A temperature measuring and sampling robot based on AGV

Abstract

The utility model relates to a kind of temperature measurement sampling robot based on AGV dolly, including robot body, the sampling fixture for clamping temperature measurement probe and temperature measurement gun, further including AGV heavy load vehicle, the robot body is fixedly installed in AGV heavy load vehicle top surface, the head of the robot body is equipped with robot side quick-change disc, the sampling fixture tail portion is equipped with the tool side quick-change disc cooperation with robot side quick-change disc, the AGV heavy load vehicle top surface is equipped with support frame, the temperature measurement gun is placed on support frame, and temperature measurement gun tail portion is also equipped with the tool side quick-change disc.The utility model the robot is driven by AGV heavy load vehicle to carry out free activity, to greatly improve the flexibility of robot temperature measurement sampling, overcome the fixed shortcomings of robot installation position.The robot integrates sampling and temperature measurement, can quickly switch operation mode when using, more convenient, greatly improve operation efficiency.

Description

Technical Field

[0001] This utility model relates to the field of robot automatic control technology, specifically to a temperature measurement and sampling robot based on an AGV (Automated Guided Vehicle). Background Technology

[0002] During the steelmaking process in steel plants, it is necessary to sample and measure the temperature of molten steel in converters. Currently, most domestic methods use manual sampling and temperature measurement. The working environment in front of the furnace is harsh, with high temperature, high dust, and high risk. Manual temperature sampling is labor-intensive and inefficient.

[0003] A few companies use robots to install and remove temperature-measuring sleeves (temperature probes) for temperature measurement. For example, patent CN213498946U discloses an automatic installation and removal structure for temperature-measuring sampling sleeves in steelmaking. However, the robot in this patent is passively installed at a fixed point to install the temperature-measuring sleeve onto the temperature gun. The robot can only complete its tasks within a certain range, limiting its operational capabilities. Furthermore, after the temperature-measuring sleeve is installed, a person still needs to manually hold the temperature gun to take measurements, which remains inconvenient. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by providing a temperature sampling robot based on an AGV (Automated Guided Vehicle) that integrates sampling and temperature measurement operations, making the sampling and temperature measurement work more convenient, flexible, and intelligent, saving manpower, and greatly improving work efficiency.

[0005] This utility model is achieved through the following technical solution: a temperature sampling robot based on an AGV (Automated Guided Vehicle) includes a robot body, a sampling fixture for holding a temperature probe, and a temperature gun. It also includes an AGV heavy-duty vehicle. The robot body is fixedly installed on the top surface of the AGV heavy-duty vehicle. A robot-side quick-change disc is installed at the head of the robot body. A tool-side quick-change disc that cooperates with the robot-side quick-change disc is provided at the tail of the sampling fixture. A support frame is provided on the top surface of the AGV heavy-duty vehicle. The temperature gun is placed on the support frame, and the tool-side quick-change disc is also provided at the tail of the temperature gun.

[0006] This solution mounts the robot and temperature gun on an AGV (Automated Guided Vehicle), allowing the robot to move freely and significantly improving the flexibility of temperature sampling, overcoming the drawbacks of fixed robot installation positions. Furthermore, the robot can quickly dock with the sampling fixture or the tool-side quick-change tray of the temperature gun via a quick-change tray on its side, facilitating the change of tools. In use, the robot first docks with the sampling fixture, then uses it to pick up the temperature probe and install it on the temperature gun. The robot then docks with the temperature gun to measure the temperature of the boiler water. This integrated sampling and temperature measurement system makes the robot more convenient to use and greatly improves operational efficiency.

[0007] As an optimization, the AGV heavy-duty vehicle has a storage box on its roof for placing sampling fixtures. The storage box includes a box body with an open top, an automatic sliding cover installed on the top of the box body, and a sensor controller inside the box. When the sensor controller detects that the sampling fixture is placed in the box body, it controls the automatic sliding cover to close. In this optimized solution, the sampling fixture can be stored in the storage box when not in use, and the storage box can automatically close to protect the sampling fixture.

[0008] As an optimization, the support frame is equipped with a clamping device for fixing the temperature measuring gun. This optimized solution uses the clamping device to further clamp and fix the temperature measuring gun placed on the support frame, ensuring the stability of the temperature measuring gun.

[0009] As an optimization, the clamping component includes a clamping rod and a one-way telescopic cylinder. The clamping rod is driven by the one-way telescopic cylinder to move vertically and clamp the temperature measuring gun. This optimized solution uses the extension and retraction of the one-way telescopic cylinder to drive the clamping rod to clamp the temperature measuring gun.

[0010] As an optimization, the robot body includes a six-axis robot and a mounting base fixed to the head of the six-axis robot, with the robot-side quick-change disc fixed to the mounting base. In this optimized design, the robot body uses a six-axis robot for rotation in all directions, and the robot-side quick-change disc is fixed to the mounting base.

[0011] As an optimization, the AGV heavy-duty vehicle is equipped with an inverter and a control cabinet for controlling the robot's movements. The control cabinet has an operation panel. This optimized solution controls the robot's movements through the control cabinet and uses the inverter to convert the power from the AGV heavy-duty vehicle to power the robot. As an optimization, a protective shell is fixed to the top of the AGV heavy-duty vehicle. The control cabinet and inverter are both located inside the protective shell, which has an operating port for operating the control panel. This optimization solution provides protection for the control cabinet and inverter through the protective shell.

[0012] As an optimization, the temperature gun includes a horizontal main gun rod, an inclined main gun rod, and a front gun rod. The lower end of the inclined main gun rod is fixedly connected to one end of the horizontal main gun rod, and the other end of the horizontal main gun rod is provided with the tool-side quick-change disc. The front gun rod is coaxially arranged with the inclined main gun rod, and one end of the front gun rod is fixedly connected to the upper end of the inclined main gun rod. The temperature sampling sleeve can be fitted onto the front gun rod. In this optimized design, the horizontal and inclined main gun rods bend the temperature gun at a certain angle, making it easier for the temperature gun to be inserted into the boiler water for temperature measurement.

[0013] As an optimization, the angle between the horizontal main gun rod and the inclined main gun rod is 120°~140°. In this optimized design, when the robot body drives the temperature measuring gun to adjust the temperature measuring angle, it makes it easier for the temperature measuring probe at the front end of the temperature measuring gun to be inserted into the boiler water.

[0014] As an optimization, the AGV heavy-duty vehicle is also equipped with a fixing mechanism, which includes a bidirectional telescopic cylinder and grippers fixed to the two telescopic ends of the bidirectional telescopic cylinder. The two grippers form a clamping space to hold the front gun rod. In this optimized solution, when the temperature measuring gun is not in use, the fixing mechanism fixes the front gun rod to prevent the gun rod from shaking and deforming when the AGV heavy-duty vehicle moves.

[0015] The beneficial effects of this invention are as follows: By mounting the robot body and temperature measuring gun on an AGV (Automated Guided Vehicle), the robot can move freely, greatly improving the flexibility of temperature measurement and sampling and overcoming the disadvantage of fixed robot installation positions. Furthermore, the robot body can quickly dock with the sampling fixture or the tool-side quick-change tray of the temperature measuring gun via a quick-change tray on the robot side, facilitating the change of different tools. In use, the robot first docks with the sampling fixture, then uses the fixture to pick up the temperature probe and install it on the temperature measuring gun. The robot then docks with the temperature measuring gun to measure the temperature of the boiler water. This robot integrates sampling and temperature measurement, allowing for quick switching between operating modes, making it more convenient to use and greatly improving operational efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 2 ; Figure 3 for Figure 2 Enlarged view of part A; Figure 4 This is a schematic diagram of the three-dimensional structure of the present invention. Figure 3 ; Figure 5 This is a schematic diagram of the robot's body structure; Figure 6 This is a schematic diagram of the sampling fixture structure; Figure 7 This is a diagram showing the placement of the temperature gun. Figure 8 for Figure 7 Enlarged view of part B; Figure 9 for Figure 7 Enlarged view of part C; Figure 10 This is a schematic diagram of the temperature measuring gun. Figure 11 for Figure 10 Diagram of connection in section D; As shown in the figure: 1. AGV heavy-duty vehicle; 2. Robot body; 21. Six-axis robot; 22. Mounting base; 3. Sampling fixture; 31. Mounting plate; 32. First telescopic cylinder; 33. Semi-conical funnel; 34. Second telescopic cylinder; 35. Claw hand; 4. Support frame; 41. Base; 42. U-shaped clamping plate; 43. One-way telescopic cylinder; 44. Clamping rod. 5. Temperature gun; 51. Horizontal main gun rod; 52. Inclined main gun rod; 53. Front gun rod; 54. Fixed flange; 55. Fixed buckle; 56. Protective sleeve; 57. Protective ring; 6. Protective shell; 7. Control cabinet; 8. Inverter; 9. Storage box; 91. Box body; 92. Automatic sliding cover; 10. Three-color warning light; 11. Fixing mechanism; 111. Bidirectional telescopic cylinder; 112. Gripper; 12. Robot side quick-change plate; 13. Tool side quick-change plate; 14. Air source pressure gauge; 15. Electrical control cabinet; 16. Pneumatic cabinet; 17. Instrument hole. Detailed Implementation

[0017] To clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0018] like Figures 1-11 As shown, a temperature sampling robot based on an AGV (Automated Guided Vehicle) includes a robot body 2, a sampling fixture 3 for holding a temperature probe, a temperature gun 5, and an AGV heavy-duty vehicle 1. The robot body 2 is fixedly mounted on the top surface of the AGV heavy-duty vehicle 1, and a robot-side quick-change plate 12 is installed at the head of the robot body 2. The sampling fixture 3 has a tool-side quick-change plate 13 at its tail, which cooperates with the robot-side quick-change plate 12. The sampling fixture 3 can be fixed by docking with the robot-side quick-change plate 12 of the robot body 2 through the tool-side quick-change plate 13. A support frame 4 is provided on the top surface of the AGV heavy-duty vehicle 1, and the temperature gun 5 is placed on the support frame 4. The temperature gun 5 also has the tool-side quick-change plate 13 at its tail, and the temperature gun 5 can also be fixed by docking with the robot-side quick-change plate 12 of the robot body 2 through the tool-side quick-change plate 13.

[0019] like Figure 5 , 6 As shown, specifically, the AGV heavy-duty vehicle 1 uses the brand Guochen, model 10T heavy-duty AGV, which can be directly purchased. The robot body 2 is installed at one end of the long axis on the top surface of the AGV heavy-duty vehicle 1, reducing the space occupied. The robot body 2 includes a six-axis robot 21 and a mounting base 22 fixed to the head of the six-axis robot 21, and the robot side quick-change plate 12 is fixed to the mounting base 22.

[0020] The six-axis robot 21 described in this embodiment is an ABB model, IRB4600-60. The robot-side quick-change tray 12 and tool-side quick-change tray 13 are both from the brand "Linghang" and model LTC-0010F, and can be directly purchased. The mounting base 22 is a rectangular base; one side of the mounting base 22 is bolted to the head of the six-axis robot 21, and the other side of the mounting base 22 is bolted to the robot-side quick-change tray 12.

[0021] like Figure 6 As shown, specifically, the sampling fixture 3 adopts the head component of the six-axis robot 21 in the automatic disassembly and assembly structure of a steelmaking temperature measurement sampling sleeve in patent CN213498946U. Specifically, it includes a mounting plate 31. A first telescopic cylinder 32 and a second telescopic cylinder 34 are mounted on the same side of the mounting plate 31. The two output ends of the first telescopic cylinder 32 are symmetrically provided with semi-conical funnels 33 through funnel fixing plates. When the first telescopic cylinder 32 retracts, it drives the two semi-conical funnels 33 to close together to form a conical funnel. The two output ends of the second telescopic cylinder 34 are symmetrically provided with claws 35 through claw fixing plates. The axis of symmetry of the two sets of symmetrical semi-conical funnels 33 is aligned with the axis of symmetry of the two sets of claws 35.

[0022] In this embodiment, the tool-side quick-change disc 13 is fixed to the mounting plate 31 of the sampling fixture 3 by bolts, so as to realize the quick docking and installation of the sampling fixture 3 and the robot body 2.

[0023] Specifically, the top surface of the AGV heavy-duty vehicle 1 is provided with a storage box 9 for placing the sampling fixture 3. When the sampling fixture 3 is not in use, it can be stored in the storage box 9 for protection. The storage box 9 is installed in the middle of the top surface of the AGV heavy-duty vehicle 1 and is opposite to the robot body 2, so that the robot body 2 can easily put the sampling fixture 3 into the storage box 9.

[0024] like Figure 5 As shown, the storage box 9 includes a box body 91 with a top opening, and an automatic sliding cover 92 is installed on the top of the box body 91. A sensor controller is installed inside the box body 91. When the sensor controller detects that the sampling clamp 3 is placed into the box body 91, it controls the automatic sliding cover 92 to close. In this embodiment, a slide rail is fixedly connected to the side of the box body 91 away from the robot body 2, and the automatic sliding cover 92 is slidably connected to the slide rail. An electric push rod is provided on the slide rail, and the output end of the electric push rod is fixedly connected to the automatic sliding cover 92. The sensor controller uses a KJT-LXK1 inductive limit switch from the KJT brand. After the sensor controller senses the placement of the sampling clamp, it controls the extension and retraction of the electric push rod to drive the automatic sliding cover 92 to slide along the slide rail, thereby opening and closing the top opening of the box body 91.

[0025] like Figure 10As shown, specifically, the temperature measuring gun 5 includes a horizontal main gun rod 51, an inclined main gun rod 52, and a front gun rod 53. The lower end of the inclined main gun rod 52 is fixedly connected to one end of the horizontal main gun rod 51, and the included angle between the horizontal main gun rod 51 and the inclined main gun rod 52 is 120°~140°. The other end of the horizontal main gun rod 51 is fixedly provided with the tool-side quick-change disc 13. The horizontal main gun rod 51 and the inclined main gun rod 52 are set at an obtuse angle, so that the temperature measuring gun 5 has a certain bending angle, which facilitates the insertion of the temperature measuring gun 5 into the boiler water for temperature measurement. The front gun rod 53 is coaxially arranged with the inclined main gun rod 52, and one end of the front gun rod 53 is fixedly connected to the upper end of the inclined main gun rod 52. The temperature sampling sleeve can be fitted onto the front gun rod 53.

[0026] like Figure 11 As shown, in this embodiment, flanges are fixedly connected to both ends of the horizontal main gun rod 51 and the inclined main gun rod 52. The tool-side quick-change disc 13 is fixed to the flange of the horizontal main gun rod 51 by bolts, and the flange of the horizontal main gun rod 51 is fixed to the flange of the inclined main gun rod 52 by bolts. A fixing flange 54 is fixedly connected to the lower end of the front gun rod 53, and the fixing flange 54 of the front gun rod 53 is fixed to the flange of the inclined main gun rod 52 by bolts. A fixing buckle 55 is fixedly connected to the fixing flange 54 of the front gun rod 53 to strengthen the fixation of the lower end of the front gun rod 53. A protective sleeve 56 is also provided on the front gun rod 53 to cover the fixing buckle 55 and the fixing flange 54, providing protection for the fixing buckle 55 and the fixing flange 54. The protective sleeve 56 and the flange of the inclined main gun rod 52 are sealed and fixed together by a protective ring 57. The protective ring 57 seals the gap between the protective sleeve 56 and the flange of the inclined main gun rod 52 to prevent steel slag and other materials from splashing into the gap and causing damage.

[0027] like Figure 7 , 8 As shown, specifically, the support frame 4 includes a base 41 fixed to the top surface of the AGV heavy-duty vehicle 1. Two U-shaped clamping plates 42 are fixed to the top surface of the base 41. The two U-shaped clamping plates 42 are arranged along the long axis of the base 41. The two U-shaped clamping plates 42 are used to engage the horizontal main gun rod 51 and the inclined main gun rod 52, respectively.

[0028] Preferably, the support frame 4 is provided with a clamping component for fixing the temperature measuring gun 5. The clamping component includes a clamping rod 44 and a one-way telescopic cylinder 43. The clamping rod 44 is driven by the one-way telescopic cylinder 43 to move vertically and clamp the temperature measuring gun 5. The one-way telescopic cylinder 43 is vertically arranged and fixedly installed on the base 41, and one end of the clamping rod 44 is fixedly connected to the telescopic end of the one-way telescopic cylinder 43. When the one-way telescopic cylinder 43 retracts, it drives the clamping rod 44 to move downward, thereby clamping the other end of the clamping rod 44 to the horizontal main gun rod 51, ensuring the stability of the temperature measuring gun 5.

[0029] In this embodiment, the AGV heavy-duty vehicle 1 is equipped with four support frames 4, which are arranged in pairs on the front and rear sides of the robot body 2. Each support frame 4 holds one of the temperature measuring guns 5. During use, different temperature probes of different specifications can be installed on each temperature measuring gun 5 according to the different temperatures to be detected, making it more convenient to use. like Figures 1-4 As shown, the AGV heavy-duty vehicle 1 is also equipped with an inverter 8 and a control cabinet 7 for controlling the movement of the robot body 2. The control cabinet 7 has an operation panel. The movement of the robot body 2 is controlled by the control cabinet 7, and the power from the AGV heavy-duty vehicle 1 is inverted by the inverter 8 to supply power to the robot body 2.

[0030] Specifically, a protective shell 6 is fixed to the top surface of the AGV heavy-duty vehicle 1. The control cabinet 7 and inverter 8 are both installed inside the protective shell 6, which provides protection for the control cabinet 7 and inverter 8. The protective shell 6 has an operating port for operating the control panel, which is a touch screen control panel.

[0031] In this embodiment, the top surface of the AGV heavy-duty vehicle 1 is also fixed with an electrical control cabinet 15 and a pneumatic cabinet 16. The electrical control cabinet and the pneumatic cabinet are located on both sides of the storage box 9, and the protective shell 6 covers the electrical control cabinet and the pneumatic cabinet inside for protection. The electrical control cabinet 15 is equipped with an electrical control system mainly composed of a PLC control module, an air switch, wiring terminals, and an AGV heavy-duty vehicle control touch screen. It can send control commands to the AGV heavy-duty vehicle 1 to move it to the working position. After the work is completed, the AGV heavy-duty vehicle 1 returns to a safe position for standby or automatically recharges at the charging position. The pneumatic cabinet 16 is equipped with a pneumatic control system mainly composed of an air compressor and pneumatic solenoid valves, which is used to provide air source for the telescopic cylinder of the entire robot. The control cabinet 7 is equipped with a control system mainly composed of a central control module, a wireless transmission module, and an operation panel. It can send commands to the robot body wirelessly or through the operation panel to realize the six-axis robot action function. The control logic of the above-mentioned electrical control system and control system are all mature existing technologies and can be implemented by programmers in related fields. They will not be described in detail here.

[0032] Preferably, the protective shell 6 is equipped with a tri-color warning light 10, a thermometer, and a gas pressure gauge 14. The tri-color warning light 10, the thermometer, and the electric actuators of the storage box 9 are all connected to the control cabinet 7 via signal connections. The gas pressure gauge 14 is connected to the pneumatic control system and is used to detect and display the current gas pressure of the overall system. The tri-color warning light 10 integrates a buzzer, which displays the robot's working status and abnormalities through color and sound changes. The thermometer is used to display the robot's temperature data in real time, facilitating data recording by the operator. In this embodiment, the protective shell 6 has an instrument hole 17, and the thermometer is installed inside the instrument hole 17.

[0033] like Figure 7As shown, when the temperature gun 5 is placed and fixed on the support frame 4, the front gun rod 53 of the temperature gun 5 is tilted. Therefore, in this embodiment, the protective shell 6 is tilted towards the side wall of the robot body 2, and its tilt angle is the same as the tilt angle of the front gun rod 53, so that when the temperature gun 5 is placed, the front gun rod 53 can be parallel to the side wall.

[0034] like Figure 9 As shown, the AGV heavy-duty vehicle 1 is also fixedly provided with a fixing mechanism 11. The fixing mechanism 11 includes a bidirectional telescopic cylinder 111 and grippers 112 fixed to the two telescopic ends of the bidirectional telescopic cylinder 111. The two grippers 112 form a clamping space for clamping the front gun rod 53. Specifically, the fixing mechanism 11 is fixed on the inclined side wall of the protective shell 6. Since this embodiment has four temperature measuring guns 5, four fixing mechanisms 11 are fixed on the inclined side wall of the protective shell 6. When the temperature measuring guns 5 are placed on the support frame 4, the front gun rods 53 of the four temperature measuring guns 5 are clamped and fixed one by one by the four fixing mechanisms 11, which improves the stability of the front gun rods 53 and prevents the gun rods from shaking and deforming when the AGV heavy-duty vehicle 1 moves.

[0035] Working principle: When not in use, the sampling clamp 3 is placed in the storage box 9. The temperature gun 5 is placed on the support frame 4, and the one-way telescopic cylinder 43 retracts to drive the clamping rod 44 to clamp and fix the horizontal main gun rod 51, while the two-way telescopic cylinder 111 retracts to drive the two clamping claws 112 to clamp and fix the front gun rod 53.

[0036] In use, firstly, the electric push rod of the storage box 9 drives the automatic sliding cover 92 to open, and the robot body 2 moves to mate and fix the robot-side quick-change plate 12 with the tool-side quick-change plate 13 of the sampling fixture 3. The operator places the temperature probe on the sampling fixture 3 and clamps it in place. At this time, the bidirectional telescopic cylinder 111 extends, causing the gripper 112 to open, and the robot body 2 moves to fix the temperature probe onto the front gun rod 53 of the temperature gun 5. Then, the robot body 2 puts the sampling fixture 3 back into the storage box 9 and disconnects it. When the sensor controller in the storage box 9 detects the sampling fixture 3, it controls the automatic sliding cover 92 to close. Finally, the robot body 2 moves again to mate with the tool-side quick-change plate 13 of the temperature gun 5, and the unidirectional telescopic cylinder 43 extends, causing the clamping rod 44 to open and release the temperature gun 5. The AGV heavy-duty vehicle 1 moves to the temperature measurement position, and the robot body 2 operates the temperature gun 5 to measure the temperature of the boiler water. After the temperature measurement is completed, the robot body 2 puts the temperature measuring gun 5 back in its original position and disconnects it, restoring it to its initial state.

[0037] Of course, the above description is not limited to the examples above. Technical features of this utility model not described can be implemented by or using existing technology, and will not be repeated here. The above embodiments and drawings are only used to illustrate the technical solution of this utility model and are not intended to limit this utility model. This utility model has been described in detail with reference to preferred embodiments. Those skilled in the art should understand that any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this utility model do not depart from the spirit of this utility model and should also fall within the protection scope of the claims of this utility model.

Claims

1. A temperature sampling robot based on an AGV (Automated Guided Vehicle), comprising a robot body (2), a sampling fixture (3) for holding a temperature probe, and a temperature gun (5), characterized in that: It also includes an AGV heavy-duty vehicle (1), the robot body (2) is fixedly installed on the top surface of the AGV heavy-duty vehicle (1), the head of the robot body (2) is equipped with a robot side quick-change plate (12), the tail of the sampling fixture (3) is provided with a tool side quick-change plate (13) that cooperates with the robot side quick-change plate (12), the top surface of the AGV heavy-duty vehicle (1) is provided with a support frame (4), the temperature gun (5) is placed on the support frame (4), and the tail of the temperature gun (5) is also provided with the tool side quick-change plate (13).

2. The temperature sampling robot based on an AGV vehicle according to claim 1, characterized in that: The AGV heavy-duty vehicle (1) has a storage box (9) on its top surface for placing the sampling fixture (3). The storage box (9) includes a box body (91) with an opening at the top. An automatic sliding cover (92) is installed on the top of the box body (91). An induction controller is provided inside the box body (91). When the induction controller detects that the sampling fixture (3) is placed in the box body (91), it controls the automatic sliding cover (92) to close.

3. The temperature sampling robot based on an AGV vehicle according to claim 1, characterized in that: The support frame (4) is provided with a clamp for fixing the temperature measuring gun (5).

4. The temperature sampling robot based on an AGV vehicle according to claim 3, characterized in that: The clamping component includes a clamping rod (44) and a one-way telescopic cylinder (43). The clamping rod (44) is driven by the one-way telescopic cylinder (43) to move vertically and clamp the temperature measuring gun (5).

5. The temperature sampling robot based on an AGV vehicle according to claim 1, characterized in that: The robot body (2) includes a six-axis robot (21) and a mounting base (22) fixed to the head of the six-axis robot (21), and the robot side quick-change disk (12) is fixed to the mounting base (22).

6. The temperature sampling robot based on an AGV vehicle according to claim 1, characterized in that: The AGV heavy-duty vehicle (1) is equipped with an inverter (8) and a control cabinet (7) for controlling the movement of the robot body (2). The control cabinet (7) has an operation panel.

7. The temperature sampling robot based on an AGV vehicle according to claim 6, characterized in that: The top surface of the AGV heavy-duty vehicle (1) is fixed with a protective shell (6), and the control cabinet (7) and inverter (8) are both located inside the protective shell (6). The protective shell (6) has an operation port for operating the operation panel.

8. The temperature sampling robot based on an AGV vehicle according to claim 1, characterized in that: The temperature measuring gun (5) includes a horizontal main gun rod (51), an inclined main gun rod (52) and a front gun rod (53). The lower end of the inclined main gun rod (52) is fixedly connected to one end of the horizontal main gun rod (51). The other end of the horizontal main gun rod (51) is provided with the tool side quick-change disc (13). The front gun rod (53) is coaxially arranged with the inclined main gun rod (52). One end of the front gun rod (53) is fixedly connected to the upper end of the inclined main gun rod (52). The temperature measuring probe can be fitted onto the front gun rod (53).

9. The temperature sampling robot based on an AGV vehicle according to claim 8, characterized in that: The angle between the horizontal main gun rod (51) and the inclined main gun rod (52) is 120°~140°.

10. The temperature sampling robot based on an AGV vehicle according to claim 8, characterized in that: The AGV heavy-duty vehicle (1) is also fixed with a fixing mechanism (11). The fixing mechanism (11) includes a bidirectional telescopic cylinder (111) and a gripper (112) fixed to the two telescopic ends of the bidirectional telescopic cylinder (111). The two grippers (112) form a clamping space for clamping the front gun rod (53).

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