A temperature measurement and sampling robot for steelmaking electric furnace door

Abstract

The invention relates to the field of temperature measurement and sampling of steelmaking electric furnace doors, and in particular to a temperature measurement and sampling robot for steelmaking electric furnace doors, comprising a rotating swing arm connected to the robot, the rotating swing arm being arranged in a U-shaped structure, a temperature measuring gun for temperature measurement and a sampling gun for sampling being connected in the rotating swing arm, and a gun changing assembly for conveniently installing the temperature measuring gun and the sampling gun being also connected to the rotating swing arm; the invention installs the required temperature measuring gun and the sampling gun in the rotating swing arm correspondingly through the gun changing assembly, then drives the rotating swing arm close to the steelmaking furnace through the robot, and then drives the installed temperature measuring gun and the sampling gun to slide into the steelmaking furnace through a driving member to perform temperature measurement and sampling work, thereby realizing the automatic installation effect of the temperature measuring gun and the sampling gun, and avoiding the problem that the operator is easily injured when the operator installs the temperature measuring gun and the sampling gun close to the steelmaking furnace.

Description

Technical Field

[0001] The invention relates to the field of temperature measurement and sampling of steel-making electric furnace doors, and in particular to a temperature measurement and sampling robot for steel-making electric furnace doors. Background Art

[0002] Taking into account the strengthening of metallurgical effects, shortening of smelting rhythm, and reduction of labor intensity of workers, the use of steelmaking electric furnaces to smelt molten steel can significantly improve smelting efficiency and effects. During the smelting process, it is necessary to adjust the use of oxygen lances for decarburization and heating according to the smelting melting and refining processes. In the later stage of smelting, the molten steel is temperature-measured and sampled according to the actual situation on site. The current temperature measurement and sampling operations include manual temperature measurement and sampling and auxiliary gun temperature measurement and sampling. The auxiliary gun temperature measurement and sampling mainly uses a temperature measurement and sampling robot arm system to enable the temperature measurement and sampling robot arm to automatically run according to the trajectory to complete the temperature measurement and sampling work.

[0003] However, there are usually some problems in the daily use of the equipment commonly used for temperature measurement and sampling of the steelmaking electric furnace door. With the development of science and technology, technicians in related fields have also carried out a lot of optimization on the equipment used for temperature measurement and sampling of the steelmaking electric furnace door. In order to make a more accurate comparison, a Chinese patent with publication number CN115791278A discloses a fully automatic molten steel temperature measurement and sampling equipment, including a silo system, a replacement system and a detection execution system. When it is used, the temperature measurement and sampling are replaced by mechanical means through the setting of the replacement system and the detection execution system, which improves the degree of automation, reduces the work intensity and improves the work efficiency. At the same time, it avoids the influence of human factors and can improve the stability of temperature measurement and sampling.

[0004] However, the above temperature measurement and sampling equipment still has some shortcomings in actual use:

[0005] When the detection gun needs to be disassembled and replaced, the above-mentioned device needs to drive the detection gun to rotate until the tail is downward, and then start the drive motor until the first engaging block and the second engaging block move to a position that the operator can reach, so as to facilitate the operator to disassemble and replace the detection gun. However, in actual use, after the detection gun is slid into the furnace for use, it is usually driven by the high temperature in the furnace to heat up to a higher temperature. During the period of time after the detection gun is taken out of the furnace, the temperature of the surface of the detection gun will be at a higher temperature state. If the staff approaches the steelmaking furnace to manually dismantle it at this time, it will cause harm to the staff.

[0006] Therefore, based on the above-stated viewpoints, there is still room for improvement in the existing temperature measurement and sampling equipment. Summary of the invention

[0007] In order to solve the above problems, the present invention provides a temperature measuring and sampling robot for the door of a steel-making electric furnace, comprising a rotating swing arm connected to the robot, the rotating swing arm being arranged in a U-shaped structure, a temperature measuring gun for temperature measurement and a sampling gun for sampling being connected inside the rotating swing arm, and a gun changing assembly for convenient installation of the temperature measuring gun and the sampling gun is also connected to the rotating swing arm.

[0008] The gun changing assembly includes a connecting sleeve symmetrically arranged in the rotating swing arm and used to correspondingly connect the temperature measuring gun and the sampling gun. Arc grooves are opened on the temperature measuring gun and the sampling gun. A limiting head is installed on the connecting sleeve to limit the connection between the connecting sleeve and the temperature measuring gun and between the connecting sleeve and the sampling gun.

[0009] Preferably, the limit head includes an extension tube arranged at one end of the connecting sleeve, and a number of balls inserted in an arc-shaped groove for limiting the temperature measuring gun and the sampling gun are evenly inserted circumferentially on the extension tube. A limit slider is also sleeved on the extension tube, and a limit sleeve for limiting the number of balls is sleeved on the limit slider.

[0010] Preferably, the outer diameter of the extension tube is smaller than the outer diameter of the connecting sleeve so that a step difference is formed between the extension tube and the connecting sleeve, and an adjustment spring is commonly connected between the limit slider and the connecting sleeve.

[0011] Preferably, the gun changing assembly also includes a storage bin installed on the rotating swing arm for temporarily storing the temperature measuring gun and the sampling gun. The interior of the storage bin is hollow and openings are provided corresponding to the temperature measuring gun and the sampling gun. A partition located between the two openings is connected to the storage bin to separate the interior of the storage bin to facilitate the corresponding installation of the temperature measuring gun and the sampling gun.

[0012] Preferably, a sliding push plate is commonly connected between the inner side wall of the storage bin and the partition plate, and a compression spring is connected between the sliding push plate and the storage bin.

[0013] Preferably, at least two arc-shaped clamping plates are symmetrically arranged inside the rotating swing arm and on the lower side of the opening, which are used to be looped over the outer surface of the temperature measuring gun or the sampling gun. The opposite sides of the two arc-shaped clamping plates are symmetrically connected to a limiting push rod, and the limiting push rod is connected to a driven slider inserted on the rotating swing arm. A sliding groove is opened on the rotating swing arm for the driven slider to slide, and a reset compression spring is commonly connected between the driven slider and the sliding groove.

[0014] Preferably, a bidirectional screw rod is also installed in the rotating swing arm, and two threads in opposite directions are opened on the bidirectional screw rod. Two limit guide blocks for limiting the limit sleeve are symmetrically sleeved on the bidirectional screw rod, and the two limit guide blocks and the limit push rod are correspondingly distributed on both sides of the same opening.

[0015] Preferably, the opposite sides of one of the limit guide blocks and the limit push rod located on the upper side close to the storage bin opening are symmetrically arranged as slopes.

[0016] Preferably, a telescopic connecting rod is correspondingly connected between the limiting guide block and the limiting push rod.

[0017] Preferably, the bidirectional screw rod is also sleeved with an incomplete gear, and the connecting sleeve is connected to a driving rack that meshes with the incomplete gear.

[0018] In summary, the present application includes at least one of the following beneficial technical effects:

[0019] 1. The present invention installs the required temperature measuring gun and sampling gun correspondingly in the rotating swing arm through the gun changing assembly, and then drives the rotating swing arm close to the steel-making furnace through the robot, and then drives the installed temperature measuring gun and sampling gun to slide into the steel-making furnace through the driving part to perform temperature measuring and sampling work, thereby realizing the automatic installation effect of the temperature measuring gun and the sampling gun, and avoiding the problem that the operator may be injured when installing the temperature measuring gun and the sampling gun close to the steel-making furnace.

[0020] 2. The present invention enables the temperature measuring gun or sampling gun to be used to be inserted into the extension tube and the connecting sleeve, and limits the temperature measuring gun or sampling gun inserted in the extension tube and the connecting sleeve by a plurality of ball bearings on the extension tube, and then limits the ball bearings on the extension tube by a limiting sleeve sliding on the outside of the connecting sleeve, thereby achieving the effect of rapid assembly and combination of the temperature measuring gun and the sampling gun, so as to improve the efficiency of the temperature measuring gun or the sampling gun when in use.

[0021] 3. The present invention connects a storage bin to the rotating swing arm, and places a plurality of temperature measuring guns and sampling guns in the storage bin. After the rotating swing arm rotates to the steelmaking furnace and the temperature measuring gun or sampling gun on the rotating swing arm needs to be replaced, the temperature measuring gun or sampling gun in the storage bin is directly and automatically assembled on the extension pipe and the connecting sleeve, which effectively avoids the problem of workers having to approach the steelmaking furnace for manual operation, thereby improving the safety of workers when measuring the temperature and sampling the molten steel in the steelmaking furnace.

[0022] 4. When the temperature measuring gun or sampling gun is dismantled and replaced after use, the limiting guide block in the rotating swing arm is used to block the limiting sleeve on the connecting sleeve and the connecting sleeve to cause relative position slippage. Since the temperature measuring gun or sampling gun slides in different directions in the rotating swing arm before and after use, the relative sliding position and direction between the connecting sleeve and the connected limiting sleeve change differently, thereby achieving the effect of installing and dismantling the temperature measuring gun or sampling gun. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a structural schematic diagram of the replacement component of the present invention.

[0026] Figure 3 It is a structural schematic diagram of the limit head of the present invention.

[0027] Figure 4 It is a cross-sectional view of the limiting sliding sleeve of the present invention.

[0028] Figure 5 It is a structural schematic diagram of the storage bin of the present invention.

[0029] Figure 6 The present invention Figure 5 A is an enlarged view of the middle image.

[0030] Figure 7 It is a structural schematic diagram of the compression spring of the present invention.

[0031] Figure 8 It is a structural schematic diagram of the arc splint of the present invention.

[0032] Fig. 9 It is a structural schematic diagram of the position-limiting guide block of the present invention.

[0033] Fig.10 It is a structural schematic diagram of the incomplete gear of the present invention.

[0034] Fig.11 It is a structural schematic diagram of the limiting plate of the present invention.

[0035] In the figure, 1, rotating swing arm; 10, temperature measuring gun; 11, sampling gun; 12, guard plate; 13, driving part; 2, gun changing assembly; 20, connecting sleeve; 21, arc groove; 22, limit head; 220, extension tube; 221, ball bearing; 222, limit slider; 223, limit sleeve; 224, adjustment spring; 23, storage bin; 230, partition; 231, sliding push plate; 232, compression spring; 24, arc splint; 240, limit push rod; 241, driven slider; 242, reset compression spring; 25, two-way screw; 250, limit guide block; 251, telescopic connecting rod; 252, incomplete gear; 253, driving rack; 26, guide bevel block; 260, passive slider; 261, limit plate; 262, driving spring. DETAILED DESCRIPTION

[0036] The following is combined with Figure 1 To Attachment Fig.11 While embodiments of the invention have been described in detail, the invention can be implemented in many different ways as defined and covered by the claims.

[0037] The embodiment of the present application discloses a temperature measuring and sampling robot for a steel-making electric furnace door, which explains that the temperature measuring and sampling robot for a steel-making electric furnace door is mainly used in the process of temperature measuring and sampling molten steel in a steel-making furnace, and in terms of technical effect, it achieves the effect of temperature measuring and sampling molten steel in a steel-making furnace; in particular, in the process of temperature measuring and sampling, the required temperature measuring gun or sampling gun is automatically installed; further, the temperature measuring and sampling robot for a steel-making electric furnace door can also automatically dismantle the used temperature measuring gun or sampling gun, thereby achieving the effect of automatically installing, dismantling and replacing the temperature measuring gun.

[0038] Reference Figure 1 and Figure 2 As shown, a temperature measuring and sampling robot for a steelmaking electric furnace door comprises a rotating swing arm 1, a temperature measuring gun 10, a sampling gun 11, a gun changing assembly 2 and a driving member 13. The rotating swing arm 1 is connected to a rotating base of an existing robot. The robot controls the rotation and angle of the rotating swing arm 1 so that the rotating swing arm 1 corresponds to the position of the steelmaking furnace. The rotating swing arm 1 is arranged in a U-shaped structure. A temperature measuring gun 10 for temperature measurement and a sampling gun 11 for sampling are connected inside the rotating swing arm 1. The rotating swing arm 1 is also connected to a gun changing assembly 2 for conveniently installing the temperature measuring gun 10 and the sampling gun 11. The rotating swing arm 1 is also connected to a driving member 13 for driving the temperature measuring gun 10 and the sampling gun 11 to slide on the rotating swing arm 1 to enter the steelmaking furnace. A guard plate 12 is connected to the end of the rotating swing arm 1 away from the robot. A through hole is opened on the guard plate 12 for the temperature measuring gun 10 or the sampling gun 11 to pass through.

[0039] When in use, the required temperature measuring gun 10 and sampling gun 11 are installed in the rotating swing arm 1 accordingly through the gun changing assembly 2, and then the rotating swing arm 1 is driven by the robot to approach the steel-making furnace, and then the installed temperature measuring gun 10 and sampling gun 11 are driven by the driving member 13 to slide into the steel-making furnace to perform temperature measuring and sampling work, thereby achieving the automatic installation effect of the temperature measuring gun 10 and the sampling gun 11, and avoiding the occurrence of problems that the operator may be injured when installing the temperature measuring gun 10 and the sampling gun 11 close to the steel-making furnace.

[0040] Reference Figures 2 to 4 As shown, the gun changing assembly 2 is used to facilitate the installation of the temperature measuring gun 10 and the sampling gun 11; specifically, the gun changing assembly 2 includes a connecting sleeve 20 symmetrically arranged in the rotating swing arm 1 and used to correspondingly connect the temperature measuring gun 10 and the sampling gun 11, and an arc groove 21 is opened on the temperature measuring gun 10 and the sampling gun 11. A limiting head 22 is installed on the connecting sleeve 20 to limit the connection between the connecting sleeve 20 and the temperature measuring gun 10 and between the connecting sleeve 20 and the sampling gun 11.

[0041] When in use, the temperature measuring gun 10 and the sampling gun 11 are driven to be inserted into the corresponding connecting sleeve 20, and then the arc groove 21 on the temperature measuring gun 10 or the sampling gun 11 is limited by the limiting head 22 on the connecting sleeve 20 to complete the limiting installation effect between the connecting sleeve 20 and the temperature measuring gun 10 and the connecting sleeve 20 and the sampling gun 11.

[0042] Reference Figure 3 and Figure 4 As shown, the limit head 22 includes an extension tube 220, a ball 221, a limit slider 222 and a limit sleeve 223. An extension tube 220 is provided at one end of the connecting sleeve 20. A plurality of balls 221 inserted in the arc groove 21 are evenly inserted circumferentially on the extension tube 220 to limit the temperature measuring gun 10 and the sampling gun 11. A limit slider 222 is also slidably sleeved on the extension tube 220, and a limit sleeve 223 for limiting the plurality of balls 221 is sleeved on the limit slider 222.

[0043] During use, after the temperature measuring gun 10 or the sampling gun 11 is driven to be inserted into the extension tube 220, the temperature measuring gun 10 or the sampling gun 11 moves to drive the connected arc groove 21 into the extension tube 220, and then the plurality of balls 221 on the extension tube 220 are driven to slide in the direction close to the arc groove 21 until the balls 221 are abutted in the arc groove 21, and then the limiting slider 222 and the limiting sleeve 223 are driven to slide in the direction close to the temperature measuring gun 10 or the sampling gun 11 until the limiting sleeve 223 slides to contact the balls 221 and covers the outer side of the balls 221. At this time, the limiting sleeve 223 limits the balls 221, and the balls 221 limit the arc groove 21, so as to complete the effect of limiting the temperature measuring gun 10 and the sampling gun 11 to be connected to the connecting sleeve 20.

[0044] Further, refer to Figure 3 and Figure 4As shown, the outer diameter of the extension tube 220 is smaller than the outer diameter of the connecting sleeve 20 so that a step difference is formed between the extension tube 220 and the connecting sleeve 20, and an adjustment spring 224 is commonly connected between the limit slider 222 and the connecting sleeve 20. Before the temperature measuring gun 10 or the sampling gun 11 is driven to be inserted into the extension tube 220, the limit slider 222 and the limit sleeve 223 are first moved in a direction away from the extension tube 220. After the limit slider 222 moves, the connected adjustment spring 224 is compressed by force, and at the same time, the limit sleeve 223 slides to release the covering and interference of the plurality of balls 221. When the temperature measuring gun 10 or the sampling gun 11 is inserted into the extension tube 220, the outer surface of the temperature measuring gun 10 or the sampling gun 11 pushes the balls 221 to move in a direction away from the extension tube 220. After sliding to the arc groove 21 where the ball 221 contacts, the ball 221 slides down again and contacts the groove of the slide groove, and then the driving force driving the limiting sleeve 223 is released. At this time, under the reset drive of the connected adjusting spring 224, the connected limiting slider 222 and the limiting sleeve 223 are pushed to slide in the direction close to the extension tube 220, so that the limiting sleeve 223 covers and limits the several balls 221 on the extension tube 220, thereby achieving the limiting installation effect of the temperature measuring gun 10 or the sampling gun 11.

[0045] Reference Figure 5 and Figure 6 As shown, the gun changing assembly 2 also includes a storage bin 23 installed on the rotating swing arm 1 for temporarily storing the temperature measuring gun 10 and the sampling gun 11. The storage bin 23 is hollow inside and is provided with openings corresponding to the temperature measuring gun 10 and the sampling gun 11. A partition 230 located between the two openings is connected to the storage bin 23 to separate the inside of the storage bin 23 so as to facilitate the corresponding installation of the temperature measuring gun 10 and the sampling gun 11. When in use, the staff will pre-place a number of temperature measuring guns 10 and sampling guns 11 on both sides of the partition 230 in the storage bin 23 to complete the placement of the temperature measuring gun 10 and the sampling gun 11, effectively avoiding the situation that the staff needs to install the temperature measuring gun 10 or the sampling gun 11 near the steelmaking furnace when in use. When it is needed, it only needs to take out the temperature measuring gun 10 or the sampling gun 11 in the storage bin 23 one by one and connect them to the extension tube 220.

[0046] Reference Figures 5 to 7As shown, the storage bin 23 includes a bin body and a cover plate, which are detachably mounted together, a sliding push plate 231 is commonly connected between the inner side wall of the bin body and the partition plate 230, and a compression spring 232 is connected between the sliding push plate 231 and the cover plate. When in use, the cover plate, the sliding push plate 231 and the compression spring 232 are opened, a certain number of temperature measuring guns 10 and sampling guns 11 are stacked in the bin body, and then the cover plate is covered. When the cover plate is covered, the sliding push plate 231 is pushed by a number of temperature measuring guns 10 or sampling guns 11 in the bin body, so that the connected compression spring 232 is compressed by force, so as to provide the connected sliding push plate 231 with a tendency to always push the temperature measuring guns 10 or sampling guns 11 in the storage bin 23 to move downward.

[0047] Reference Figures 5 to 9 As shown, at least two arc-shaped clamping plates 24 are symmetrically arranged inside the rotating swing arm 1 and at the lower side of the opening, which are used to be ring-shaped on the outer surface of the temperature measuring gun 10 or the sampling gun 11, and the opposite sides of the two arc-shaped clamping plates 24 are symmetrically connected to the limiting push rod 240, and the limiting push rod 240 is connected to a driven slider 241 inserted on the rotating swing arm 1, and a sliding groove for the driven slider 241 to slide is opened on the rotating swing arm 1, and a return compression spring 242 is commonly connected between the driven slider 241 and the sliding groove.

[0048] When in use, the temperature measuring gun 10 or sampling gun 11 to be installed is driven to slide between the two arc-shaped clamping plates 24, and then the two limit push rods 240 and the arc-shaped clamping plates 24 are driven to slide in the direction close to each other, so as to tighten and limit the temperature measuring gun 10 or sampling gun 11, and then the return compression spring 242 is compressed, and the elastic driving force of the return compression spring 242 drives the connected driven slider 241, the limit push rod 240 and the arc-shaped clamping plate 24 to slide in the direction close to the extension tube 220 and the connecting sleeve 20, thereby driving the clamped temperature measuring gun 10 or sampling gun 11 to slide and insert into the extension tube 220, completing the assembly combination with the corresponding extension tube 220 and the connecting sleeve 20.

[0049] Reference Figures 8 to 10 As shown, a bidirectional screw rod 25 is also installed in the rotating swing arm 1. Two threads in opposite directions are provided on the bidirectional screw rod 25. Two limit guide blocks 250 for limiting the limit sleeve 223 are symmetrically sleeved on the bidirectional screw rod 25. The limit guide blocks 250 are arranged in a bent structure. A vertical slide groove is provided on the rotating swing arm 1 for the horizontal sections of the two limit guide blocks 250 to slide in the vertical direction. The two limit guide blocks 250 and the limit push rod 240 are correspondingly distributed on both sides of the same opening, and the vertical sections of the two limit guide blocks 250 are symmetrically provided with inclined surfaces.

[0050] When in use, by driving the bidirectional screw rod 25 to rotate in the forward direction, the two limit guide blocks 250 slide toward each other through the two threads of the bidirectional screw rod 25, so that the distance between the opposite sides of the two limit guide blocks 250 is larger than the outer diameter of the extension tube 220 but smaller than the outer diameter of the limit sleeve 223. At this time, by driving the connecting sleeve 20 and the extension tube 220 to slide in the rotating swing arm 1 toward the steelmaking furnace, the connecting sleeve 20 and the extension tube 220 slide and drive the connected limit slider 222 and the limit sleeve 223 to contact the inclined surfaces of the two limit guide blocks 250, and the two limit guide blocks 250 are used to limit the limit slider. The block 222 and the limiting sleeve 223 continue to slide, and as the connecting sleeve 20 and the extension tube 220 continue to slide, the limiting slider 222 and the limiting sleeve 223 and the connecting sleeve 20 and the extension tube 220 slip relative to each other, so that the limiting sleeve 223 releases the covering and limiting of the plurality of balls 221 on the extension tube 220, and drives the connected adjusting spring 224 to be compressed. Based on this, the temperature measuring gun 10 or the sampling gun 11 to be installed is driven to slide in the direction close to the extension tube 220 through the reset compression spring 242, so as to complete the assembly of the extension tube 220 with the temperature measuring gun 10 or the sampling gun 11.

[0051] After the assembly is completed, the two-way screw rod 25 is driven to rotate in the opposite direction, driving the two limit guide blocks 250 to slide in the direction away from each other. After the two limit guide blocks 250 are out of contact with the limit sleeve 223, the limit slider 222 and the limit sleeve 223 are driven by the reset drive of the connected adjustment spring 224 to slide in the direction close to the temperature measuring gun 10 or the sampling gun 11 until the limit sleeve 223 covers the plurality of balls 221 again and limits the balls 221, so as to complete the limit connection effect between the assembled extension tube 220 and the temperature measuring gun 10 or the sampling gun 11.

[0052] At this time, by driving the limited assembled connecting sleeve 20, the extension tube 220, the temperature measuring gun 10 or the sampling gun 11 to slide in the direction close to the steelmaking furnace, the effect of temperature measuring and sampling of the molten steel in the steelmaking furnace is completed.

[0053] It should be noted that the bidirectional screw rod 25 is a bidirectional reciprocating screw rod, that is, at least two sections of mutually staggered thread lines are symmetrically arranged on the bidirectional screw rod 25. When in use, if the limit guide block 250 on the bidirectional screw rod 25 is located at the uppermost end of the upper thread, the bidirectional screw rod 25 is rotated forward at this time, and the two limit guide blocks 250 slide in the direction of approaching each other. If the limit guide block 250 is located at the lowermost end of the upper thread, the bidirectional screw rod 25 is rotated forward at this time, and the two limit guide blocks 250 slide in the direction of moving away from each other. Conversely, when the bidirectional screw rod 25 is driven to rotate in the opposite direction, the sliding path of the limit guide block 250 is opposite.

[0054] Further, in the initial state, the temperature measuring gun 10 or the sampling gun 11 in the storage bin 23 is limited by one of the limiting guide blocks 250 and the limiting push rod 240 provided at both ends of the opening of the storage bin 23, so that the temperature measuring gun 10 or the sampling gun 11 in the storage bin 23 slides down one by one, and in order to facilitate the temperature measuring gun 10 or the sampling gun 11 in the storage bin 23 to fall between the two arc-shaped clamping plates 24, refer to Figures 5 to 9 As shown, one of the limiting guide blocks 250 near the opening of the storage bin 23 and the opposite side of the limiting push rod 240 are symmetrically arranged as slopes.

[0055] When in use, the end of the limit guide block 250 and the limit push rod 240 with the slope is inserted into the opening, and the two ends of one of the temperature measuring guns 10 or the sampling gun 11 located at the lower side of the storage bin 23 are simultaneously in contact with the two slopes of the limit guide block 250 and the limit push rod 240. At this time, the downward elastic restoring force of the compressed spring 232 after being compressed drives the connected sliding push plate 231 to push the temperature measuring gun 10 or the sampling gun 11 in the storage bin 23 downward. The temperature measuring gun 10 or the sampling gun 11 moves downward along the slope that contacts the limit guide block 250 and the limit push rod 240, pushing the limit push rod 240 and the driven slider 241 on the upper side to slide in the direction close to the steelmaking furnace, so that the two arc-shaped clamping plates 24 distributed above and below are staggered by a distance, and the reset compression spring 242 connected to the driven slider 241 is driven to be compressed.

[0056] At the same time, driven by the compression spring 232, the temperature measuring gun 10 or the sampling gun 11 moves down along the inclined surface of the limit guide block 250 and the limit push rod 240 to between the limit guide block 250 and the limit push rod 240, until the temperature measuring gun 10 or the sampling gun 11 slides to the arc-shaped clamping plate 24 on the upper side, and then slides onto the arc-shaped clamping plate 24 on the lower side. At this time, the reset compression spring 242 pushes the limit push rod 240 and the arc-shaped clamping plate 24 on the upper side to slide and reset.

[0057] Furthermore, in order to reset the compression spring 242 and push the arc clamping plate 24 to reset and slide, the two arc clamping plates 24 are also used to clamp and limit the temperature measuring gun 10 or the sampling gun 11 to be installed, so that the clamped temperature measuring gun 10 or the sampling gun 11 can be synchronously slid while the arc clamping plate 24 slides and resets. Figures 5 to 9 As shown, a telescopic connecting rod 251 is commonly connected between the limiting guide block 250 and the limiting push rod 240 , and a telescopic connecting rod 251 is also commonly connected between the two corresponding limiting push rods 240 above and below.

[0058] Based on this, in the specific implementation process, when the temperature measuring gun 10 or the sampling gun 11 in the storage bin 23 is driven to move down the slope, the upper limit push rod 240, the driven slider 241 and the arc-shaped clamping plate 24 will be pushed to move, and at the same time, the lower limit push rod 240, the driven slider 241 and the arc-shaped clamping plate 24 will be driven to slide synchronously through the connected telescopic connecting rod 251, and the upper and lower return springs 242 will be compressed synchronously. After the temperature measuring gun 10 or the sampling gun 11 moves down and passes the upper arc-shaped clamping plate 24, the compression spring 232 is compressed and needs to be stretched again, driving the connected arc-shaped clamping plate 24 to slide synchronously in the direction close to the extension tube 220.

[0059] At this time, the two-way screw rod 25 is driven to rotate forward, driving the two limit guide blocks 250 to slide in the direction of approaching each other, and the two limit guide blocks 250 drive the connected telescopic connecting rod 251 and the limit push rod 240 to move in the direction of approaching each other, so that the two limit push rods 240 drive the connected arc clamping plate 24 to press against the temperature measuring gun 10 or sampling gun 11 to be installed, so as to complete the effect of assembling the temperature measuring gun 10 or sampling gun 11 with the extension tube 220 and the connecting sleeve 20.

[0060] After the assembly is completed, in order to prevent the positions of the two arc-shaped clamping plates 24 and the limiting guide block 250 from hindering the sliding of the assembled temperature measuring gun 10 or the sampling gun 11, it is also necessary to drive the bidirectional screw 25 to rotate in the opposite direction so that the two arc-shaped clamping plates 24 and the limiting guide block 250 slide and separate in the direction away from each other, so that the connecting sleeve 20, the limiting sleeve 223 and the limiting slider 222 can pass smoothly.

[0061] In order to drive the bidirectional screw rod 25 to rotate, refer to Figure 5 and Fig.10 As shown, a telescopic connecting rod 252 is sleeved on the bidirectional screw rod 25 , and a telescopic connecting rod 253 which meshes with the telescopic connecting rod 252 is connected to the connecting sleeve 20 .

[0062] When in use, by driving the connecting sleeve 20 to slide in the rotating swing arm 1 in the direction close to the steelmaking furnace, the movement of the connecting sleeve 20 drives the telescopic connecting rod 253 to move synchronously. After the telescopic connecting rod 253 contacts the telescopic connecting rod 252 on the bidirectional screw, as the telescopic connecting rod 253 slides, the telescopic connecting rod 253 gradually meshes with the telescopic connecting rod 252 and drives the telescopic connecting rod 252 to rotate. The rotation of the telescopic connecting rod 252 drives the connected bidirectional screw 25 to rotate forward, thereby achieving the effect of driving the two arc-shaped clamping plates 24 to clamp the temperature measuring gun 10 or the sampling gun 11. After the telescopic connecting rod 252 rotates a certain distance, the temperature measuring gun 10 or the sampling gun 11 is clamped. After the telescopic link 253 is disengaged from the meshing state, the bidirectional screw 25 now causes the two limit guide blocks 250 to slide towards each other due to the positive rotation, until the inclined surfaces on the two limit guide blocks 250 simultaneously abut against the limit sleeve 223, and as the connecting sleeve 20 and the telescopic link 253 continue to slide, and the telescopic link 253 is disengaged from the telescopic link 252, the limit sleeve 223 on the connecting sleeve 20 pushes the two limit guide blocks 250 to slide away from each other along the inclined surfaces on the two limit guide blocks 250, until the two limit guide blocks 250 are disengaged from the limit sleeve 223.

[0063] At the same time, the two limit guide blocks 250 slide in the direction away from each other and drive the two-way screw rod 25 and the telescopic connecting rod 252 to rotate in the opposite direction for a distance through the threads on the two-way screw rod 25.

[0064] Further, in order to automatically remove the temperature measuring gun 10 or the sampling gun 11 after being inserted into the steelmaking furnace, refer to Fig.11 As shown, a plurality of through grooves are formed in the limiting sleeve 223 corresponding to the ball 221, a guide bevel block 26 located in the through groove is connected to the side of the connecting sleeve 20 close to the extension tube, a passive slider 260 matched with the guide bevel block 26 is connected in the limiting sleeve 223, a limiting plate 261 for limiting the ball 221 is connected to the passive slider 260, and a guide slider slidably inserted on the limiting sleeve 223 is symmetrically connected on both sides of the limiting plate 261, and a driving spring 262 for providing the passive slider 260 with a constant contact with the inclined surface of the guide bevel block 26 is also connected between the limiting plate 261 and the limiting sleeve 223. The driving spring 262 is used to make the limiting plate 261 always contact in the direction close to the ball 221, and the sliding path of the limiting plate 261 is limited by the guiding slider.

[0065] In the initial state, the inclined surfaces of the passive sliding block 260 and the guiding inclined block 26 are in contact with each other.

[0066] When the temperature measuring gun 10 or the sampling gun 11 needs to be installed, since the connecting sleeve 20 and the extension tube 220 slide in the direction close to the steelmaking furnace in the rotating swing arm 1, the connecting sleeve 20 moves synchronously to drive the connected telescopic connecting rod 253 to slide, thereby driving the meshed telescopic connecting rod 252 and the bidirectional screw rod 25 to rotate forward. At this time, the two limit guide blocks 250 are located at the two divergent ends of the two thread lines on the bidirectional screw rod 25, so that the two limit guide blocks 250 slide in the direction close to each other to adjust the connecting rod 252. The limiting sleeve 223 on the connecting sleeve 20 is used to block, and as the connecting sleeve 20 and the extension tube 220 continue to slide, the limiting sleeve 223 and the extension tube 220 and the connecting sleeve 20 slide relative to each other until the extension tube 220 moves to the lower side of the opening of the storage bin 23, and the adjusting spring 224 is compressed, so that the limiting sleeve 223 and a plurality of limiting plates 261 release the covering and limiting of the ball 221, so that the temperature measuring gun 10 or the sampling gun 11 can be inserted into the extension tube 220.

[0067] At the same time, due to the relative position slip between the limiting sleeve 223, the extension tube 220 and the connecting sleeve 20, the limiting sleeve 223 drives all the connected limiting plates 261 and the passive slider 260 to slide in the direction away from the guide inclined block 26 on the connecting sleeve 20. After the temperature measuring gun 10 or the sampling gun 11 is slid in, the adjusting spring 224 resumes its extension and drives the limiting sleeve 223 and the limiting slider 222 to slide and reset, so that the limiting sleeve 223 covers and limits the ball 221 on the extension tube 220 again. After the limiting sleeve 223 slides, it drives all the connected limiting plates 261 and the passive slider 260 to slide in the direction close to the guide inclined block 26, so that the passive slider 260 is again abutted against the inclined surface of the guide inclined block 26.

[0068] When it is necessary to replace or remove the used temperature measuring gun 10 or sampling gun 11, the connecting sleeve 20 and the telescopic connecting rod 253 are driven to slide in the direction away from the steelmaking furnace. After the telescopic connecting rod 253 contacts and engages with the telescopic connecting rod 252, the bidirectional lead screw 25 is driven to rotate in the opposite direction. At this time, the two limit guide blocks 250 are also located at the two divergent ends of the two thread lines on the bidirectional lead screw 25, so that the two limit guide blocks 250 on the bidirectional lead screw slide in the direction close to each other, and the limit sliding sleeve 223 on the connecting sleeve 20 is blocked again by the two limit guide blocks 250.

[0069] At this time, as the connecting sleeve 20 continues to slide away from the steelmaking furnace, the relative position slip occurs again between the limiting sleeve 223 and the connecting sleeve 20 and the extension tube 220, and the movement of the connecting sleeve 20 drives the connected guide bevel 26 to continue to slide, and the adjusting spring 224 is stretched by the force. After the guide bevel 26 moves, the passive slider 260 slides along the guide bevel 26, and drives the connected limiting plate 261 to slide away from the ball 221. After the limiting plate 261 moves, the connected driving spring 262 is compressed. After the limiting plate 261 moves, a certain distance is generated between the limiting sleeve 223 and the ball 221, so that the several balls 221 on the extension tube 220 can be separated from the state of being inserted in the arc groove 21 on the temperature measuring gun 10 or the sampling gun 11.

[0070] At the same time, the reverse rotation of the bidirectional screw rod 25 also drives the two arc-shaped clamping plates 24 and the limiting push rod 240 to slide in the direction of approaching each other, so that the two arc-shaped clamping plates 24 clamp the temperature measuring gun 10 or the sampling gun 11 inserted on the extension tube 220, and then as the connecting sleeve 20 and the extension tube 220 continue to slide in the direction away from the steelmaking furnace, the ball 221 disengages from the arc-shaped groove 21 to release the limitation of the temperature measuring gun 10 or the sampling gun 11. At this time, due to the clamping of the temperature measuring gun 10 or the sampling gun 11 by the two arc-shaped clamping plates 24, the temperature measuring gun 10 or the sampling gun 11 is disengaged from the extension tube 220, thereby completing the removal of the temperature measuring gun 10 or the sampling gun 11 after use, so as to avoid the problem of workers getting close to the steelmaking furnace and causing harm to the workers.

[0071] During operation: the first step is to drive the connecting sleeve 20 and the extension tube 220 to slide to the lower side of the storage bin 23, and then drive one of the temperature measuring guns 10 or the sampling gun 11 located at the lower side of the storage bin 23 to move downward to correspond to the position of the extension tube 220.

[0072] Step 2: The limiting sleeve 223 is blocked by two limiting guide blocks 250, so that relative displacement occurs between the limiting sleeve 223 and the extension tube 220 and the connecting sleeve 20, and the limiting of several balls 221 on the extension tube 220 is released, so that the subsequent temperature measuring gun 10 or sampling gun 11 can slide into the extension tube 220.

[0073] Step 3: After the temperature measuring gun 10 or the sampling gun 11 is clamped by the two arc-shaped clamping plates 24, the clamped temperature measuring gun 10 or the sampling gun 11 is sent into the extension tube 220 through the two arc-shaped clamping plates 24 to complete the assembly of the temperature measuring gun 10 or the sampling gun 11 and the extension tube 220.

[0074] Step 4: After completing the use of the temperature measuring gun 10 or the sampling gun 11, the limiting sleeve 223 is blocked again by the two limiting guide blocks 250, so that relative sliding occurs between the limiting sleeve 223 and the extension tube 220 and the connecting sleeve 20, so as to release the limiting of the plurality of balls 221 on the extension tube 220, thereby separating the temperature measuring gun 10 or the sampling gun 11 from the extension tube 220, and completing the removal of the temperature measuring gun 10 or the sampling gun 11.

[0075] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0076] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A temperature measurement and sampling robot for a steelmaking electric furnace door, comprising a rotating swing arm (1) connected to the robot, characterized in that: The rotating swing arm (1) is arranged in a U-shaped structure, and a temperature measuring gun (10) for measuring temperature and a sampling gun (11) for sampling are connected inside the rotating swing arm (1). The rotating swing arm (1) is also connected to a gun changing assembly (2) for conveniently installing the temperature measuring gun (10) and the sampling gun (11), wherein: The gun changing assembly (2) comprises a connecting sleeve (20) symmetrically arranged in the rotating swing arm (1) and used for correspondingly connecting the temperature measuring gun (10) and the sampling gun (11), an arc-shaped groove (21) is provided on both the temperature measuring gun (10) and the sampling gun (11), and a limiting head (22) is installed on the connecting sleeve (20) to limit the connection between the connecting sleeve (20) and the temperature measuring gun (10) and between the connecting sleeve (20) and the sampling gun (11); The limit head (22) comprises an extension tube (220) arranged at one end of the connecting sleeve (20), a plurality of balls (221) inserted in the arc-shaped groove (21) are uniformly inserted circumferentially on the extension tube (220) for limiting the temperature measuring gun (10) and the sampling gun (11), a limit slider (222) is also sleeved on the extension tube (220), and a limit sleeve (223) for limiting the plurality of balls (221) is sleeved on the limit slider (222); The outer diameter of the extension tube (220) is smaller than the outer diameter of the connecting sleeve (20) so that a step difference is formed between the extension tube (220) and the connecting sleeve (20), and an adjustment spring (224) is connected between the limit slider (222) and the connecting sleeve (20); At least two arc-shaped clamping plates (24) are symmetrically arranged inside the rotating swing arm (1) and located at the lower side of the opening, and are used to be ring-shaped on the outer surface of the temperature measuring gun (10) or the sampling gun (11). The two arc-shaped clamping plates (24) are symmetrically connected to the opposite sides of the limit push rod (240), and the limit push rod (240) is connected to a driven slider (241) inserted on the rotating swing arm (1). A sliding groove is opened on the rotating swing arm (1) for the driven slider (241) to slide, and a return compression spring (242) is commonly connected between the driven slider (241) and the sliding groove.

2. A temperature measurement and sampling robot for a steelmaking electric furnace door according to claim 1, characterized in that: The gun changing assembly (2) further comprises a storage bin (23) mounted on the rotating swing arm (1) for temporarily storing the temperature measuring gun (10) and the sampling gun (11); the storage bin (23) is hollow inside and is provided with openings corresponding to the temperature measuring gun (10) and the sampling gun (11); a partition (230) located between the two openings is connected inside the storage bin (23) to separate the inside of the storage bin (23) so as to facilitate the corresponding installation of the temperature measuring gun (10) and the sampling gun (11).

3. A temperature measurement and sampling robot for a steelmaking electric furnace door according to claim 2, characterized in that: A sliding push plate (231) is commonly connected between the inner side wall of the storage bin (23) and the partition plate (230), and a compression spring (232) is connected between the sliding push plate (231) and the storage bin (23).

4. The temperature measurement and sampling robot for steelmaking electric furnace door according to claim 1, characterized in that: A bidirectional screw rod (25) is also installed in the rotating swing arm (1), and two threads in opposite directions are provided on the bidirectional screw rod (25). Two limit guide blocks (250) for limiting the limit sleeve (223) are symmetrically sleeved on the bidirectional screw rod (25), and the two limit guide blocks (250) and the limit push rod (240) are correspondingly distributed on both sides of the same opening.

5. The temperature measurement and sampling robot for steelmaking electric furnace door according to claim 4, characterized in that: The opposite sides of one of the position limiting guide blocks (250) and the position limiting push rod (240) located on the upper side close to the opening of the storage bin (23) are symmetrically arranged as slope surfaces.

6. The temperature measurement and sampling robot for steelmaking electric furnace door according to claim 4, characterized in that: A telescopic connecting rod (251) is correspondingly connected between the position-limiting guide block (250) and the position-limiting push rod (240).

7. The temperature measuring and sampling robot for steelmaking electric furnace door according to claim 4, characterized in that: The bidirectional screw rod (25) is also sleeved with an incomplete gear (252), and a driving rack (253) that meshes with the incomplete gear (252) is connected to the connecting sleeve (20).

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