when in use, the lifting component moves downward and then the sampling rod in the silo component is centered and clamped by the clamping and centering component 10. The lifting component drives the sampling rod to move upward to send the sampling rod into the clamping tooling 11, and then the clamping and centering component 10 is released. The sampling rod is driven upward by the longitudinal moving component, and then the transverse moving component drives the sampling rod to be placed above the molten steel. The longitudinal moving component quickly moves the sample rod down to the measuring position. After completing the temperature measurement and sampling actions within a specified very short time, the sample rod is quickly lifted to the upper limit of the longitudinal moving component. 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 put the sampling rod back into the silo component. The silo component station rotates to take the used sampling rod away from the station, and at the same time completes the precise positioning of a new group of sample rods, and stands by to prepare for the next working cycle. From then on, a complete working cycle of the fully automatic molten steel temperature measurement and sampling robot is completed, and the clamping tooling 11 can be adjusted and replaced according to sample rods of different sizes.

[0031] like Figure 1 and 6 As shown, 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 the inside of the clamping tool 11 is provided with knurling for increasing the friction between the sampling rod and the clamping tool 11.

[0032] In the embodiment of the present invention, the sampling end of the clamping tool 11 relies on the interference relationship with the sampling rod, and the sampling rod is fixed on the clamping tool 11 through friction.

[0033] like Figure 1 , 3 As shown in Figure 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 32 and a lifting cylinder 33 fixedly mounted on the mounting column 28, an output end of the lifting cylinder 33 is connected to an L-shaped plate 29 that slides with the linear guide 32, and the clamping and centering assembly 10 is mounted on the L-shaped plate 29.

[0034] In the embodiment of the present invention, when the lifting cylinder 33 is extended or retracted, the clamping and centering assembly 10 on the lifting cylinder 33 is driven to move up and down.

[0035] like Figure 1 and 2As shown, as a preferred embodiment of the present invention, the silo assembly includes a concave-shaped support plate 30 fixedly mounted on the mounting base 1, a drive motor 27 fixedly mounted on the concave-shaped support plate 30, a drive gear 26 fixedly mounted on the output end of the drive motor 27, an inner gear ring 24 rotatably connected to the mounting base 1 and meshing with the drive gear 26, a base 25 fixedly mounted on the inner gear ring 24, a connecting shaft 23 fixedly mounted on the base 25, two guide plates 22 fixedly mounted on the connecting shaft 23, and a plurality of placement holes 31 for placing sampling rods are annularly arranged on the guide plate 22.

[0036] In the embodiment of the present invention, after the sampling rod on the workstation 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 the workstation.

[0037] like Figure 1 As shown, as a preferred embodiment of the present invention, the lateral movement assembly includes an X-axis base 4 spaced apart on the mounting base 1, and an X2-axis driving device 5 for driving the sampling rod to move lateraly is installed on the X-axis base 4.

[0038] In the embodiment of the present invention, the X2-axis driving device 5 drives the clamping tooling 11 to move laterally. The top of the X-axis base 4 is designed with a high-temperature resistant horizontal drag chain 20, which transmits the gas pipeline, power supply and electrical signal cables of each mechanical limit switch to the serial control system 6, ensuring the smooth flow of the gas and electrical circuits, and ensuring the accurate and efficient operation of the fully automatic molten steel temperature measurement and sampling robot.

[0039] like Figure 1 , 4 As shown in Figure 5, as a preferred embodiment of the present invention, the longitudinal moving assembly includes a Z-axis base 2 fixedly mounted on the mounting base 1, a rack 13 and a linear guide 14 are fixedly mounted on the Z-axis base 2, a Z1-axis sliding plate 3 is mounted on the linear guide 14, the X-axis base 4 is mounted on the Z1-axis sliding plate 3, a reducer 16 is fixedly mounted on the Z1-axis sliding plate 3, a gear 12 meshing with the rack 13 is fixedly mounted on the output end of the reducer 16, a motor 15 is mounted on the reducer 16, a Z2-axis driving device 7 for driving the sampling rod to move longitudinally is mounted on the Z1-axis sliding plate 3, and the clamping tooling 11 is mounted on the Z2-axis driving device 7.

[0040] In the embodiment of the present invention, the motor 15 drives the gear 12 to rotate through the reducer 16, and the gear 12 drives the Z1-axis sliding plate 3 to move up and down in the vertical direction through meshing with the rack 13. The Z1-axis sliding plate 3 drives the Z2-axis driving device 7 to move up and down in the vertical direction, and the Z2-axis driving device 7 drives the clamping tool 11 to move up and down through its own expansion and contraction. A vertical drag chain 21 is designed on the right side of the Z-axis base 2 to transport the gas pipeline, power supply and electrical signal cables of each mechanical limit switch to the sequence control system 6, ensuring the smooth flow of the gas path and circuit, and ensuring the accurate and efficient operation of the fully automatic molten steel temperature measurement and sampling robot.

[0041] like Figure 1 and 4 As shown, as a preferred embodiment of the present invention, the Z2-axis 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, and the multi-stage telescopic cylinder is provided with a Z2-axis thermal insulation protection component 8 for heat insulation protection.

[0042] In the embodiment of the present invention, the Z2-axis driving device 7 is a multi-stage telescopic cylinder, and 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-axis driving device 7 is designed with a fast cylinder mechanism. By simultaneously supplying and exhausting multiple air inlets and outlets, the Z2-axis driving device 7 and its subsidiary mechanisms can be quickly moved, and the contact time between the Z2-axis driving device 7 and its subsidiary mechanisms and the high-temperature area can be reduced as much as possible, thereby improving the use efficiency and service life of the fully automatic molten steel temperature measurement and sampling robot. The Z2-axis thermal insulation protection component 8 is designed with an elastic telescopic mechanism inside, which can realize the smooth vertical movement of the high-temperature resistant cable with a large bending radius, and realize the delivery of cooling air to the high-temperature area at the bottom of the Z2-axis thermal insulation protection component 8 that may be in contact with the high-temperature environment. That is, the instantaneous on and off of the current in the temperature measuring rod is solved, and the mechanism achieves the cooling effect.

[0043] like Figure 1 and 5 As shown, as a preferred embodiment of the present invention, the counterweight assembly includes a pulley mechanism 18 fixedly installed at the end of the Z-axis base 2, and the pulley mechanism 18 is slidably connected with a wire rope 17 connected to the Z1-axis sliding plate 3, and the end of the wire rope 17 is connected to a counterweight block 19.

[0044] In the embodiment of the present invention, the counterweight assembly composed of the steel wire rope 17, the pulley mechanism 18 and the counterweight block 19 enables the fully automatic molten steel temperature measuring and sampling robot to operate smoothly and well when the longitudinal moving assembly moves at high speed and high acceleration, avoiding the occurrence of positioning errors caused by the vibration of the moving assembly, thereby greatly improving the safety and reliability of the fully automatic molten steel temperature measuring and sampling robot.

[0045] The above embodiment of the present invention provides a fully automatic molten steel temperature measurement and sampling robot. When in use, the lifting cylinder 33 contracts and drives the clamping and centering component 10 to move downward, and the clamping and centering component 10 clamps the sampling rod. The lifting cylinder 33 drives the sampling rod upward through the clamping and centering component 10, and accurately inserts the sampling rod into the clamping tooling 11, so that the clamping tooling 11 supports the sampling rod by friction. The Z2-axis driving device 7 contracts and cooperates with the motor 15 to drive the gear 12 to rotate through the reducer 16. The gear 12 drives the Z1-axis sliding plate 3 to move upward in the vertical direction through the meshing cooperation with the rack 13. The 1-axis sliding plate 3 drives the Z2-axis driving device 7 to move upward in the vertical direction. The Z2-axis driving device 7 drives the clamping fixture 11 to move upward through its own extension and retraction to lift the sampling rod. The X2-axis driving device 5 drives the clamping fixture 11 to drive the sampling rod horizontally above the molten steel. The motor 15 drives the gear 12 to rotate through the reducer 16. The gear 12 drives the Z1-axis sliding plate 3 to move downward in the vertical direction through the meshing cooperation with the rack 13. The Z1-axis sliding plate 3 drives the Z2-axis driving device 7 to move downward in the vertical direction to drive the sampling rod to be located just above the test molten steel. The Z2-axis driving device 7 drives the sampling rod to quickly extend into the molten steel. After the test is completed, the Z2-axis driving device 7 drives the sampling rod to quickly withdraw from the molten steel, the motor 15 drives the gear 12 to rotate through the reducer 16, the gear 12 drives the Z1-axis sliding plate 3 to move upward in the vertical direction through the meshing cooperation with the rack 13, the Z1-axis sliding plate 3 drives the Z2-axis driving device 7 to move upward in the vertical direction to keep the sampling rod away from the molten steel, the X2-axis driving device 5 drives the clamping fixture 11 to drive the sampling rod horizontally above the clamping centering component 10, the motor 15 drives the gear 12 to rotate through the reducer 16, the gear 12 drives the Z1-axis sliding plate 3 to move upward in the vertical direction through the meshing cooperation with the rack 13 Move downward, extend the sampling rod into the clamping and centering component 10, the clamping and centering component 10 fixes and clamps the sampling rod, the lifting cylinder 33 contracts and drives the clamping and centering component 10 to move downward to insert the sampling rod into the placement hole 31 arranged in an annular manner on the guide plate 22, and then the clamping and centering component 10 loosens the sampling rod, and the lifting cylinder 33 drives the clamping and centering component 10 away from the sampling rod, 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 the workstation, and the used sampling rod is taken away from the workstation, and at the same time, the precise positioning of a new set of sample rods is completed;

[0046] The fully automatic molten steel temperature measurement and sampling robot has a compact and simple structure and is easy to install. Each component of the modular design can be independently controlled, and its repeated positioning accuracy is high. It can simultaneously realize the temperature measurement and sampling functions. The motion components, electrical components, and external protection components of each mechanism are made of high-temperature resistant materials and cooling structures, making the fully automatic molten steel temperature measurement and sampling robot highly adaptable to the environment. Even in a high-temperature environment, it can still accurately and smoothly realize the designed actions of each mechanism. It greatly reduces the potential inspection points, reduces the number of maintenance, and improves the work efficiency of the fully automatic molten steel temperature measurement and sampling robot. Each moving part of the fully automatic molten steel temperature measurement and sampling robot is controlled by a servo subsystem, and the matching mechanical limit switches and high-temperature resistant power supplies and signal limit transmission cables can realize the functions of precise control and precise positioning of each subsystem in a high-temperature environment. There is an interlocking logical relationship between each subsystem, which greatly improves the overall reliability and safety of the fully automatic molten steel temperature measurement and sampling robot. The fully automatic molten steel temperature measurement and sampling robot has a high degree of automation, and eliminates the process of accurate positioning of the sample rod by manual intervention, which can fully liberate labor, greatly improve positioning efficiency, shorten the operation cycle, and avoid workers working in high-risk environments, thus greatly reducing the occurrence of work-related accidents; the key components of each motion mechanism adopt a self-lubricating structure and are designed with high-temperature resistant protective devices, which greatly prolongs the service life of each component, greatly reduces the number of maintenance and shutdown times, saves a lot of time and labor costs, and improves the work efficiency of the fully automatic molten steel temperature measurement and sampling robot; the fully automatic molten steel temperature measurement and sampling robot is adapted to the temperature measurement and sampling of sample rods of any external dimensions and molten steel in any spatial layout of the ladle, which is convenient for use and promotion in the industry and similar working conditions; the cooling air pipe structure for blowing cooling gas is designed inside each mechanism of the fully automatic molten steel temperature measurement and sampling robot, and the cooling gas can be transported to each mechanism that may be in contact with the high-temperature environment through the cooling air pipe, so as to physically cool down the inside of each mechanism and avoid the failure of each mechanism due to high temperature during operation, thus greatly improving the safety and reliability of the fully automatic molten steel temperature measurement and sampling robot.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully automatic molten steel temperature measurement and sampling robot, including a mounting base, characterized in that: Also includes: A mobile temperature measurement and sampling mechanism, the mobile temperature measurement and sampling mechanism is installed on the installation reference, the mobile temperature measurement and sampling mechanism comprises a longitudinal moving component, a transverse moving component, a counterweight component and a clamping tool, the clamping tool is used to support the sampling rod, the longitudinal moving component is used to adjust the height of the clamping tool, the transverse moving component is used to adjust the transverse position of the clamping tool, and the counterweight component is used to reduce the vibration of the longitudinal moving component during operation; and The temperature measurement and sampling automatic silo is installed on the installation base, and the temperature measurement and sampling automatic silo includes a clamping and centering component, a silo component, and a lifting component. The silo component is used to place the sampling rod, and the clamping and centering component is connected to the lifting component. The clamping and centering component is used to center and clamp the sampling rod, and the lifting component transports the sampling rod between the silo component and the clamping tooling through the clamping and centering component; The lifting assembly includes a mounting column fixedly mounted on the mounting reference, a linear guide and a lifting cylinder fixedly mounted on the mounting column, an L-shaped plate slidably matched with the linear guide connected to the output end of the lifting cylinder, and the clamping and centering assembly is mounted on the L-shaped plate; The silo assembly includes a concave-shaped support plate fixedly mounted on the mounting base, a driving motor fixedly mounted on the concave-shaped support plate, a driving gear fixedly mounted on the output end of the driving motor, an internal gear ring rotatably connected to the mounting base and meshing with the driving gear, a base fixedly mounted on the internal gear ring, a connecting shaft fixedly mounted on the base, two guide plates fixedly mounted on the connecting shaft, and a plurality of placement holes for placing sampling rods are annularly arranged on the guide plate; The lateral movement assembly comprises an X-axis base arranged at intervals on the mounting base, and an X-axis driving device for driving the sampling rod to move lateraly is installed on the X-axis base; The longitudinal moving assembly comprises a Z-direction base fixedly mounted on the mounting base, a rack and a linear guide fixedly mounted on the Z-direction base, a Z-axis sliding plate mounted on the linear guide, the X-direction base mounted on the Z-axis sliding plate, a reducer fixedly mounted on the Z-axis sliding plate, a gear meshing with the rack fixedly mounted on the output end of the reducer, a motor mounted on the reducer, a Z-axis driving device for driving the longitudinal movement of the sampling rod mounted on the Z-axis sliding plate, and the clamping fixture mounted on the Z-axis driving device; The counterweight assembly includes a pulley mechanism fixedly installed at the end of the Z-axis base, a steel wire rope connected to the Z-axis sliding plate is slidably connected to the pulley mechanism, and a counterweight block is connected to the end of the steel wire rope.

2. The fully automatic molten steel temperature measurement and sampling robot according to claim 1 is characterized in that: The diameter of the sampling end of the clamping tool is larger than the inner diameter of the sampling rod, and the inside of the clamping tool is provided with knurling for increasing the friction between the sampling rod and the clamping tool.

3. The fully automatic molten steel temperature measurement and sampling robot according to claim 1 is characterized in that: The Z-axis driving device is a multi-stage telescopic cylinder, the clamping tool is installed on the telescopic end of the multi-stage telescopic cylinder, and the multi-stage telescopic cylinder is provided with a Z-axis heat insulation protection component for heat insulation protection.

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