A furnace door slagging device and method integrating temperature measurement sampling

Abstract

The present application relates to a kind of integrated temperature sampling furnace door slag removal device and method, belong to metallurgical equipment field.It provides a kind of integrated temperature sampling furnace door slag removal device, comprising: guide wheel seat;Guiding unit, the guiding unit is slidably connected with the guide wheel seat;Actuator, the actuator is telescopic along the direction of its axial direction, one end of the actuator is movably connected with the guiding unit;Furnace door slag removal arm, one end of the furnace door slag removal arm close to the guide wheel seat is equipped with first connecting point and second connecting point, and the first connecting point is movably connected with the other end of the actuator, the second connecting point is movably connected with the guide wheel seat, temperature sampling swing arm is equipped on the furnace door slag removal arm, one end of the temperature sampling swing arm is movably connected with the body of the furnace door slag removal arm.It can be integrated temperature sampling swing arm on furnace door slag removal arm, complete slagging and temperature sampling.

Description

Technical Field

[0001] This invention belongs to the field of metallurgical equipment and relates to a furnace door slag cleaning device and method with integrated temperature measurement and sampling. Background Technology

[0002] Electric arc furnaces (EAFs) are core equipment in the short-process steelmaking industry. Modern EAF production employs slag-forming and slag-flowing operations. The combination of slag-forming and slag-flowing operations with the main and auxiliary materials added during EAF production often leads to slag buildup and blockage at the furnace door, hindering operations such as oxygen blowing and temperature sampling. Therefore, regular slag cleaning of the furnace door is necessary to ensure smooth EAF production. In actual EAF operation, furnace door slag cleaning is crucial to the level of intelligence / automation and safety in EAF production. However, most EAFs currently still rely on manual operation, requiring operators to directly face the furnace door and molten steel, resulting in significant risks and high labor intensity. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide an integrated temperature measurement and sampling furnace door slag cleaning device and method to solve the technical problem of manual operation for furnace door slag cleaning in the prior art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A furnace door slag cleaning device integrating temperature measurement and sampling, comprising:

[0006] Guide wheel seat;

[0007] The guide unit is slidably connected to the guide wheel seat;

[0008] An actuator that extends and retracts along its own axial direction, with one end of the actuator being movably connected to the guide unit;

[0009] The furnace door slag cleaning arm has a first connection point and a second connection point at one end near the guide wheel seat. The first connection point is movably connected to the other end of the actuator, and the second connection point is movably connected to the guide wheel seat.

[0010] Optionally, the furnace door slag cleaning arm is equipped with a temperature measuring and sampling swing arm, one end of which is movably connected to the body of the furnace door slag cleaning arm.

[0011] Optionally, it also includes a linkage assembly, which includes a body, a first end, and a second end. The body is movably connected to the guide wheel seat, the first end is movably connected to one end of the actuator, and the second end is movably connected to the first connection point.

[0012] Optionally, one end of the furnace door slag removal arm is provided with a third connection point, and the furnace door slag removal device is provided with a transmission drive assembly. The transmission drive assembly includes at least one of the following: a sprocket, a connecting rod, and a gear transmission unit. The transmission drive assembly is movably connected to the temperature measurement and sampling swing arm through the third connection point.

[0013] Optionally, a temperature sampling probe is provided at the other end of the temperature sampling arm.

[0014] Optionally, the guide wheel seat includes a guide wheel unit and a drive wheel unit, both of which are slidably connected to the guide unit.

[0015] Optionally, it also includes a rotary moving platform, on which the guide wheel seat is disposed.

[0016] A furnace door slag cleaning method integrating temperature measurement and sampling includes:

[0017] The drive guide unit is slidably connected to the guide wheel seat so that the guide unit moves toward the furnace door;

[0018] The telescopic actuator drives the furnace door slag removal arm to rotate through the first connection point of the furnace door slag removal arm, so that the body of the furnace door slag removal arm rotates about the second connection point of the furnace door slag removal arm as an axis to perform furnace door slag removal.

[0019] Optionally, after the step of driving the guide unit to slide connection with the guide wheel seat so that the guide unit moves toward the furnace door, the following steps are included:

[0020] One end of the rotating temperature sampling arm is movably connected to the body of the furnace door slag removal arm so that the temperature sampling arm moves away from the furnace door.

[0021] Optionally, the telescopic actuator drives the furnace door slag cleaning arm to rotate via the first connection point, so that the body of the furnace door slag cleaning arm rotates about the second connection point of the furnace door slag cleaning arm as an axis. After performing the furnace door slag cleaning step, the mechanism includes:

[0022] Rotate one end of the temperature measuring and sampling swing arm to movably connect it to the body of the furnace door slag removal arm, so that the temperature measuring and sampling swing arm is close to the furnace door;

[0023] The guide unit is slidably connected to the guide wheel seat so that the temperature measuring and sampling swing arm moves toward the molten steel at the furnace door.

[0024] The beneficial effects of the present invention are as follows: the distance between the guide unit and the furnace door can be controlled by sliding between the guide unit and the guide wheel seat, and the furnace door slag cleaning arm can be rotated by the extension and retraction of the actuator, thereby completing the slag cleaning of the electric arc furnace.

[0025] Other advantages, objectives, and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination, or may be learned from practice of the invention. The objectives and other advantages of the invention can be realized and obtained through the following description. Attached Figure Description

[0026] To make the objectives, technical solutions, and advantages of the present invention clearer, the preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, wherein:

[0027] Figure 1 This is a main structural diagram of the furnace door slag removal device integrating temperature measurement and sampling in this invention;

[0028] Figure 2a A top view of a structural schematic diagram of the furnace door slag removal arm;

[0029] Figure 2b Another structural schematic diagram of the furnace door slag removal arm;

[0030] Figure 3 This is a schematic diagram of the guiding unit structure;

[0031] Figure 4a Schematic diagram of the installation of the temperature sampling swing arm;

[0032] Figure 4b A top view of another installation schematic diagram of the temperature sampling swing arm;

[0033] Figure 5 A top view of another installation schematic diagram of the temperature sampling swing arm;

[0034] Figure 6a Other installation diagrams for the temperature sampling swing arm;

[0035] Figure 6b A top view of other installation schematics for the temperature sampling swing arm;

[0036] Figure 7 A schematic diagram of the working state of the slag removal device for the electric furnace door;

[0037] Figure 8 A schematic diagram of the temperature measurement and sampling swing arm of the furnace door slag cleaning device moving from standby to the working position;

[0038] Figure 9 A schematic diagram of the temperature measurement and sampling swing arm of the electric furnace slag removal device entering the furnace for temperature measurement.

[0039] Figure 10 A flowchart illustrating the furnace door slag removal method integrating temperature measurement and sampling;

[0040] Figure 11Another flowchart illustrating the furnace door slag removal method that integrates temperature measurement and sampling.

[0041] Figure label:

[0042] 1 is the furnace door slag cleaning arm, 1a is the second connection point, 1b is the first connection point, 2 is the guide wheel seat, 2a is the guide wheel unit, 2b is the wheel seat, 2c is the guide wheel box protection, 3 is the guide unit, 3a is the telescopic beam, 3b is the actuator hinge point, 3c is the third connection point, 3d is the guide wheel rail surface, 4 is the actuator, 5 is the temperature measurement and sampling swing arm, 5a is the temperature measurement and sampling probe, 6 is the transmission drive assembly, 6a is the sprocket and chain mechanism, 6b is the gear and connecting rod assembly, 7 is the connecting rod assembly, 7a is the connecting rod, 7b is the crank, 8 is the slag cleaning drive mechanism, 8a is the rack, 8b is the gear shaft, 8c is the bearing support group, 8 is the drive mechanism, 9 is the rotary moving platform, 10, 11, and 12 are all mechanism protective covers, and 13 is the furnace door. Detailed Implementation

[0043] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0044] The accompanying drawings are for illustrative purposes only and are schematic diagrams, not actual pictures. They should not be construed as limiting the invention. To better illustrate the embodiments of the invention, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions. It is understandable to those skilled in the art that some well-known structures and their descriptions may be omitted in the drawings.

[0045] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components. In the description of the present invention, it should be understood that if terms such as "upper," "lower," "left," "right," "front," and "rear" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the terms used to describe positional relationships in the drawings are only for illustrative purposes and should not be construed as limiting the present invention. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0046] like Figure 1As shown, an integrated temperature measurement and sampling furnace door slag cleaning device includes:

[0047] Guide wheel seat 2;

[0048] Guide unit 3, the guide unit is slidably connected to the guide wheel seat;

[0049] Actuator 4, which extends and retracts along its own axial direction, and one end of the actuator is movably connected to the guide unit;

[0050] The furnace door slag cleaning arm 1 has a first connection point 1b and a second connection point 1a at one end near the guide wheel seat 2. The first connection point 1b is movably connected to the other end of the actuator 4, and the second connection point 1a is movably connected to the guide wheel seat 2. The furnace door slag cleaning arm 1 is provided with a temperature measuring and sampling swing arm 5, and one end of the temperature measuring and sampling swing arm 5 is movably connected to the body of the furnace door slag cleaning arm 1.

[0051] The extension and retraction of the actuator 4 drives the swing of the furnace door slag removal arm 1, thereby cleaning the slag in the furnace door 13. During the slag cleaning process, the temperature sampling arm 5 is moved away from the furnace door 13. After cleaning, the temperature sampling arm 5 rotates to measure the temperature of the molten steel inside the furnace door 13. By integrating the temperature sampling arm 5 on the furnace door slag removal arm 1 and pushing the temperature sampling arm 5, the temperature sampling work of the temperature sampling arm 5 is completed. The temperature sampling arm that can swing back and forth on the furnace door slag removal arm of the slag removal device is the key to the implementation of this multi-functional integrated technical solution. The backward swing of the temperature sampling arm allows the temperature sampling probe it carries to avoid interference from high temperature and slag when it is not needed to work. After cleaning the channel and when it is needed to work, it swings back to the working position. The coordinated swinging of the furnace door slag cleaning arm and the temperature measurement and sampling swing arm constitutes a multi-dimensional heavy-duty robotic arm capable of a wide range of motion. Combined with rotation and extension, the gun body can penetrate the furnace door to enter the electric arc furnace and complete temperature measurement and sampling. The distance between the guide unit 3 and the furnace door 13 can be controlled by sliding between the guide unit 3 and the guide wheel seat 2. Furthermore, the extension and retraction of the actuator 4 drives the rotation of the furnace door slag cleaning arm 1, thereby completing the slag cleaning of the electric arc furnace.

[0052] For example, the furnace door electric furnace slag cleaning device consists of a furnace door slag cleaning arm 1, a guide unit 3 installed in the guide wheel seat 2, an actuator 4 of the furnace door slag cleaning arm 1, a temperature measuring and sampling swing arm 5, a transmission drive assembly 6 of the temperature measuring and sampling swing arm 5, a connecting rod assembly 7, a slag cleaning drive mechanism 8, and a rotary moving platform 9, etc., as shown in Figure 2. The tail of the furnace door slag cleaning arm 1 has two non-coaxial rotational hinge points, namely the second connection point 1a and the first connection point 1b. One of the tail hinge points of the furnace door slag cleaning arm 1, namely the second connection point 1a, is hinged to the front end of a guide unit 3. The second connection point 1a makes the furnace door slag cleaning arm 1 have only one rotational degree of freedom relative to the guide unit 3. The other tail hinge point of the furnace door slag cleaning arm 1, namely the first connection point 1b, is connected to the actuator hinge point 3b of the guide unit 3 through the actuator 4.

[0053] In some embodiments, the second connection point 1a of the furnace door slag cleaning arm 1 is connected to its swinging actuator 4 via a set of connecting rod assemblies 7. The crank 7b of the connecting rod assembly 7 is hinged to the third connection point 3c on the guide unit 3, and its upper end is connected to the second connection point 1a via the connecting rod 7a. The other end of the crank 7b is hinged to the telescopic end of the actuator 4, and the actuator 4 is hinged to the actuator hinge fulcrum 3b of the guide unit 3. The actuator 4 can be optimized. As shown in Figure 2, when the furnace door slag cleaning arm 1 is in the slag cleaning position, the connecting rod 7a and the crank 7b can be nearly in a straight line, so that the impact force and slag removal force of the slag cleaning operation are mainly borne by the actuator hinge fulcrum 3b of the guide unit 3, thereby protecting the actuator 4. When the furnace door slag cleaning arm 1 is raised, the actuator 4 mainly bears the weight of the furnace door slag cleaning arm 1 itself. In addition, the presence of the connecting rod assembly 7 provides better protection of the actuator 4 from dust, radiant heat sources, etc., thus improving the overall safety and reliability of the actuator 4.

[0054] The actuator 4 of the furnace door slag cleaning arm 1 controls the height (relative swing angle) of the furnace door slag cleaning arm. The actuator 4 can be designed as follows, such as an electric push rod or a hydraulic cylinder.

[0055] The outer wall of the furnace door slag cleaning arm 1 is equipped with a temperature measuring and sampling swing arm 5 that can swing back and forth. The rear part of the inner cavity of the furnace door slag cleaning arm 1 is equipped with a transmission drive assembly 6 for the swinging temperature measuring and sampling swing arm 5. The transmission drive assembly 6 can be directly connected to the temperature measuring and sampling swing arm 5. Figure 4a and 4b ), or via a sprocket and chain mechanism 6a ( Figure 5 ), Gear and connecting rod assembly 6b ( Figure 6a and 6bIndirect connection. The advantage of indirect connection is that the transmission drive assembly 6 can be kept away from the heat radiation of the furnace door 13, improving the reliability of the device. If necessary, the furnace door slag cleaning arm 1 can adopt some local heat insulation, air cooling or water cooling measures. Swing temperature measuring and sampling arm 5 and its field-installed temperature measuring and sampling probe 5a (consumable part, discarded after each use). When the furnace door slag cleaning arm 1 is performing slag cleaning operation, the temperature measuring and sampling arm 5 swings backward to ensure the safety of the temperature measuring and sampling probe 5a; when measuring temperature, the temperature measuring and sampling arm 5 swings forward and extends into the furnace door 13 with the furnace door slag cleaning arm 1 to complete the temperature measurement.

[0056] The guide unit 3 moves back and forth along the prescribed path of the guide wheel unit 2a and the guide wheel rail surface 3d inside the guide wheel seat 2. The guide wheel rail surface 3d can be a straight line or an arc. The guide wheel unit 2a is installed in the wheel seat 2b. The furnace door slag cleaning arm 1 completes actions such as slag removal / slag cleaning / material blocking / extending into the furnace door 13 under the drive of the guide unit 3.

[0057] The guide wheel seat 2 is equipped with a slag-cleaning drive mechanism 8 with a guide unit 3. Typical mechanisms include gear and rack mechanisms and hydraulic cylinders. This example uses a gear and rack mechanism for illustration; please refer to [reference needed]. Figure 1 , Figure 3 .

[0058] As shown in Figure 3, the rack 8a of the drive mechanism 8 is securely mounted on the lower rear part of the guide unit 3, the gear shaft 8b is mounted on the guide wheel seat 2b via bearing support 8c, and the drive device 8d (e.g., a reducer drive device) is mounted on the guide wheel seat 2 via suspension on the gear shaft 8b. The drive device 8d drives the guide unit 3 and the furnace door slag removal arm 1 to complete the back-and-forth movement.

[0059] The furnace door slag removal device operates in the area near the furnace door 13, which is a relatively harsh environment. 10, 11, and 12 are protective covers for the mechanism to protect against smoke and heat radiation. If necessary, it is conceivable to add corresponding air-cooling or water-cooling structures to the above devices.

[0060] Optionally, it also includes a linkage assembly, which includes a body, a first end, and a second end. The body is movably connected to the guide wheel seat, the first end is movably connected to one end of the actuator, and the second end is movably connected to the first connection point.

[0061] Optionally, the furnace door slag cleaning arm is equipped with a temperature measuring and sampling swing arm, one end of which is movably connected to the body of the furnace door slag cleaning arm.

[0062] Optionally, one end of the furnace door slag removal arm is provided with a third connection point, and the furnace door slag removal device is provided with a transmission drive assembly. The transmission drive assembly includes at least one of the following: a sprocket, a connecting rod, and a gear transmission unit. The transmission drive assembly is movably connected to the temperature measurement and sampling swing arm through the third connection point.

[0063] Optionally, a temperature sampling probe is provided at the other end of the temperature sampling arm.

[0064] Optionally, the guide wheel seat includes a guide wheel unit and a drive wheel unit, both of which are slidably connected to the guide unit.

[0065] Optionally, it also includes a rotary moving platform, on which the guide wheel seat is disposed.

[0066] In this plan:

[0067] 1) The traditional separate electric furnace slag cleaning device and temperature sampling device (or robot) are integrated into the furnace door slag cleaning arm of the slag cleaning device of the present invention, thus integrating the original scattered functions of multiple robots.

[0068] 2) The temperature sampling arm on the furnace door cleaning arm of the slag removal device, which can swing back and forth, is the key to the implementation of this multi-functional integrated technical solution. The backward swing of the temperature sampling arm allows the temperature sampling probe it carries to avoid interference from high temperature and slag when not in use, and swings back to the working position after cleaning the channel and when it is needed. The coordinated swing of the furnace door cleaning arm and the temperature sampling arm constitutes a multi-dimensional heavy-duty robotic arm with a wide range of movement. With rotation and extension, the gun can penetrate the furnace door and enter the electric furnace to complete temperature measurement and sampling.

[0069] 3) The furnace door slag removal arm is connected to the actuator and guide unit through a set of connecting rod components, which improves and optimizes the force on the actuator, greatly improving the reliability of the system equipment.

[0070] This plan also includes:

[0071] 1. By integrating the traditional separate electric furnace slag cleaning device and temperature sampling device (or robot) into the furnace door slag cleaning arm of the slag cleaning device of this invention, the number of devices and the size of the equipment are reduced. This results in: a) reduced equipment investment; b) high functional integration and optimized on-site process layout.

[0072] 2. The elimination of on-site manual temperature measurement and sampling, as well as furnace door slag removal, has improved production safety.

[0073] 3. The temperature measurement channel of the furnace door is cleaned by the furnace door slag removal arm, ensuring the unobstructed flow of the temperature measurement sampling element.

[0074] 3. Integration shortens operation time by 2-3 minutes, increases output, and achieves high levels of automation and intelligence in electric furnace production.

[0075] 4. Prevent material leakage from the furnace door during charging to improve metal recovery rate.

[0076] like Figure 10As shown, the present invention also provides a furnace door slag cleaning method integrating temperature measurement and sampling, comprising:

[0077] S1: The drive guide unit 3 is slidably connected to the guide wheel seat 2 so that the guide unit 3 moves toward the furnace door 13;

[0078] S2: The telescopic actuator 4 drives the furnace door slag cleaning arm 1 to rotate through the first connection point 1b of the furnace door slag cleaning arm 1, so that the body of the furnace door slag cleaning arm 1 rotates around the second connection point 1a of the furnace door slag cleaning arm 1 to clean the furnace door 13.

[0079] Optionally, after the step of driving the guide unit 3 to slide in connection with the guide wheel seat 2 so that the guide unit 3 moves toward the furnace door 13, the following steps are included:

[0080] S11: Rotate one end of the temperature measurement and sampling swing arm 5 to be movably connected to the body of the furnace door slag removal arm 1, so that the temperature measurement and sampling swing arm 5 is away from the furnace door.

[0081] like Figure 11 As shown, the telescopic actuator 4 drives the furnace door slag cleaning arm 1 to rotate through the first connection point 1b of the furnace door slag cleaning arm 1, so that the body of the furnace door slag cleaning arm 1 rotates about the second connection point 1a of the furnace door slag cleaning arm 1 as an axis. After the furnace door 13 slag cleaning step is performed, the following steps are included:

[0082] S21: Rotate one end of the temperature measuring and sampling swing arm 5 to connect it to the main body of the furnace door slag cleaning arm 1 so that the temperature measuring and sampling swing arm 5 is close to the furnace door 13;

[0083] S22: Drive the guide unit 3 to slide and connect with the guide wheel seat 2 so that the temperature measuring and sampling swing arm 5 moves toward the molten steel in the furnace door 13.

[0084] like Figure 7 , 8 As shown in Figure 9, the control flow of the furnace door slag removal method is as follows:

[0085] 1) Motion trajectory control of furnace door slag cleaning arm 1: The rotary moving platform 9 provides a large horizontal swing angle and horizontal movement of the furnace door slag cleaning arm 1. The rotary moving platform 9 also provides the degree of freedom control for horizontal fine-tuning of the rotation angle at different positions of the furnace door 13. The vertical angle adjustment of the furnace door slag cleaning arm 1 is powered and controlled by the guide unit 3 for the hinge support of the furnace door slag cleaning arm 1 and the actuator 4.

[0086] The forward and backward movement of the furnace door slag cleaning arm 1 is supported by the guide unit 3 and the guide wheel seat 2. The drive mechanism 8 drives the guide unit 3 to move the furnace door slag cleaning arm 1 forward and backward. The combination and control of the above movements can complete the trajectory points required for furnace door slag cleaning.

[0087] 2) Motion trajectory control of temperature sampling arm 5 and temperature sampling probe 5a: Based on the above-mentioned motion trajectory of furnace door slag cleaning arm 1, the temperature sampling arm 5 has a relatively large angle of up and down swing (swing angle > 100°) relative to the furnace door slag cleaning arm 1, so that the temperature sampling probe 5a can achieve the trajectory control required for temperature sampling and standby.

[0088] The procedure for furnace door slag removal and temperature sampling is as follows:

[0089] The furnace door slag cleaning arm 1 is equipped with a temperature measurement and sampling swing arm 5, which integrates the slag cleaning and temperature measurement and sampling functions of the electric furnace door 13 into one.

[0090] When cleaning slag at furnace door 13, the temperature measurement and sampling swing arm 5 swings and rotates to the rear of furnace door cleaning arm 1. Figure 1 , 7 When the furnace door cleaning arm 1 extends into the electric furnace door 13, the temperature sampling arm 5 and the temperature sampling probe 5a are in a safe position outside the furnace door 13.

[0091] After the furnace door 13 is cleaned of slag, the furnace door slag removal arm 1 retracts from the electric furnace door 13, ensuring that the temperature measurement and sampling swing arm 5 does not interfere. The temperature measurement and sampling swing arm 5 swings forward at a certain angle. Figure 8 As the furnace door slag removal arm 1 extends into the electric furnace from the furnace door 13, the temperature measurement and sampling swing arm 5 and the furnace door slag removal arm 1 swing together to extend the temperature measurement and sampling probe 5a into the molten steel. Figure 9 Maintain for 1-3 seconds to return to the previous angle, the furnace door slag removal arm 1 exits the electric furnace door 13, rotates horizontally and swings to a certain angle to a specific position, and the probe is manually or automatically removed to complete the temperature measurement and sampling.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A furnace door slag cleaning device integrating temperature measurement and sampling, characterized in that, include: Guide wheel seat; The guide unit is slidably connected to the guide wheel seat; An actuator that extends and retracts along its own axial direction, with one end of the actuator being movably connected to the guide unit; A furnace door slag removal arm, wherein a first connection point and a second connection point are provided at one end of the furnace door slag removal arm near the guide wheel seat, and the first connection point is movably connected to the other end of the actuator, and the second connection point is movably connected to the guide wheel seat; The telescopic actuator drives the furnace door slag removal arm to rotate through the first connection point of the furnace door slag removal arm, so that the body of the furnace door slag removal arm rotates about the second connection point of the furnace door slag removal arm as an axis to perform furnace door slag removal; The furnace door slag cleaning arm is equipped with a temperature measuring and sampling swing arm, one end of which is movably connected to the body of the furnace door slag cleaning arm. The guide wheel base includes a guide wheel unit and a drive wheel unit, both of which are slidably connected to the guide unit. One end of the furnace door slag removal arm is provided with a third connection point, and the furnace door slag removal device is provided with a transmission drive assembly. The transmission drive assembly includes at least one of the following: a sprocket, a connecting rod, and a gear transmission unit. The transmission drive assembly is movably connected to the temperature measurement and sampling swing arm through the third connection point. The other end of the temperature measurement and sampling swing arm is provided with a temperature measurement and sampling probe, and the temperature measurement and sampling probe is detachably connected to the temperature measurement and sampling swing arm.

2. The integrated temperature measurement and sampling furnace door slag removal device according to claim 1, characterized in that, It also includes a linkage assembly, which includes a body, a first end and a second end. The body is movably connected to the guide wheel seat, the first end is movably connected to one end of the actuator, and the second end is movably connected to the first connection point.

3. The integrated temperature measurement and sampling furnace door slag removal device according to claim 1, characterized in that, It also includes a rotary moving platform, on which the guide wheel seat is mounted.

4. A furnace door slag removal method based on the furnace door slag removal device according to claim 1, characterized in that, include: The drive guide unit is slidably connected to the guide wheel seat so that the guide unit moves toward the furnace door; One end of the rotating temperature sampling arm is movably connected to the body of the furnace door slag removal arm so that the temperature sampling arm moves away from the furnace door; The telescopic actuator drives the furnace door slag removal arm to rotate through the first connection point of the furnace door slag removal arm, so that the body of the furnace door slag removal arm rotates about the second connection point of the furnace door slag removal arm as an axis to perform furnace door slag removal; Rotate one end of the temperature measuring and sampling swing arm to movably connect it to the body of the furnace door slag removal arm, so that the temperature measuring and sampling swing arm is close to the furnace door; The guide unit is slidably connected to the guide wheel seat so that the temperature measuring and sampling swing arm moves toward the molten steel at the furnace door; The transmission drive assembly drives the temperature measurement and sampling swing arm to rotate around the third connection point. The transmission drive assembly includes at least one of the following: a sprocket, a connecting rod, or a gear transmission unit. Temperature sampling is performed using a detachable temperature sampling probe.

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