A replacement system and method for a metallurgical temperature measuring sampling probe

Abstract

A replacement system and method of metallurgical temperature measuring sampling probe, the replacement system is arranged at the temperature measuring gun for measuring the temperature of molten metal package, comprising: six-axis manipulator, clamping tool installed at the end of six-axis manipulator, storage rack for storing temperature measuring sampling probe, shearing machine and waste pit or waste box; temperature measuring gun, storage rack, shearing machine, waste pit or box are arranged in different positions in the rotation range of six-axis manipulator in turn, and the waste pit or box is arranged near the temperature measuring gun or shearing machine; the clamping tool comprises a base, clamping jaws for clamping temperature measuring sampling probe arranged side by side at the front end of the base, a positioning claw and a detection device located between the clamping jaws and the positioning claw; the center line of the clamping space of the clamping jaws and the center line of the positioning space of the positioning claw are located on the same axis, and the detection source of the detection device passes through the axis. The present application can replace manual sleeve connection or remove temperature measuring sampling probe, reduce the labor intensity of operators, reduce the harm to health in high-risk environment, and improve the work efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of metallurgy, in particular to a replacement system and method of a metallurgical temperature-measuring sampling probe. BACKGROUND

[0002] In the steelmaking and continuous casting processes in the steelmaking process, it is necessary to extract a metal solution sample body from the metal solution and analyze the chemical composition and other parameters based on the sample. When extracting the metal solution sample body, a rod-shaped temperature-measuring sampling probe with temperature-measuring sampling function is usually sleeved on a vertically moving temperature-measuring sampling gun (hereinafter referred to as a temperature-measuring gun), the temperature-measuring gun is inserted into a ladle loaded with liquid molten metal through a transmission mechanism, the probe has a thermocouple to complete the temperature detection of the molten metal, and the molten metal enters a steel mold through the sampling port of the probe. When the probe leaves the ladle, the metal solidifies in the steel mold and forms a solid sample, which is taken out and sent to the analysis room for detection of its chemical composition and other parameters.

[0003] Usually, such a temperature-measuring sampling probe is mainly composed of two paper long circular tubes, which are divided into a clamping section and a sampling section. In order to analyze the metal composition in the ladle in real time, the solidified metal sample body must be separated from the sampling section of the temperature-measuring sampling probe. At present, the temperature-measuring sampling probe is manually sleeved on the temperature-measuring gun, the temperature-measuring gun with the temperature-measuring sampling probe enters the ladle loaded with molten metal to complete the temperature-measuring sampling operation, and then is lifted up. The operator removes the probe from the temperature-measuring gun and knocks the paper tube of the sampling section, thereby taking out the metal sample body. Since the sampling probe body is mostly in a burning state during manual operation, and the thick smoke and dust generated by steelmaking and the high temperature of the ladle cause damage to the health of the operator.

[0004] The existing temperature-measuring sampling probe replacement method, such as Chinese Patent Application No. CN201922259240.4, discloses "a robot temperature-measuring sampling automatic plug device", which includes a sampling device, an automatic grabbing device, a sampling rod storage device, and a measured product storage device. In view of the high operation rate and harsh environmental conditions of steelmaking temperature sampling, combined with the running accuracy and programmability of the robot, the process of automatic sampling and storage is realized. The specific structure and technical details of the grabbing device are not introduced in this scheme.

[0005] Chinese patent application number CN201811613127.5 discloses "a temperature measuring probe and automatic docking device of temperature measuring gun", the automatic docking device includes a mechanical hand with an opening angle, a translational mechanical hand, both of which are fixed on a frame, the frame is arranged on the mechanical hand, two half-cone plates are respectively fixed on the two clamping fingers of the mechanical hand with an opening angle, when the clamping fingers of the mechanical hand with an opening angle are in a clamping closed state, the two half-cone plates are docked together to form a conical cylinder, the axis of the conical cylinder is perpendicular to the positioning plate, and a position sensor is installed on the positioning plate. The position sensor installed in this patent cannot detect the position of the probe in the clamping jaw, nor can it detect the axis of the temperature measuring gun, which may affect the docking operation. SUMMARY

[0006] The purpose of the present application is to provide a replacement system and method for metallurgical temperature measuring and sampling probes, which can replace manual cabling or removing the temperature measuring and sampling probes, reduce the labor intensity of operators, reduce the health hazards of high-risk environments to operators, and improve work efficiency.

[0007] To achieve the above purpose, the technical solution of the present application is:

[0008] A replacement system for metallurgical temperature measuring and sampling probes is arranged at a temperature measuring gun for measuring the temperature of a molten metal ladle, which comprises a six-axis mechanical hand, a clamping tool mounted at the end of the six-axis mechanical hand, a resting rack for storing temperature measuring and sampling probes, a shearing machine for cutting and separating the sampling section and the clamping section of the temperature measuring and sampling probe, and a waste pit or a waste box; wherein,

[0009] The temperature measuring gun, the resting rack, the shearing machine, and the waste pit or the waste box are arranged in different directions within the rotation range of the six-axis mechanical hand in sequence, wherein the waste pit or the waste box is arranged near the temperature measuring gun or the shearing machine;

[0010] The temperature measuring and sampling probe is a round rod type, provided with a sampling section and a clamping section, wherein the clamping section is a hollow structure and has an opening for inserting the temperature measuring gun; the temperature measuring gun is a round rod type, the head diameter is smaller than the body diameter, and a gradual transition section is arranged between the two;

[0011] The clamping tool comprises a base, clamping jaws arranged side by side at the front end of the base for clamping the temperature measuring and sampling probe, a positioning claw, and a detection device located between the clamping jaws and the positioning claw, the center line of the positioning space of the positioning claw and the center line of the clamping space of the clamping jaws are the same axis, and the detection source of the detection device passes through this axis.

[0012] Further, a safety fence is further included, which surrounds the temperature measuring gun, the six-axis mechanical hand, the resting rack, the shearing machine, and the waste pit or the box.

[0013] Preferably, the clamping jaw comprises a left supporting arm, a right supporting arm, a translational cylinder capable of driving the left and right supporting arms to move towards each other, left and right clamping blocks arranged at the ends of the left and right supporting arms, and a V-shaped or trapezoidal groove arranged on the opposite side of the left and right clamping blocks.

[0014] Preferably, the left and right supporting arms are in C-shaped structure.

[0015] Preferably, a plurality of grooves are uniformly arranged on the two side surfaces of the V-shaped or trapezoidal groove of the left and right clamping blocks, and the depth of the grooves is 5-10 mm and the adjacent distance of the grooves is 30-40 mm.

[0016] Preferably, the positioning claw comprises a V-shaped cylinder and left and right positioning fingers arranged on the two swing arms of the V-shaped cylinder, wherein the left and right positioning fingers each comprise a base and a clamping portion arranged at the front end of the base, the clamping portion is in V-shaped structure, the inner bottom of the clamping portion is in arc-shaped concave surface, and the inner side surfaces of the two end portions of the clamping portion are provided with arc-shaped chamfers; the inner diameter of the positioning space surrounded by the left and right positioning fingers when they are closed is matched with the outer diameter of the barrel of the temperature measuring gun, and the center line of the positioning space is in the same line with the center line of the clamping space formed by the left and right clamping blocks of the clamping jaw.

[0017] Preferably, the detection device is a non-contact distance measuring sensor, preferably a laser sensor.

[0018] The replacement method of the replacement system of the metallurgical temperature measuring sampling probe comprises the following steps:

[0019] 1) The six-axis manipulator drives the clamping tool to approach the temperature measuring gun, the detection device on the clamping tool scans and detects the position of the temperature measuring gun, then the clamping tool moves to the rest rack, the clamping jaw on the clamping tool clamps the clamping section of the temperature measuring sampling probe, and the detection device confirms whether the temperature measuring sampling probe is located on the axis in the clamping jaw of the clamping tool.

[0020] 2) The six-axis manipulator drives the temperature measuring sampling probe to approach the head of the temperature measuring gun, the left and right positioning fingers of the positioning claw cross and close to surround the head of the temperature measuring gun in the positioning space formed by the two, then the clamping jaw clamps the temperature measuring sampling probe to be sleeved into the head of the temperature measuring gun, when the head of the temperature measuring gun is at least 30 mm inside the clamping section of the temperature measuring sampling probe, the left and right positioning fingers of the positioning claw release the temperature measuring gun, then the six-axis manipulator drives the temperature measuring sampling probe to complete the sleeving on the temperature measuring gun, then the six-axis manipulator is separated from the temperature measuring gun, and the temperature measuring gun drives the temperature measuring sampling probe to descend into the molten metal package to detect the temperature of the molten metal and obtain the molten metal sample.

[0021] 3) After the temperature measurement and sampling operation is completed, the temperature measurement gun rises, the six-axis manipulator drives the clamping tool to approach the upper part of the temperature measurement gun, the left and right positioning fingers of the positioning claw move towards each other to grab and position the upper part of the temperature measurement gun, then the left and right clamping blocks of the clamping claw move towards each other to clamp the clamping section of the temperature measurement and sampling probe, after that, the left and right positioning fingers of the positioning claw release the temperature measurement gun, and the clamping claw pulls out the temperature measurement and sampling probe from the temperature measurement gun under the driving of the six-axis manipulator;

[0022] 4) The six-axis manipulator drives the clamping tool to send the sampling section of the temperature measurement and sampling probe into the shearing machine, after cutting off the sampling section of the temperature measurement and sampling probe, the six-axis manipulator drives the clamping tool to take the clamping section of the temperature measurement and sampling probe to the waste pit or waste box, at the same time, the left and right clamping blocks of the clamping claw are separated, the clamping section of the temperature measurement and sampling probe is thrown into the waste pit or waste box, and the six-axis manipulator returns to the standby position.

[0023] Preferably, after the clamping claw pulls out the temperature measurement and sampling probe from the temperature measurement gun under the driving of the six-axis manipulator in step 3), the left and right positioning fingers of the positioning claw are closed again, if the left and right positioning fingers of the positioning claw are completely closed, it is further confirmed that the temperature measurement and sampling probe has been completely pulled out from the temperature measurement gun.

[0024] Compared with the existing temperature measurement and sampling probe replacement method, the present application has the following advantages:

[0025] Chinese patent application No. CN201922259240.4 discloses "a robot temperature measurement and sampling automatic plug device", which does not introduce the specific structure and technical details of the grabbing device, and the structure design and use method of the positioning claw and the clamping claw of the present application are not mentioned, and the probe processing method after sampling operation is not disclosed.

[0026] Chinese patent application No. CN201811613127.5 discloses "a temperature measurement probe and temperature measurement gun automatic docking device". Compared with the disclosed technical scheme, the positioning claw arranged above and below in the present application has a larger positioning range, so it can better position the temperature measurement gun without the semi-cone plate structure described in the comparative scheme; in addition, the detection device arranged between the positioning claw and the clamping claw can not only directly detect the position of the probe in the clamping claw, but also measure the axis attitude and position of the temperature measurement gun during the approach of the clamping tool to the temperature measurement gun in different directions. The position sensor mounted on the upper surface of the frame in this patent is different from the mounting position and detection method of the present application, and it cannot detect the position of the probe in the clamping claw.

[0027] The beneficial effects of the present application are:

[0028] 1) The present application adopts a six-axis manipulator cooperating with a clamping tool to realize multiple operations such as picking up, storing, sleeving, pulling out and post-processing of the temperature measurement and sampling probe, the operation surface is compact, the efficiency is high, and the device can work continuously for a long time.

[0029] 2) The left and right positioning fingers of the positioning claw of the clamping tool adopt a V-shaped structure, and the inner bottom is provided with an arc-shaped concave surface. When the positioning claw is closed, the left and right positioning fingers are arranged in an up-down crossing manner, so that a larger positioning range is realized with smaller structural size.

[0030] 3) The detection device is arranged between the positioning claw and the clamping jaw. The position of the temperature measuring sampling probe in the clamping jaw can be directly detected, and the axial posture and end position of the temperature measuring gun are measured during the approach of the clamping tool to the temperature measuring gun in different directions, so that the function of the clamping tool is effectively expanded, and the clamping stability and reliability are improved.

[0031] 4) The two side surfaces in the V-shaped or trapezoidal groove of the left and right clamping blocks of the clamping jaw are provided with grooves, so that the clamping stability of the clamping temperature measuring sampling probe is effectively improved. Especially after the surface of the clamping section of the temperature measuring sampling probe is carbonized after temperature measurement and sampling, the groove edge can crush the carbonized layer, and the carbon residue can be discharged from the inside of the groove, so that the friction force of the surface of the clamping block is effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0033] Figure 2 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0034] Figure 3 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0035] Figure 4 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0036] Figure 5 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0037] Figure 6 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0038] Figure 7 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0039] Figure 8 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0040] Figure 9 The schematic diagram of the plane arrangement of the replacement system is shown in the figure;

[0041] Figure 10 Figure 1 is a perspective view of the temperature measuring probe being clamped by the clamping tool of the embodiment of the present application. DETAILED DESCRIPTION

[0042] Referring to Figures 1-7 The replacement system for the metallurgical temperature measuring probe is arranged at the temperature measuring gun 100 for measuring the temperature of molten metal ladle, which comprises a six-axis manipulator 1, a clamping tool 2 arranged at the end of the six-axis manipulator 1, a rack 3 for storing the temperature measuring probe 200, a shearing machine 4 for cutting the sampling section and the clamping section of the temperature measuring probe 200, and a waste pit or a waste box 5; wherein,

[0043] The temperature measuring gun 100, the rack 3, the shearing machine 4, and the waste pit or the waste box 5 are arranged in different directions within the rotation range of the six-axis manipulator 1 in sequence, and the waste pit or the waste box 5 is arranged near the temperature measuring gun 100 or the shearing machine 4.

[0044] The temperature measuring probe 200 is a round rod type, which is provided with a sampling section 201 and a clamping section 202, wherein the clamping section 202 is a hollow structure and has an opening for inserting the temperature measuring gun 100; the temperature measuring gun 100 is a round rod type, the head 101 has a smaller diameter than the body 102, and a gradual transition section 103 is arranged between the head 101 and the body 102.

[0045] The clamping tool 2 comprises a base 21, clamping jaws 22 arranged side by side at the front end of the base 21 for clamping the temperature measuring probe 200, a positioning claw 23, and a detection device 24 arranged between the clamping jaws 22 and the positioning claw 23, wherein the detection source of the detection device 24, the center line of the clamping space of the clamping jaws 22, and the center line of the positioning space of the positioning claw 23 are located on the same axis.

[0046] Further, a safety fence 6 is arranged to surround the temperature measuring gun 100, the six-axis manipulator 1, the rack 3, the shearing machine 4, and the waste pit or the waste box 5.

[0047] Preferably, the clamping jaws 22 comprise left and right support arms 221 and 222, a translational cylinder 223 capable of driving the left and right support arms 221 and 222 to move towards each other, left and right clamping blocks 224 and 225 arranged at the ends of the left and right support arms 221 and 222, respectively, and V-shaped or trapezoidal grooves 2241 and 2251 arranged axially in the center of the opposite sides of the left and right clamping blocks 224 and 225; the lengths of the left and right clamping blocks 224 and 225 are 3-4 times the outer diameter of the clamping section 202 of the temperature measuring probe 200. The left and right support arms 221 and 222 have a C-shaped structure.

[0048] Preferably, the V-shaped or trapezoidal groove 2241 of the left and right clamping blocks 224, 225 (taking the left clamping block 224 as an example, the same below) is uniformly spaced with a plurality of grooves 2242 on both sides, preferably, the depth of the groove 2242 is 5-10 mm, and the adjacent distance of the grooves is 30-40 mm.

[0049] Preferably, the base 21 of the clamping tool 2 is a metal frame, and the front end face is a plane.

[0050] Preferably, the positioning claw 23 comprises a V-shaped angle cylinder 231 and left and right positioning fingers 232, 233 arranged on the two swing arms of the V-shaped angle cylinder, wherein the left and right positioning fingers 232, 233 respectively comprise a base 2321 (taking the left positioning finger 232 as an example, the same below) and a clamping portion 2322 at the front end of the base 2321, the clamping portion 2322 is V-shaped, and the inner bottom portion 23221 thereof is an arc-shaped concave surface, preferably, the inner side surface of the two end portions of the V-shaped clamping portion 2322 is provided with an arc-shaped chamfer 23222; the positioning space 230 surrounded by the crossed closing of the left and right positioning fingers 232, 233 matches the outer diameter of the barrel of the temperature measuring gun 100, and the center line of the positioning space 230 surrounded by the crossed closing of the left and right positioning fingers 232, 233 is the same axis as the center line of the clamping space 220 formed by the closing of the left and right clamping blocks 224, 225 of the clamping jaw 22, and the detection source of the detection device 24 passes through this axis.

[0051] Preferably, the detection device 24 is a non-contact distance measuring sensor, preferably a laser sensor.

[0052] Referring to Figures 1-10 The replacement method of the replacement system of the metallurgical temperature measuring and sampling probe provided by the application comprises the following steps:

[0053] 1) The six-axis manipulator drives the clamping tool to approach the temperature measuring gun, the detection device on the clamping tool is used to scan and detect the position of the temperature measuring gun, then the clamping tool is moved to the rest rack, the clamping jaw on the clamping tool is used to grab the clamping section of the temperature measuring and sampling probe, and the detection device is used to confirm whether the position of the temperature measuring and sampling probe in the clamping jaw of the clamping tool is located on the axis;

[0054] 2) The six-axis manipulator drives the temperature measuring and sampling probe to approach the head of the temperature measuring gun, the left and right positioning fingers of the positioning claw are crossed and closed to surround the head of the temperature measuring gun in the positioning space formed by the crossed closing, then the clamping jaw grabs the temperature measuring and sampling probe to be sleeved into the head of the temperature measuring gun, when the head of the temperature measuring gun enters the inside of the clamping section of the temperature measuring and sampling probe by at least 30 mm, the left and right positioning fingers of the positioning claw release the temperature measuring gun, then the six-axis manipulator drives the temperature measuring and sampling probe to complete the sleeving on the temperature measuring gun; then the six-axis manipulator is separated from the temperature measuring gun, the temperature measuring gun drives the temperature measuring and sampling probe to descend into the molten metal package to detect the temperature of the molten metal and obtain the molten metal sample;

[0055] 3) After the temperature measurement and sampling are completed, the temperature measuring gun rises, the six-axis manipulator drives the clamping tool to approach the upper part of the temperature measuring gun, the left and right positioning fingers of the positioning claw move towards each other to grab and position the upper part of the temperature measuring gun, then the left and right clamping blocks of the clamping claw move towards each other to clamp the clamping section of the temperature sampling probe, after that, the left and right positioning fingers of the positioning claw release the temperature measuring gun, and the clamping claw pulls out the temperature sampling probe from the temperature measuring gun under the driving of the six-axis manipulator;

[0056] 4) The six-axis manipulator drives the clamping tool to send the sampling section of the temperature sampling probe into the shearing machine, after the sampling section of the temperature sampling probe is cut off, the six-axis manipulator drives the clamping tool to take the clamping section of the temperature sampling probe to the waste pit or the waste box, at the same time, the left and right clamping blocks of the clamping claw are separated, the clamping section of the temperature sampling probe is thrown into the waste pit or the waste box, and the six-axis manipulator returns to the standby position.

[0057] Preferably, after the clamping claw pulls out the temperature sampling probe from the temperature measuring gun under the driving of the six-axis manipulator in step 3), the left and right positioning fingers of the positioning claw close again, if the left and right positioning fingers of the positioning claw are completely closed, it is further confirmed that the temperature sampling probe has been completely pulled out from the temperature measuring gun.

[0058] Those skilled in the art should recognize that the above embodiments are only used to illustrate the present application, and are not used as a limitation of the present application, as long as the changes and modifications of the above described embodiments are within the spirit and principles of the present application, they will fall within the scope of the claims of the present application.

Claims

1. A replacement system for a metallurgical temperature sampling probe provided at a temperature measuring lance for measuring the temperature of a molten metal bath, characterized in that It comprises: Six-axis manipulator, clamping tool mounted on the end of six-axis manipulator, rest rack for storing temperature measuring probe, shearing machine for cutting temperature measuring probe sampling section and clamping section, and waste pit or waste box; wherein, The temperature measuring gun, rest rack, shearing machine, waste pit or waste box are arranged in different positions within the rotation range of the six-axis manipulator, and the waste pit or waste box is arranged near the temperature measuring gun or shearing machine. The temperature measuring probe is a round rod type, which is provided with a sampling section and a clamping section, wherein the clamping section is a hollow structure and has an opening for the temperature measuring gun to insert; the temperature measuring gun is a round rod type, the head diameter is smaller than the body diameter, and a gradual transition section is arranged between the two. The clamping tool comprises a base, clamping jaws arranged side by side on the front end of the base for clamping the temperature measuring probe, a positioning claw, and a detection device between the clamping jaws and the positioning claw, the center line of the clamping space of the clamping jaws and the center line of the positioning space of the positioning claw are on the same axis, and the detection source of the detection device passes through the axis. The clamping jaw comprises left and right support arms, a translational cylinder for driving the left and right support arms to move towards each other, left and right clamping blocks arranged at the ends of the left and right support arms, and a V-shaped or trapezoidal groove is arranged on the opposite side of the center of the left and right clamping blocks along the length direction; the length of the left and right clamping blocks is 3-4 times the outer diameter of the clamping section of the temperature measuring probe. The positioning claw comprises a zhangjiao type cylinder and left and right positioning fingers arranged above the two swing arms of the zhangjiao type cylinder, wherein the left and right positioning fingers each comprise a base and a clamping portion at the front end of the base, the clamping portion is V-shaped, and the inner bottom is arc-shaped concave; the positioning space enclosed by the cross closing of the left and right positioning fingers matches the outer diameter of the body of the temperature measuring gun, and the center line of the positioning space enclosed by the cross closing of the left and right positioning fingers is the same axis as the center line of the clamping space formed by the left and right clamping blocks of the clamping jaw.

2. The replacement system for metallurgical temperature sampling probes of claim 1, wherein, It also includes a safety fence surrounding the temperature measuring gun, six-axis manipulator, rest rack, shearing machine and waste pit or box.

3. The replacement system for metallurgical temperature sampling probes of claim 1, wherein, The left and right clamping blocks are uniformly spaced with a plurality of grooves on both sides of the V-shaped or trapezoidal groove.

4. The replacement system for metallurgical temperature sampling probes of claim 3, wherein, The depth of the groove is 5-10 mm, and the adjacent distance of the groove is 30-40 mm.

5. The replacement system for metallurgical temperature sampling probes of claim 2 or 3, wherein, The left and right support arms are C-shaped structures.

6. The replacement system for metallurgical temperature sampling probes of claim 1, wherein, The inner side of the two ends of the V-shaped clamping portion is provided with an arc-shaped chamfer.

7. The replacement system for metallurgical temperature sampling probes of claim 1, wherein, The detection device is a non-contact distance measuring sensor.

8. The replacement system for metallurgical temperature sampling probes of claim 1, wherein, The detection device is a laser sensor.

9. The replacement method of the metallurgical temperature measuring sampling probe replacement system according to any one of claims 1 to 8, characterized in that, It comprises the following steps: 1) The six-axis manipulator drives the clamping tool to approach the temperature measuring gun, the detection device on the clamping tool scans and detects the position of the temperature measuring gun, then moves to the rest rack, the clamping jaws on the clamping tool grab the clamping section of the temperature measuring probe, and the detection device confirms whether the position of the temperature measuring probe in the clamping jaws of the clamping tool is on the axis. 2) The six-axis manipulator drives the temperature measuring and sampling probe to approach the temperature measuring gun head, the left and right positioning fingers of the positioning claw cross and close, enclosing the temperature measuring gun head in the positioning space formed by them. Then the clamping jaw grabs the temperature measuring and sampling probe and connects it to the temperature measuring gun head. When the temperature measuring gun head enters the clamping section of the temperature measuring and sampling probe by at least 30 mm, the left and right positioning fingers of the positioning claw release the temperature measuring gun. Then the six-axis manipulator drives the temperature measuring and sampling probe to complete the connection on the temperature measuring gun. Then the six-axis manipulator is separated from the temperature measuring gun, and the temperature measuring gun drives the temperature measuring and sampling probe to descend into the molten metal package to detect the temperature of the molten metal and obtain a molten metal sample; 3) After completing the temperature measurement and sampling operation, the temperature measuring gun rises, the six-axis manipulator drives the clamping tool to approach the upper part of the temperature measuring gun, the left and right positioning fingers of the positioning claw move towards each other to grab and position the upper part of the temperature measuring gun. Then the left and right clamping blocks of the clamping jaw move towards each other to clamp the clamping section of the temperature measuring and sampling probe. After that, the left and right positioning fingers of the positioning claw release the temperature measuring gun, and the clamping jaw pulls out the temperature measuring and sampling probe from the temperature measuring gun under the drive of the six-axis manipulator; 4) The six-axis manipulator drives the clamping tool to send the sampling section of the temperature measuring and sampling probe into the shearing machine. After cutting off the sampling section of the temperature measuring and sampling probe, the six-axis manipulator drives the clamping tool to take the clamping section of the temperature measuring and sampling probe to the waste pit or waste box. At the same time, the left and right clamping blocks of the clamping jaw are separated, and the clamping section of the temperature measuring and sampling probe is thrown into the waste pit or waste box. The six-axis manipulator returns to the standby position.

10. The replacement method of the replacement system of the metallurgical temperature measuring sampling probe according to claim 9, characterized in that, After the clamping jaw pulls out the temperature measuring and sampling probe from the temperature measuring gun under the drive of the six-axis manipulator in step 3), the left and right positioning fingers of the positioning claw close again. When the left and right positioning fingers of the positioning claw are completely closed, it is further confirmed that the temperature measuring and sampling probe has been completely pulled out from the temperature measuring gun.

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