CN212335227U

CN212335227U - Device for intelligently storing, clamping and pulling probe

Info

Publication number: CN212335227U
Application number: CN202022214637.4U
Authority: CN
Inventors: 王超; 王德宽; 常海; 宁振宇; 王少臣; 陈学青
Original assignee: MCC Capital Engineering and Research Incorporation Ltd
Current assignee: MCC Capital Engineering and Research Incorporation Ltd
Priority date: 2020-09-30
Filing date: 2020-09-30
Publication date: 2021-01-12
Anticipated expiration: 2030-09-30

Abstract

The utility model relates to a device for intelligently storing, clamping and pulling probes, which comprises a probe storage box, a probe escapement mechanism and a probe clamping mechanism, wherein the probe storage box is used for storing and automatically conveying probes; the clamping and centering structure is used for the insertion process of the probe and the gun body and comprises a clamping structure, a clamping and centering structure and a guiding and centering structure, wherein the clamping structure comprises a first clamping part; the clamping centering structure comprises a first centering spring capable of vertically adjusting and centering the first clamping part and a second centering spring capable of horizontally adjusting and centering the first clamping part; the pulling structure is used for the pulling and separating process of the probe and the gun body. The probe can roll and output by means of dead weight, and other power mechanisms are not needed; the clamping and centering structure can be used for solving the extra resistance of the gun body and the probe which are not concentric in the inserting process, the whole process is intelligently controlled, the safety of the gun body and the probe in the inserting and pulling separation process is ensured, the whole structure of the device is simple, the maintenance workload is low, and the popularization and the use are facilitated.

Description

Device for intelligently storing, clamping and pulling probe

Technical Field

The utility model relates to a ferrous metallurgy technical field especially relates to a device of intelligence storage, centre gripping and pull out probe.

Background

In the prior art, a probe storage tank adopted by a converter sublance is generally arranged in a vertical bin, and the probe with a single overall dimension can be stored in the storage tank, namely the length and the diameter of the probe are the same; a chain type lifting machine is arranged at an outlet of the probe storage box and is mainly responsible for uniformly lifting the probes of each layer to the same height and then releasing the probes, and the probes automatically fall into the clamping device; after the probe of the converter sublance is output from the probe storage box, the clamping device can drive the probe to rotate, the probe in a horizontal state is converted into an upright state, the sublance device moves downwards to insert the lance body into a connecting hole at the end part of the probe to complete butt joint, a rotating mechanism needs to be arranged at the clamping device, the rotating mechanism comprises a motor reducer and other parts, the structure is complex, and the maintenance workload is large; in the prior art, manual operation is needed for the insertion installation of the gun body and the probe and the pulling separation of the gun body and the probe, people can be completely exposed in a working area of the insertion probe by manual installation, various motion mechanisms have great potential safety hazards to personal safety, serious personal injury accidents are easily caused, and the safety is poor.

Therefore, the inventor provides a device for intelligently storing, clamping and pulling out the probe by virtue of experience and practice of related industries for many years, so as to overcome the defects in the prior art.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an intelligent probe storing, clamping and pulling device, which overcomes the problems existing in the prior art, the probe can roll to the outlet of the storage box by means of dead weight, and the output can be realized without other power mechanisms; the clamping and centering structure can be used for solving the additional resistance caused by the fact that the gun body and the probe are not concentric in the inserting process, the whole process is intelligently controlled, the inserting installation of the gun body and the probe and the safety in the pulling and separating process of the gun body and the probe are guaranteed, the whole structure of the device is simple, the maintenance workload is low, and the popularization and the use are facilitated.

The utility model aims to realize the purpose, and provides an intelligent probe storing, clamping and pulling device, which comprises,

the probe storage box is used for storing and automatically conveying probes and comprises a box body, a storage box outlet is formed in one side of the box body, a plurality of layers of inclined probe storage racks are arranged in the box body at intervals, and each probe storage rack is used for horizontally storing probes; the bottom opening of each probe storage rack is arranged corresponding to the outlet of the storage box, a probe escapement mechanism is arranged at the bottom opening of each probe storage rack respectively, each probe escapement mechanism comprises a rotatable pusher dog, and the pusher dog is used for stopping or releasing the probe on the corresponding probe storage rack;

the clamping and centering structure is used for the insertion process of the probe and the gun body and comprises a clamping structure, a clamping and centering structure and a guiding and centering structure, wherein the clamping structure comprises a supporting part capable of supporting the probe falling from the outlet of the storage tank, and a first clamping part capable of opening or fastening the clamping probe is arranged on the outer side of one axial end of the supporting part along the probe; the clamping centering structure comprises a first centering spring capable of vertically adjusting and centering the first clamping part, and the clamping centering structure also comprises a second centering spring capable of horizontally adjusting and centering the first clamping part; the guide centering structure comprises a guide cone which can be opened or buckled to clamp the gun body, the height of the guide cone can be adjusted up and down, the clamping centering structure is used for automatically and floatingly centering and adjusting the first clamping part, the clamping centering structure can axially center the first clamping part and the guide cone, and the clamping centering structure can relieve centering resistance in the process of splicing the gun body and the probe;

the pulling structure is used for the pulling and separating process of the probe and the gun body and comprises a second clamping part which can be opened or buckled to clamp the probe, and the second clamping part can clamp the probe and is used for separating the gun body from the probe;

the probe escapement mechanism, the first clamping part, the guide cone and the second clamping part are in signal connection with the control part.

In a preferred embodiment of the present invention, the probe escapement further includes a connecting beam disposed along an axial direction of the probe, and the connecting beam is connected to the probe storage rack; the two ends of the connecting cross beam are respectively hinged with one of the shifting claws, each of the shifting claws respectively comprises a first shifting piece and a second shifting piece, the first shifting piece and the second shifting piece are hinged to the two sides of the connecting cross beam through a first hinge shaft, a first included angle is formed between the first shifting piece and the second shifting piece, the second shifting piece is horizontally released when the first shifting piece is vertically stopped, and the second shifting piece is vertically stopped when the first shifting piece is horizontally released; a connecting rod is connected between the two first hinged shafts, one first end of a push rod is hinged to the first hinged shaft, and the second end of the push rod is hinged to a push-pull cylinder.

The utility model discloses an in a preferred embodiment, each layer set up first limit switch and second limit switch on the probe storage rack, first limit switch is used for the detection in vacant storehouse, second limit switch is used for the detection in benefit storehouse.

In a preferred embodiment of the present invention, the box body includes a main frame, the main frame is provided with a plurality of sets of supporting sloping plates disposed on two sides of the outlet of the storage tank, each of the supporting sloping plates is disposed on the outlet of the storage tank and is inclined toward the end away from the outlet of the storage tank, and each of the probe storage racks is disposed on each set of supporting sloping plates.

The utility model discloses a in a preferred embodiment, each probe storage rack includes the steel sheet for the rolling, the steel sheet for the rolling is erect on each group's support swash plate, the bottom below level of steel sheet for the rolling sets up the support frame, the both ends of support frame connect in on the main body frame.

The utility model discloses an in the preferred embodiment, each axial one end that lies in the probe on the probe storage rack sets up the direction limiting plate, the direction limiting plate is used for putting into the location when probe and the direction when the probe rolls downwards.

In a preferred embodiment of the present invention, a sliding door is disposed on the side of the box body adjacent to the outlet of the storage box.

In a preferred embodiment of the present invention, the clamping structure includes a first integrated air clamp, the first integrated air clamp includes a first moving arm and a second moving arm capable of moving horizontally along a radial direction of the first clamping portion, the first moving arm and the second moving arm can move toward or away from each other, the first clamping portion includes at least one set of a first finger and a second finger capable of being fastened and clamped on the probe in pair, the first finger is disposed on a first movable seat, the first movable seat is hinged to a first fixed seat, and the first fixed seat is connected to the first moving arm; the second finger is arranged on a second movable seat, the second movable seat is hinged to a second fixed seat, and the second fixed seat is connected to the second movable arm; the first middle spring is vertically arranged on each of the first movable seat and the second movable seat along two axial sides of the first clamping part, the bottom end of the first middle spring abuts against the first movable seat or the second movable seat respectively, and the top end of the first middle spring can abut against the top end of the first fixed seat or the top end of the second fixed seat respectively; the first integrated gas clamp is arranged on one axial side of the probe and is provided with a probe monitoring sensor, the probe monitoring sensor is used for sensing the state of the first clamping part, and the probe monitoring sensor is in signal connection with the control part.

In a preferred embodiment of the present invention, the first fixing seat and the second fixing seat respectively extend outwards along two axial sides of the first clamping portion to form first flange plates, each of the first flange plates is provided with a first through hole, and the cross section of the first through hole is arranged in an oblong shape; second through holes corresponding to the first through holes are formed in the bottoms of the first movable seat and the second movable seat, first bolt rods penetrate through the first through holes and the corresponding second through holes, and first fixing nuts capable of fixing the first bolt rods are arranged below the bottoms of the first movable seat and the second movable seat; each first bolt rod is sleeved with one first centering spring, the top end of each first centering spring abuts against each first flange plate, and the bottom end of each first centering spring abuts against the first movable seat or the second movable seat respectively.

In a preferred embodiment of the present invention, each of the first centering springs is covered with a first spring cover.

In a preferred embodiment of the present invention, a rotating bracket is disposed at the bottom of the first integrated air clamp, the rotating bracket is hinged to a first base, the first moving arm and the second moving arm can move horizontally along the rotating bracket, two sides of the rotating bracket respectively opposite to the first fixing seat and the second fixing seat respectively protrude outwards to form second flange plates, the first base is provided with two third flange plates respectively corresponding to the second flange plates, each of the second flange plates is provided with a third through hole, each of the third flange plates is provided with a fourth through hole, and the cross section of the fourth through hole is in an oblong arrangement; a second bolt rod penetrates through each third through hole and the corresponding fourth through hole, and a second fixing nut capable of fixing the second bolt rod is arranged on one side, far away from the third flange plate, of the second flange plate; and each second bolt rod is sleeved with one second centering spring, and two ends of each second centering spring are respectively propped against the second flange plate and the third flange plate.

In a preferred embodiment of the present invention, a second spring protection cover is covered outside each of the second centering springs.

In a preferred embodiment of the present invention, the supporting portion includes a fixed frame, the fixed frame is provided with supporting vertical plates extending upward at intervals along an axial direction of the probe, the supporting vertical plates are provided with guide grooves having upward openings, the guide grooves are used for supporting the probe falling from the outlet of the storage tank, and the supporting vertical plates can slide along a vertical direction to adjust a supporting height of the guide grooves; the bottom of the fixed frame is connected with a buffer telescopic frame which can move along the axial direction of the probe, and the buffer telescopic frame is provided with the clamping structure.

In a preferred embodiment of the present invention, the buffer telescopic frame comprises a telescopic frame body, the telescopic frame body comprises telescopic side vertical plates which are arranged in pairs and at intervals, a slide bar fixing seat is arranged in the middle between the two telescopic side vertical plates, a buffer spring bearing bush is arranged at a first end between the two telescopic side vertical plates, a slide bar is arranged in the buffer spring bearing bush in a penetrating manner, and the first end of the slide bar is fixedly connected to the slide bar fixing seat; the bottom of the fixed frame is provided with an end bearing bush seat and a sliding bearing seat at intervals along the axial direction of the probe, and an end bearing bush and a sliding bearing are respectively arranged in the end bearing bush seat and the sliding bearing seat; the second end of the sliding rod penetrates through the sliding bearing, the buffer spring and the end part bearing bush and then is fixedly connected with a sliding rod connecting plate, the buffer spring extends from the end part bearing bush to the sliding bearing block, the first end of the buffer spring abuts against the end part bearing bush, and the second end of the buffer spring abuts against the buffer spring bearing bush; an adjusting screw rod penetrates through the slide bar connecting plate, the adjusting screw rod is in threaded connection with the slide bar connecting plate, and the first end of the adjusting screw rod can abut against the end portion bearing block seat to adjust the precompression amount of the buffer spring.

In a preferred embodiment of the present invention, the fixing frame is close to one end of the clamping structure is provided with a clamping proximity switch, the clamping proximity switch is used for sensing the position of the clamping structure, and the clamping proximity switch is connected with the control portion through a signal.

The utility model discloses an in the preferred embodiment, two the second end top of flexible side riser sets up flexible bottom plate, set up on the flexible bottom plate and can support the buffering backstop piece of backstop with fixed frame top, fixed connection on the flexible bottom plate clamping structure.

The utility model discloses an in a preferred embodiment, the guide way is opening V type opening up, the bottom of V type opening is the circular arc setting.

In a preferred embodiment of the present invention, the guiding and centering structure further includes a second integrated air clamp, the second integrated air clamp includes a third moving arm and a fourth moving arm that can move horizontally along a radial direction of the guiding cone, the third moving arm and the fourth moving arm can move in opposite directions or away from each other, the guiding cone includes a first cone petal and a second cone petal that can lock the clamping gun in pairs, the first cone petal and the second cone petal are both provided with half-cone holes, one end of the half-cone hole close to the clamping structure is communicated with a half-cone hole, and two half-cone holes are locked to form a guiding cone hole that can clamp the gun; first cone petal body through first cone petal leg joint in on the third removes the arm, second cone petal body through second cone petal leg joint in on the fourth removes the arm, the third remove the arm with the fourth removes the arm and can move in opposite directions or carry on the back of the body in order to drive first cone petal body with second cone petal body lock is tight or opens.

In a preferred embodiment of the present invention, a guiding cone proximity switch is disposed on the second integrated air clamp, and the guiding cone proximity switch is used for sensing the position of the guiding cone.

In a preferred embodiment of the present invention, the bottom of the second integrated air clamp is slidably connected to the guiding structure base.

In a preferred embodiment of the present invention, the pulling structure further comprises a suspension arm extending from top to bottom, the bottom end of the suspension arm is connected with the second clamping part, the second clamping part comprises a third integrated air clamp connected with the bottom end of the suspension arm, the third integrated air clamp includes a fifth moving arm and a sixth moving arm capable of horizontally moving in a radial direction of the second clamping portion, the fifth moving arm and the sixth moving arm can move towards or away from each other, the opening of the second clamping part is arranged downwards, the second clamping part comprises a third finger and a fourth finger which can be buckled and clamped on the probe in pair, the third finger is connected to the bottom surface of the fifth moving arm, the fourth finger is connected to the bottom surface of the sixth moving arm, the fifth moving arm and the sixth moving arm can move towards or away from each other so as to drive the third finger and the fourth finger to be buckled, clamped or unfolded.

In a preferred embodiment of the present invention, a probe collecting box is disposed below the second clamping portion.

The utility model discloses an in a preferred embodiment, centre gripping and centering structure with the outside cover of pulling out the structure establishes that the bottom is open front end that sets up and inserts the safety cover, one side opening that the safety cover was inserted to the front end and with storage tank export intercommunication sets up, on the front end insert the safety cover with one side that the storage tank export is adjacent sets up first rifle body via hole and second rifle body via hole, the central axis of first rifle body via hole with the central axis of direction cone is coaxial setting, the central axis of second rifle body via hole with the central axis of second clamping part is coaxial setting.

From above, the utility model provides an intelligence is saved, centre gripping and is pulled out device of probe has following beneficial effect:

in the device for intelligently storing, clamping and pulling out the probe, the probe storage box adopts an inclined bin type structure, the probe storage rack is arranged obliquely, the probe can roll to the outlet of the storage box by means of dead weight, and output can be realized without other power mechanisms; the multi-layer probe storage rack is set according to different types of probes, and each type of probe corresponds to one type of probe storage rack, so that the probe storage box can store multiple probes with different external dimensions, the length and the diameter are not required to be uniform, and the integration is wider;

in the clamping and centering structure, the first clamping part can be opened or buckled to clamp the probe, so that the requirement of fixing the probe in the process of splicing the gun body and the probe is met; the first centering spring capable of vertically adjusting centering and the second centering spring capable of horizontally adjusting centering are combined to form a three-dimensional full-automatic floating centering structure, the clamping centering structure can solve the additional resistance caused by the fact that the gun body and the probe are not concentric in the plugging process, and the gun body can be smoothly inserted into the probe through self adjustment of the clamping centering structure to complete the butting; the alignment requirement of the gun body and the probe is realized by the cooperation of the guide cone of the guide centering structure and the clamping centering structure;

the second clamping part of the pulling structure can be opened or buckled to clamp the probe, so that the probe is fixed in the pulling and separating process of the probe and the gun body;

the utility model provides an among the device of intelligence storage, centre gripping and pulling probe, realize intelligence through the control part and control, need not manual operation, guarantee the safety of the grafting installation of the rifle body and probe and the pulling separation in-process of the rifle body and probe, device overall structure is simple, and the maintenance work volume is low, is favorable to using widely.

Drawings

The drawings are only intended to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

FIG. 1: do the utility model discloses a half section structure chart of device of intelligence storage, centre gripping and pulling out probe.

FIG. 2: do the utility model discloses a device's of intelligence storage, centre gripping and pull out probe front view.

FIG. 3: do the utility model discloses an appearance diagram of device of intelligence storage, centre gripping and pulling out probe.

FIG. 4: does the structure chart of the probe storage box of the utility model.

FIG. 5: is the internal structure chart of the box body of the utility model.

FIG. 6: is the top schematic view of the probe storage rack of the utility model.

FIG. 7: do the bottom schematic view of the probe storage rack of the utility model.

FIG. 8: is the schematic diagram of the probe escapement mechanism of the utility model when in the stop state.

FIG. 9: is the schematic diagram of the probe escapement mechanism of the utility model when in a release state.

FIG. 10: do the utility model discloses a direction limiting plate's schematic diagram.

FIG. 11: do the schematic diagram of the support frame of the utility model.

FIG. 12: do the utility model discloses a centre gripping and centering structure's schematic diagram.

FIG. 13: do the utility model discloses a clamping structure's schematic structure diagram.

FIG. 14: do the utility model discloses a clamping structure's bottom structure sketch map.

FIG. 15: is the cross-sectional view of the clamping structure of the utility model.

FIG. 16: do the utility model discloses a buffering telescopic frame's schematic structure diagram.

FIG. 17: do the utility model discloses a buffering telescopic frame's bottom structure schematic diagram.

FIG. 18: is the structure schematic diagram of the fixing frame of the utility model.

FIG. 19: do the utility model discloses a bottom structure schematic diagram of fixed frame.

FIG. 20: do the utility model discloses a structural schematic diagram of direction centering structure.

FIG. 21: do the utility model discloses a bottom structure schematic diagram of direction centering structure.

FIG. 22: do the utility model discloses a half cut open the structure chart of structure of pulling out.

FIG. 23: do the utility model discloses a bottom structure chart of structure of pulling out.

FIG. 24: is the structure chart of the second clamping part of the utility model.

FIG. 25: do the utility model discloses a bottom structure schematic diagram of second clamping part.

In the figure:

100. a device for intelligently storing, clamping and pulling out the probe;

1. a probe storage tank;

10. a box body; 101. a tank outlet; 102. a main body frame; 1021. the cylinder is provided with a vertical plate; 1022. a slide rail mounting plate;

11. a probe storage rack; 111. a steel sheet for rolling; 112. a support frame;

12. a probe escapement mechanism; 121. a pusher dog; 1211. a first plectrum; 1212. a second plectrum; 122. connecting the cross beam; 123. a first hinge shaft; 124. a connecting rod; 125. a push rod; 126. a push-pull cylinder;

13. supporting the inclined plate;

14. a guide limit plate;

15. a sliding door;

2. a clamping and centering structure;

21. a clamping structure; 210. a support portion; 211. a first clamping portion; 2111. a first finger; 2112. a second finger; 2113. a first traveling block; 2114. a first fixed seat; 2115. a second traveling block; 2116. a second fixed seat; 2117. a first flange plate; 212. a first integrated air clamp; 2121. a first moving arm; 2122. a second moving arm; 213. a probe monitoring sensor;

22. a clamping and centering structure; 221. a first centering spring; 2211. a first spring shield; 222. a second centering spring; 2221. a second spring shield; 223. a first bolt shank; 224. a first fixing nut; 225. rotating the bracket; 2251. a second flange plate; 226. a first base; 2261. clamping the induction block; 227. a third flange plate; 228. a second bolt shank; 229. a second fixing nut;

23. a guide centering structure; 231. a guide cone; 2311. a first conical petal body; 2312. a second cone; 2313. a semi-conical bore; 2314. a semicircular hole; 2315. a first petal stent; 2316. a second petal stent; 232. a second integrated air clamp; 2321. a third moving arm; 2322. a fourth moving arm; 233. the guide cone approaches the switch; 234. a guide structure base; 235. a transition support;

24. a fixed frame; 241. supporting a vertical plate; 242. a guide groove; 243. an end bearing shell seat; 2431. an end bearing shell; 244. a sliding bearing seat; 2441. a sliding bearing; 245. clamping the proximity switch; 246. a proximity switch bracket;

25. a buffer telescopic frame; 251. a telescoping rack body; 2511. a telescopic side vertical plate; 2512. a slide bar fixing seat; 2513. a telescopic bottom plate; 2514. a buffer stop block; 252. a buffer spring bearing bush; 253. a slide bar; 254. a buffer spring; 255. a slide bar connecting plate; 256. adjusting the screw rod;

26. a second base;

3. pulling the structure;

31. a second clamping portion; 311. a third integrated air clamp; 3111. a fifth moving arm; 3112. a sixth moving arm; 312. a third finger; 313. a fourth finger; 314. a third fixed seat; 315. a fourth fixed seat;

32. a suspension arm;

4. the front end is connected with an inserting protective cover;

41. a first gun body via hole; 42. a second gun body via hole; 43. a shield frame; 44. a protective cover sliding door;

51. a first limit switch; 52. a second limit switch;

6. a probe collecting box;

9. a probe.

Detailed Description

In order to clearly understand the technical features, objects, and effects of the present invention, embodiments of the present invention will be described with reference to the accompanying drawings.

The specific embodiments of the present invention described herein are for the purpose of explanation only and should not be construed as limiting the invention in any way. Given the teachings of the present invention, the skilled person can conceive of any possible variants based on the invention, which should all be considered as belonging to the scope of the invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," and "connected" are to be construed broadly and may include, for example, mechanical or electrical connections, communications between two elements, direct connections, indirect connections through intermediaries, and the like. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

As shown in fig. 1 to 25, the present invention provides an apparatus 100 for intelligently storing, holding, and extracting a probe, including,

as shown in fig. 1 to 11, the probe storage tank 1 is used for storing and automatically conveying probes, the probe storage tank 1 comprises a tank body 10, a storage tank outlet 101 is arranged on one side of the tank body 10, the probe storage tank 1 adopts an inclined bin type structure, a plurality of layers of inclined probe storage racks 11 are arranged in the tank body 10 at intervals, each probe storage rack 11 is used for horizontally storing a probe 9, the probe storage racks 11 are arranged in an inclined manner, the probes can roll towards the storage tank outlet 101 by means of self weight, other power mechanisms are not needed, the structure is simple, the operation is direct, and the maintenance amount of equipment is reduced; the bottom opening of each probe storage rack 11 is arranged corresponding to the outlet of the storage tank, a probe escapement mechanism 12 is arranged at the bottom opening of each probe storage rack 11, each probe escapement mechanism 12 comprises a rotatable pusher dog 121, and the pusher dog 121 is used for stopping or releasing the probe 9 on the corresponding probe storage rack 11; the multi-layer probe storage rack 11 is set according to different types of probes, each type of probe corresponds to one type of probe storage rack 11, and each type of probe corresponds to one type of probe escapement mechanism 12. The utility model discloses a probe storage tank 1 can deposit different overall dimension's multiple probe, does not require length and diameter unified, and integrated nature is more extensive.

As shown in fig. 12 to 21, the clamping and centering structure 2 is used in the process of inserting the probe 9 into a gun body (prior art, not shown in the figures), and includes a clamping structure 21, a clamping and centering structure 22, and a guiding and centering structure 23, wherein the clamping structure 21 includes a support portion 210 capable of supporting the probe 9 falling from the outlet 101 of the storage tank, and the support portion 210 is provided with a first clamping portion 211 capable of opening or fastening and clamping the probe along the outer side of one end of the probe in the axial direction; the clamping and centering structure 22 comprises a first centering spring 221 capable of vertically adjusting and centering the first clamping part 211, and the clamping and centering structure 22 further comprises a second centering spring 222 capable of horizontally adjusting and centering the first clamping part 211; the first centering spring 221 can realize vertical adjustment centering to achieve moment balance, the second centering spring 222 can realize horizontal adjustment centering to achieve moment balance, the first centering spring 221 and the second centering spring 222 are combined to form a three-dimensional full-automatic floating centering structure, the clamping centering structure 22 is used for changing extra resistance caused by non-concentricity of a gun body and a probe in the plugging process, the gun body can be smoothly inserted into the probe through self-adjustment of the clamping centering structure 22, and the butt joint is completed.

The guide centering structure 23 comprises a guide cone 231 which can be opened or buckled to clamp the gun body, the height of the guide cone 231 can be adjusted up and down, the clamping centering structure 22 is used for automatically and floatingly centering and adjusting the first clamping part 211, the clamping centering structure 22 can axially center the first clamping part 211 and the guide cone 231, and the clamping centering structure 22 can relieve centering resistance in the process of splicing the gun body and the probe 9; the probe directly falls on the supporting part 210 after being output from the probe storage tank 1 without rotating, a rotating mechanism is omitted on the clamping structure 21, the structure is simpler, the program control is simplified, and the maintenance is more convenient. The guide cone 231 of the guide centering structure 23 and the clamping centering structure 22 cooperate to meet the alignment requirement of the gun body and the probe.

As shown in fig. 22 to 25, the extracting structure 3, which is used for the extracting and separating process of the probe from the gun body, includes a second clamping portion 31 which can open or can be buckled to clamp the probe, and the second clamping portion 31 can clamp the probe 9 for separating the gun body from the probe.

The control part (not shown), the probe escapement 12, the first clamping part 211, the guide cone 231 and the second clamping part 31 are all in signal connection with the control part.

The action of the gun body is controlled by an industrial robot, a series of complex operations of plugging and unplugging between the gun body and the probe are all completed by the industrial robot, the industrial robot is also in signal connection with the control part, the clamping and centering structure 2 and the unplugging structure 3 can be matched with the industrial robot to act under the control of the control part, and a series of complex operations of plugging and unplugging and the like are intelligently completed.

In the device for intelligently storing, clamping and pulling out the probe, the probe storage box adopts an inclined bin type structure, the probe storage rack is arranged obliquely, the probe can roll to the outlet of the storage box by means of dead weight, and output can be realized without other power mechanisms; the multi-layer probe storage rack is set according to different types of probes, and each type of probe corresponds to one type of probe storage rack, so that the probe storage box can store multiple probes with different external dimensions, the length and the diameter are not required to be uniform, and the integration is wider; in the clamping and centering structure, the first clamping part can be opened or buckled to clamp the probe, so that the requirement of fixing the probe in the process of splicing the gun body and the probe is met; the first centering spring capable of vertically adjusting centering and the second centering spring capable of horizontally adjusting centering are combined to form a three-dimensional full-automatic floating centering structure, the clamping centering structure can solve the additional resistance caused by the fact that the gun body and the probe are not concentric in the plugging process, and the gun body can be smoothly inserted into the probe through self adjustment of the clamping centering structure to complete the butting; the alignment requirement of the gun body and the probe is realized by the cooperation of the guide cone of the guide centering structure and the clamping centering structure; the second clamping part of the pulling structure can be opened or buckled to clamp the probe, so that the probe is fixed in the pulling and separating process of the probe and the gun body; the utility model provides an among the device of intelligence storage, centre gripping and pulling probe, realize intelligence through the control part and control, need not manual operation, guarantee the safety of the grafting installation of the rifle body and probe and the pulling separation in-process of the rifle body and probe, device overall structure is simple, and the maintenance work volume is low, is favorable to using widely.

Further, as shown in fig. 4, 6, 7, 8, and 9, the probe escapement mechanism 12 further includes a connecting beam 122 disposed along the axial direction of the probe, and the connecting beam 122 is connected to the probe storage rack 11; two ends of the connecting beam 122 are respectively hinged with a poking claw 121, each poking claw 121 respectively comprises a first poking sheet 1211 and a second poking sheet 1212, the first poking sheet 1211 and the second poking sheet 1212 are hinged on two sides of the connecting beam 122 through a first hinge shaft 123, a first included angle is formed between the first poking sheet 1211 and the second poking sheet 1212, the second poking sheet 1212 is horizontally arranged when the first poking sheet 1211 is vertically arranged, and the second poking sheet 1212 is vertically arranged when the first poking sheet 1211 is horizontally arranged; a connecting rod 124 is connected between the two first hinge shafts 123, a first end of a push rod 125 is hinged on one first hinge shaft 123, and a second end of the push rod 125 is hinged with a push-pull cylinder 126. The probe escapement mechanism 12 uses a push-pull cylinder 126 as a power source, a push rod 125 and a connecting rod 124 are driven by the push-pull cylinder 126, and the connecting rod 124 drives a pusher dog 121 to rotate so as to realize the action of releasing one probe at a time.

In this embodiment, the push-pull cylinder 126 pushes the push rod 125 to move towards the first end, the first pick 1211 horizontally passes through the bottom probe while the second pick 1212 vertically stops the second probe from bottom to top, and the bottom probe falls to the support under the action of its own weight, so as to realize the output of one probe; after the output of the bottommost probe, the push-pull cylinder 126 pulls the push rod 125 back to move toward the second end, the second pick 1212 horizontally passes the second probe and the first pick 1211 vertically stops the second probe, thereby completing the sequential forward movement of the probes.

The probes 9 of the same specification correspond to the same probe escapement 12, the probes 9 of different specifications correspond to different probe escapements 12, and the probe escapements 12 are mounted on the storage rack. The reciprocating motion of the push-pull cylinder 126 drives the pusher dog 121 to rotate, so that the action requirement of releasing one probe 9 at a time is met. This mechanism is the core component of the entire probe tank.

Further, as shown in fig. 6 and 7, a first limit switch 51 and a second limit switch 52 are arranged on each layer of probe storage rack 11, the first limit switch 51 and the second limit switch 52 are used for monitoring the number of probes, the first limit switch 51 is used for detecting empty bins, and the second limit switch 52 is used for detecting supplement bins.

Further, as shown in fig. 4 and 5, the box body 10 includes a main body frame 102, a plurality of sets of supporting inclined plates 13 are disposed on the main body frame 102 at two sides of the storage tank outlet 101, each supporting inclined plate 13 is disposed obliquely upward from the storage tank outlet 101 to an end far away from the storage tank outlet, and each probe storage rack 11 is mounted on each set of supporting inclined plates 13. The main frame 102 is formed by welding section steel and steel plates, and a plurality of groups of supporting inclined plates 13 are welded and fixed on the main frame 102 at a certain inclination with the ground.

In the present embodiment, as shown in fig. 4, 5, 6, 7, and 11, each probe storage rack 11 includes a steel plate 111 for rolling, the steel plate 111 for rolling is erected on each set of inclined support plates 13, a support bracket 112 is horizontally provided below the bottom end of the steel plate 111 for rolling, and both ends of the support bracket 112 are connected to the main body frame 102. The support frame 112 is used for supporting an auxiliary steel plate extending from the outlet at the bottom end of the probe storage rack 11, and the auxiliary steel plate is used for rolling the probe after the probe is separated from the probe escapement mechanism.

In the present embodiment, both ends of the support frame 112 are connected to the main body frame 102 by bolts; the rolling steel plate 111 is bolted to the swash plate 13. The main body frame 102 is welded with a cylinder mounting vertical plate 1021, and the push-pull cylinder 126 of the probe escapement mechanism 12 is connected to the cylinder mounting vertical plate 1021 through a bolt.

Further, as shown in fig. 4 and 10, a guide stopper plate 14 is provided at one end of each probe storage rack 11 in the axial direction of the probe 9, and the guide stopper plate 14 is used for positioning when the probe 9 is inserted and guiding when the probe 9 rolls downward. The guide limit plate 14 is connected to the support swash plate 13 by bolts.

In the present embodiment, as shown in fig. 1, 3 and 4, a sliding door 15 is provided on a side surface of the tank body 10 adjacent to the tank outlet 101. The utility model discloses an in a specific embodiment, the both sides of probe storage tank 1 are equipped with two push-and-pull doors 15 respectively, are convenient for get put probe, overhaul of equipments and relevant operations such as maintenance. The main body frame 102 is welded with a slide rail mounting plate 1022 for mounting a slide rail of the sliding door 15 (in the prior art, a conventional sliding door and a slide rail thereof are used).

When the probe is manually placed into the probe storage tank 1 from the sliding door 15 on one side, the probe 9 is placed in place when the top end of the probe touches the guide limit plate 14 on the other side, and the guide limit plates 14 with different lengths are designed for the probes with different lengths so as to ensure that the size centers of the probes with different lengths in the length direction (namely the axial direction of the probes) are overlapped with the center of the probe storage tank 1 (the size center along the axial direction of the probes). When the probe is put into from the opposite side push-and-pull door 15 of probe storage tank 1, direction limiting plate 14 also need alternate the position and install in one side of probe storage tank 1 to realized the requirement that probe storage tank 1 can bilateral symmetry overall arrangement, nevertheless no matter from which side put into the probe, all had the depth of putting into that the direction limiting plate restricted the probe, thereby guaranteed that the center of the probe of different length on length direction coincides with the storage tank center all the time.

Further, as shown in fig. 1, 2, 12, 13, 14, and 15, the clamping structure 21 includes a first integrated air clamp 212, the first integrated air clamp 212 includes a first moving arm 2121 and a second moving arm 2122 capable of moving horizontally along a radial direction of the first clamping portion 211, the first moving arm 2121 and the second moving arm 2122 are capable of moving towards or away from each other, the first clamping portion 211 includes at least one set of a first finger 2111 and a second finger 2112 capable of being clamped on the probe 9 in a pair-wise manner, the first finger 2111 is disposed on a first movable seat 2113, the first movable seat 2113 is hinged to a first fixed seat 2114, and the first fixed seat 2114 is connected to the first moving arm 2121; the second finger 2112 is arranged on a second movable seat 2115, the second movable seat 2115 is hinged on a second fixed seat 2116, and the second fixed seat 2116 is connected on a second movable arm 2122; the first movable seat 2113 and the second movable seat 2115 are respectively and vertically provided with a first centering spring 221 along two sides of the first clamping portion 211 in the axial direction, the bottom ends of the first centering springs 221 respectively prop against the first movable seat 2113 or the second movable seat 2115, and the top ends of the first centering springs 221 respectively prop against the top end of the first fixed seat 2114 or the top end of the second fixed seat 2116. The first integrated gas clamp 212 is provided with a probe monitoring sensor 213 at one axial side of the probe, the probe monitoring sensor 213 is used for sensing the state of the first clamping part 211, and the probe monitoring sensor 213 is in signal connection with the control part. The number of the probe monitoring sensors 213 is 2, and the sensors are respectively located at the central axis position of the probe 9 and the edge position of the first integrated air clamp 212, and are respectively used for monitoring the clamping or the opening of the first finger 2111 and the second finger 2112.

Further, as shown in fig. 13 and 14, the first fixing seat 2114 and the second fixing seat 2116 are respectively provided with a first flange plate 2117 extending outwards along two sides of the first clamping portion 211 in the axial direction, each first flange plate 2117 is provided with a first through hole, and the cross section of each first through hole is arranged in an oval shape; second through holes corresponding to the first through holes are formed in the bottoms of the first movable seat 2113 and the second movable seat 2115, first bolt rods 223 penetrate through the first through holes and the corresponding second through holes, and first fixing nuts 224 capable of fixing the first bolt rods 223 are arranged below the bottoms of the first movable seat 2113 and the second movable seat 2115; each first bolt rod 223 is sleeved with a first centering spring 221, the top end of each first centering spring 221 abuts against each first flange plate 2117, and the bottom end of each first centering spring 221 abuts against the first movable seat 2113 or the second movable seat 2115. In the present embodiment, each first centering spring 221 is covered with a first spring cover 2211. The oblong first through hole provides a sliding space for the first movable seat 2113 to drive the first bolt rod 223 to rotate relative to the first fixed seat 2114 or the second movable seat 2115 to drive the first bolt rod 223 to rotate relative to the second fixed seat 2116, when the first movable seat 2113 rotates relative to the first fixed seat 2114 or the second movable seat 2115 rotates relative to the second fixed seat 2116, the vertical first centering springs 221 on two sides of the first movable seat 2113 or the second movable seat 2115 can provide a moment opposite to the rotating direction until the moment balance is achieved, which is the principle of the three-dimensional full-automatic floating centering structure in vertical plane centering.

Further, as shown in fig. 12, 13, 14, and 15, a rotating bracket 225 is disposed at the bottom of the first integrated gas clamp 212, the rotating bracket 225 is hinged to the first base 226, the first integrated gas clamp 212 is fixedly connected to the rotating bracket 225 through a bolt and a screw, a rotating shaft extending downward is welded to the bottom surface of the rotating bracket 225, a preformed hole is disposed on the first base 226, the rotating shaft of the rotating bracket 225 is rotatably sleeved in the preformed hole of the first base 226, and the rotating bracket 225 rotates relative to the first base 226 with the center of the preformed hole as the center; the first and second moving

arms

2121 and 2122 can move horizontally along the rotating mount 225;

two opposite sides of the rotating bracket 225, which are respectively opposite to the first fixed seat 2114 and the second fixed seat 2116, are respectively provided with a second flange plate 2251 in an outward protruding manner, the first base 226 is provided with two third flange plates 227 which are respectively corresponding to the second flange plates 2251, each second flange plate 2251 is provided with a third through hole, each third flange plate 227 is provided with a fourth through hole, and the cross section of each fourth through hole is arranged in an oblong shape; a second bolt rod 228 penetrates through each third through hole and the corresponding fourth through hole, and a second fixing nut 229 capable of fixing the second bolt rod is arranged on one side, far away from the third flange plate 227, of the second flange plate 2251; each second bolt bar 228 is sleeved with a second centering spring 222, and both ends of each second centering spring 222 are respectively abutted against the second flange plate 2251 and the third flange plate 227. In the present embodiment, each second centering spring 222 is covered with a second spring shield 2221.

One end of the second bolt rod 228 passes through the third through hole on the second flange plate 2251 and then is fixed in the second fixing nut 229, the other end of the second bolt rod 228 passes through the fourth through hole on the third flange plate 227 and is not tightened to be in a movable state, the oblong fourth through hole provides a sliding space for the rotating bracket 225 to drive the second bolt rod 228 to rotate, the second centering springs 222 on two sides of the rotating bracket 225 opposite to the first fixing seat 2114 and the second fixing seat 2116 respectively provide a moment opposite to the rotating direction until a moment balance is achieved, which is the principle of the three-dimensional full-automatic floating centering structure in horizontal plane centering.

The first centering spring 221 can realize vertical adjustment centering to achieve moment balance, the second centering spring 222 can realize horizontal adjustment centering to achieve moment balance, the first centering spring 221 and the second centering spring 222 are combined to form a three-dimensional full-automatic floating centering structure, the clamping centering structure 22 changes extra resistance caused by the fact that a gun body and a probe are not concentric in the insertion process, the gun body can be smoothly inserted into the probe through self adjustment of the clamping centering structure 22, and butt joint is completed.

Further, as shown in fig. 1, fig. 12, fig. 16, fig. 17, fig. 18, and fig. 19, the supporting portion 210 includes a fixed frame 24, supporting vertical plates 241 extending upward are disposed on the fixed frame 24 at intervals along the axial direction of the probe, a guiding groove 242 with an upward opening is disposed on the supporting vertical plate 241, the guiding groove 242 is used for supporting the probe 9 falling from the outlet 101 of the storage tank, and the supporting vertical plate 241 can slide along the vertical direction to adjust the supporting height of the guiding groove 242; the bottom of the fixed frame 24 is connected with a buffer telescopic frame 25 which can move along the axial direction of the probe, and the buffer telescopic frame 25 is provided with a clamping structure 21.

The clamping and centering structure 2 can clamp the probe rolled off from the probe storage tank 1; before the probe is dropped, the first finger 2111 and the second finger 2112 of the first grasping portion 211 are kept in the open state until the probe is dropped, and then the grasping operation is performed. The first moving arm 2121 and the second moving arm 2122 move oppositely to clamp the probe, and after the probe is clamped in place, a signal is sent out, and the robot acts to insert the gun body into the probe.

Further, as shown in fig. 16, 17, 18, and 19, the buffer telescopic frame 25 includes a telescopic frame body 251, the telescopic frame body 251 includes telescopic side vertical plates 2511 arranged in pairs and at intervals, a sliding rod fixing seat 2512 is arranged in the middle between the two telescopic side vertical plates 2511 (the sliding rod fixing seat 2512 is connected to the two telescopic side vertical plates 2511 through screws), a buffer spring bearing bush 252 is arranged at a first end between the two telescopic side vertical plates 2511, a sliding rod 253 is inserted into the buffer spring bearing bush 252, and a first end of the sliding rod 253 is fixedly connected (connected by bolts) to the sliding rod fixing seat 2512; the bottom of the fixed frame 24 is provided with an end bearing bush seat 243 and a sliding bearing seat 244 at intervals along the axial direction of the probe, an end bearing bush 2431 and a sliding bearing 2441 are respectively arranged in the end bearing bush seat 243 and the sliding bearing seat 244, and the sliding bearing 2441 is fixedly connected in the sliding bearing seat 244; the buffer spring 254 extends from the end bearing block 243 to the sliding bearing block 244, the second end of the sliding rod 253 passes through the sliding bearing 2441, the buffer spring 254 and the end bearing bush 2431 and then is fixedly connected (fixedly connected through a bolt) with the sliding rod connecting plate 255, the first end of the buffer spring 254 abuts against the end bearing bush 2431, the second end of the buffer spring 254 abuts against the buffer spring bearing bush 252, and the buffer spring bearing bush 252 is used for restraining the end of the buffer spring 254; an adjusting screw 256 penetrates through the slide bar connecting plate 255, the adjusting screw 256 is connected to the slide bar connecting plate 255 through a thread, and a first end of the adjusting screw 256 can abut against the end bearing block 243 to adjust the pre-compression amount of the buffer spring 254. The buffer telescopic frame 25 can be stretched and retracted along the fixed frame 24 under the action of the sliding rod and the buffer spring 254 sleeved on the sliding rod, the buffer telescopic frame 25 is flexibly connected with the fixed frame 24, and the clamping structure 21 on the buffer telescopic frame 25 can move relative to the fixed frame 24 along the axial direction of the probe to realize the buffer of the in-place insertion of the gun body and the probe.

Further, as shown in fig. 14, 18 and 19, a clamping proximity switch 245 is disposed at one end of the fixing frame 24 close to the clamping structure 21, a proximity switch bracket 246 is disposed on the fixing frame 24, and the clamping proximity switch 245 is connected to the proximity switch bracket 246; the clamping proximity switch 245 is used for sensing the position of the clamping structure 21, and the clamping proximity switch 245 is in signal connection with the control part. In this embodiment, a clamping sensing block 2261 is disposed below the first base 226 of the clamping structure 21, and after the gun body and the probe are inserted in place and buffered, the clamping proximity switch 245 senses the position of the clamping sensing block 2261, and the clamping proximity switch 245 sends a signal indicating that the probe is successfully installed to the control unit. The clamp proximity switches 245 may be mirror mounted on the fixed frame 24 to accommodate different orientations of the clamp and centering structure 2.

Further, as shown in fig. 16, 17, 18, and 19, a telescopic bottom plate 2513 is disposed above the second ends of the two telescopic side plates 2511, a buffer stop block 2514 capable of abutting against a stop with the fixed frame 24 is disposed on the telescopic bottom plate 2513, and a clamping structure 21 is fixedly connected to the telescopic bottom plate 2513. The buffer stop 2514 is a limit block for compressing the buffer telescopic frame 25 in the plugging process. The retractable base plate 2513 is provided with a through hole to accommodate the rotating shaft passing through the bottom surface of the rotating bracket 225. The clamping structure 21 is fixedly connected to the retractable base plate 2513 by bolts.

The buffer telescopic frame 25 is used for buffering after the gun body and the probe are connected in place, and simultaneously sends out a connection in-place signal, then two fingers of the clamping structure 21 are loosened, and the gun body on the robot leaves with the probe to perform corresponding operation.

In the present embodiment, as shown in fig. 12, 18, and 19, the guide groove 242 is a V-shaped notch that opens upward, and the bottom of the V-shaped notch is provided in an arc shape. The supporting vertical plate 241 can slide along the vertical direction, and the height can be adjusted up and down to adjust the elevation of the probe falling into the guide groove 242, so as to prepare for clamping.

Further, as shown in fig. 12, 20, and 21, the guiding centering structure 23 further includes a second integrated air clamp 232, the second integrated air clamp 232 includes a third moving arm 2321 and a fourth moving arm 2322 capable of moving horizontally along a radial direction of the guiding cone 231, the third moving arm 2321 and the fourth moving arm 2322 can move toward or away from each other, the guiding cone 231 includes a first conical petal 2311 and a second conical petal 2312 capable of fastening and clamping the gun body in pair, each of the first conical petal 2311 and the second conical petal 2312 is provided with a half conical hole 2313, one end of the half conical hole 2313 near the clamping structure 21 is provided with a half conical hole 2314, and the two half conical holes 2313 are fastened to form a guiding conical hole capable of fastening the gun body; the first cone 2311 is connected to the third moving arm 2321 through a first cone support 2315, the second cone 2312 is connected to the fourth moving arm 2322 through a second cone support 2316, the first cone 2311 is bolted to the first cone support 2315, and the first cone support 2315 is bolted to the third moving arm 2321; the second petal body 2312 is bolted to the second petal support 2316, and the second petal support 2316 is bolted to the fourth moving arm 2322; the third moving arm 2321 and the fourth moving arm 2322 can move toward or away from each other to drive the first conical petal body 2311 and the second conical petal body 2312 to be buckled, clamped or opened. The guiding and centering structure 23 is located on one side of the clamping structure 21 close to the gun body, and in the inserting process, the gun body firstly passes through the guiding and centering structure 23 and the guiding of the gun body is completed through the guiding cone 231.

Further, as shown in fig. 20, a guide cone proximity switch 233 is disposed on the second integrated air clamp 232, and the guide cone proximity switch 233 is used for sensing the position of the guide cone 231.

Further, as shown in fig. 12, 20 and 21, the bottom of the second integrated air clamp 232 is slidably connected to the guide structure base 234. In this embodiment, the bottom surface of the second integrated air clamp 232 is connected to a transition support 235 extending downward, two sides of the transition support 235 are provided with oblong holes, two sides of the guide structure base 234 are respectively provided with a connection through hole corresponding to the oblong holes, and after the transition support 235 moves up and down along the guide structure base 234 and is adjusted to a suitable height position, a bolt is passed through the oblong holes and the connection through holes to fixedly connect the transition support 235 and the guide structure base 234 so as to align the clamping structure.

In this embodiment, as shown in fig. 12, the fixing frame 24 and the guiding structure base 234 are both connected to the second base 26 at the bottom through bolts, and the fixing frame 24 and the guiding structure base 234 are fixed to the same base, so as to realize the integrated design of the clamping structure 21, the clamping and centering structure 22 and the guiding and centering structure 23, optimize the size and layout of parts in each structure and the space utilization rate among each structure to the maximum extent, and make the overall external dimension of the designed device more compact and smaller, and facilitate the site layout.

Further, as shown in FIGS. 1, 2 and 22, as shown in fig. 23, 24 and 25, the pulling structure 3 further includes a suspension arm 32 extending from top to bottom, a bottom end of the suspension arm 32 is connected to a second clamping portion 31, the second clamping portion 31 includes a third integrated air clamp 311 connected (bolted) to the bottom end of the suspension arm 32, the third integrated air clamp 311 includes a fifth moving arm 3111 and a sixth moving arm 3112 capable of moving horizontally along a radial direction of the second clamping portion 31, the fifth moving arm 3111 and the sixth moving arm 3112 are capable of moving toward or away from each other, an opening of the second clamping portion 31 is disposed downward, the second clamping portion 31 includes a third finger 312 and a fourth finger 313 capable of being fastened and clamped to the probe in pair, the third finger 312 is connected to a bottom surface of the fifth moving arm 3111, the fourth finger 313 is connected to a bottom surface of the sixth moving arm 3112, and the fifth moving arm 3111 and the sixth moving arm 3112 are capable of moving toward or away from each other to drive the third finger 312 and the fourth finger 313 to be fastened or clamped. In this embodiment, the third fixing seat 314 is bolted to the third finger 312, the third fixing seat 314 is bolted to the bottom of the fifth moving arm 3111, the fourth fixing seat 315 is bolted to the fourth finger 313, and the fourth fixing seat 315 is bolted to the bottom of the sixth moving arm 3112.

Further, as shown in fig. 1, 22, and 23, the probe collecting box 6 is provided below the second clamping portion 31. A probe collection box 6 is placed directly below the drawer structure 3 for collecting used and used probes.

Further, as shown in fig. 1, 22 and 23, the clamping and centering structure 2 and the pulling structure 3 are covered with a front end plugging protection cover 4 with an open bottom, one side of the front end plugging protection cover 4 is open and is communicated with the storage tank outlet 101, a first gun body through hole 41 and a second gun body through hole 42 are formed in one side of the front end plugging protection cover 4 adjacent to the storage tank outlet 101, the central axis of the first gun body through hole 41 is coaxial with the central axis of the guide cone 231, and the central axis of the second gun body through hole 42 is coaxial with the central axis of the second clamping portion 31. The front end is connected with the inserting protection cover 4, so that the clamping and centering structure and the pulling structure can be comprehensively protected, the exposure of each structure in the device is reduced, the potential safety hazard of various motion mechanisms to the human body is avoided, the occurrence of personal injury accidents is reduced, and the safety is high. The clamping and centering structure 2 and the pulling structure 3 are jointly arranged in the front end plugging protection cover 4, so that the size and the layout of parts in each structure and the space utilization rate among the structures are optimized to the maximum extent, the designed device is more compact in overall appearance size and smaller, and the field arrangement is more convenient.

In the present embodiment, as shown in fig. 1, 22, and 23, a hood frame 43 is provided in the front end insertion and protection hood 4, a hood sliding door 44 is provided on a side of the front end insertion and protection hood 4 opposite to the probe tank 1, and the boom 32 is provided extending downward from a top of the hood frame 43. The protective cover sliding door 44 facilitates related operations such as equipment maintenance and repair.

After the robot carries the probe to complete the corresponding measurement (prior art), the robot returns to the device 100 for intelligently storing, clamping and pulling the probe to perform the pulling operation of the probe. Before pulling, the second clamping part 31 of the pulling structure 3 is in an open state, after the robot sends the probe, the third finger 312 and the fourth finger 313 of the second clamping part 31 clamp the probe under the driving of the third integrated gas clamp 311, signals are sent out after the probe is clamped in place, the robot retreats, the probe pulling work is completed, then the third integrated gas clamp 311 drives the third finger 312 and the fourth finger 313 to open, and the probe falls into the probe collecting box 6 which is placed below in advance.

The utility model discloses a device 100's of intelligence storage, centre gripping and pulling out probe use as follows:

a, arranging a plurality of layers of probe storage racks 11 in a box body 10 of a probe storage box 1, wherein each probe with each specification corresponds to one probe storage rack 11, the bottom opening of each layer of probe storage rack 11 is provided with a probe escapement mechanism 12 corresponding to the probe with the required specification, and a shifting claw is in a stop state; the probe is put in from the sliding door 15 on one side of the probe storage box 1, and the top end of the probe 9 is put in place when touching the guide limit plate 14 on the other side;

in the clamping and centering structure 2, the first clamping part 211 is in an open state, and the guide cone 231 of the guide centering structure 23 is in a closed state; in the pulling structure 3, the second clamping portion 31 is in an open state;

step b, the control part controls the probe escapement mechanism 12 requiring the specification layer to start working, the push-pull air cylinder 126 pushes the push rod 125 to move towards the direction of the first end, the first poking sheet 1211 horizontally releases the probe at the bottom end, the second poking sheet 1212 vertically stops the second probe from bottom to top, and the probe at the bottom end falls to the supporting part under the action of self weight to realize the output of one probe; after the output of the probe at the bottom end, the push-pull cylinder 126 pulls the push rod 125 back to move towards the second end direction, the second poking piece 1212 horizontally releases the second probe and the first poking piece 1211 vertically stops the second probe, thereby completing the sequential forward movement of the probes;

step c, the probe 9 delivered from the probe storage tank 1 falls into the guide groove 242 of the support part 210 and the first clamping part 211 (between the first finger 2111 and the second finger 2112), the control part controls the first clamping part 211 to clamp the probe 9, and the guide cone 231 is still in a closed state;

d, the robot carries the gun body to carry out probe installation (plug-in) action; the gun body firstly enters a guide cone 231 of the guide centering structure 23, the guide cone 231 centers the gun body and aims at a mounting hole of a probe (in the prior art), and the robot acts to insert the gun body into the probe; in the inserting process, the first centering spring 221 performs vertical adjustment centering, the second centering spring 222 performs horizontal adjustment centering, and the first centering spring 221 and the second centering spring 222 are combined to form a three-dimensional full-automatic floating centering structure;

e, after the probe is inserted to a certain depth, the robot stops acting, and the guide cone 231 of the guide centering structure 23 automatically opens at the moment because the guide cone 231 of the guide centering structure 23 blocks the road on which the gun body is continuously inserted into the probe to advance;

f, the robot continues to mount the probe; when the gun body and the probe are installed, the robot can continue to keep the plugging action, at the moment, the buffer telescopic frame 25 of the clamping and centering structure 2 acts, the buffer spring 254 starts to compress, and when the buffer spring is compressed to a certain stroke, the clamping proximity switch 245 sends a probe installation success signal;

step g, the first clamping part 211 is opened, and the robot takes the probe to leave the device 100 for intelligently storing, clamping and pulling the probe to execute corresponding detection work;

step h, after the probe finishes working, the robot returns to the area of the device 100 for intelligently storing, clamping and pulling the probe with the used probe, and the probe is pulled out (gun is pulled out); the robot sends the probe into the middle of the second clamping part 31 of the pulling structure 3, after the probe is stable, the third finger 312 and the fourth finger 313 of the second clamping part 31 are closed, the probe is clamped, the robot carries the gun body to withdraw and disassemble the probe, after the gun body is completely separated from the probe, the pulling is successful, the third finger 312 and the fourth finger 313 of the second clamping part 31 are opened, the old probe falls into the probe collecting box 6 below by self weight, and one working cycle is finished.

The above description is only exemplary of the present invention, and is not intended to limit the scope of the present invention. Any person skilled in the art should also realize that such equivalent changes and modifications can be made without departing from the spirit and principles of the present invention.

Claims

1. An intelligent probe storing, clamping and pulling device is characterized by comprising,

2. The device for intelligently storing, holding and extracting probes as claimed in claim 1, wherein said probe escapement further comprises a connecting beam disposed along the axial direction of the probe, said connecting beam being connected to said probe storage rack; the two ends of the connecting cross beam are respectively hinged with one of the shifting claws, each of the shifting claws respectively comprises a first shifting piece and a second shifting piece, the first shifting piece and the second shifting piece are hinged to the two sides of the connecting cross beam through a first hinge shaft, a first included angle is formed between the first shifting piece and the second shifting piece, the second shifting piece is horizontally released when the first shifting piece is vertically stopped, and the second shifting piece is vertically stopped when the first shifting piece is horizontally released; a connecting rod is connected between the two first hinged shafts, one first end of a push rod is hinged to the first hinged shaft, and the second end of the push rod is hinged to a push-pull cylinder.

3. The apparatus for smart storage, gripping and extraction of probes according to claim 2, wherein each layer of said probe storage rack is provided with a first limit switch and a second limit switch, said first limit switch being used for empty bin detection and said second limit switch being used for supplementary bin detection.

4. The apparatus of claim 2, wherein the housing comprises a main frame, a plurality of sets of inclined support plates are disposed on the main frame at two sides of the outlet of the storage tank, each inclined support plate is disposed in an inclined manner from the outlet of the storage tank to an end away from the outlet of the storage tank, and each probe storage rack is mounted on each set of inclined support plates.

5. The apparatus for intelligently storing, clamping and extracting probes as claimed in claim 4, wherein each probe storage rack comprises a rolling steel plate, the rolling steel plate is erected on each group of inclined supporting plates, a supporting rack is horizontally arranged below the bottom end of the rolling steel plate, and two ends of the supporting rack are connected to the main body frame.

6. The apparatus for storing, holding and extracting probes according to claim 4, wherein a guiding and limiting plate is disposed on each probe storage rack at one axial end of the probe, and the guiding and limiting plate is used for positioning when the probe is placed in the probe storage rack and guiding when the probe rolls downwards.

7. The intelligent probe storage, gripping and extraction device of claim 2, wherein the side of the housing adjacent to the outlet of the storage tank is provided with a sliding door.

8. The apparatus according to claim 1, wherein the clamping structure comprises a first integrated air clamp, the first integrated air clamp comprises a first moving arm and a second moving arm capable of moving horizontally along a radial direction of the first clamping portion, the first moving arm and the second moving arm are capable of moving towards or away from each other, the first clamping portion comprises at least a set of a first finger and a second finger capable of being buckled and clamped on the probe in pair, the first finger is arranged on a first movable seat, the first movable seat is hinged on a first fixed seat, and the first fixed seat is connected to the first moving arm; the second finger is arranged on a second movable seat, the second movable seat is hinged to a second fixed seat, and the second fixed seat is connected to the second movable arm; the first middle spring is vertically arranged on each of the first movable seat and the second movable seat along two axial sides of the first clamping part, the bottom end of the first middle spring abuts against the first movable seat or the second movable seat respectively, and the top end of the first middle spring can abut against the top end of the first fixed seat or the top end of the second fixed seat respectively; the first integrated gas clamp is arranged on one axial side of the probe and is provided with a probe monitoring sensor, the probe monitoring sensor is used for sensing the state of the first clamping part, and the probe monitoring sensor is in signal connection with the control part.

9. The apparatus for intelligently storing, clamping and extracting a probe according to claim 8, wherein the first fixing seat and the second fixing seat are respectively provided with a first flange plate extending outwards along two sides of the first clamping portion in the axial direction, each first flange plate is provided with a first through hole, and the cross section of each first through hole is arranged in an oblong shape; second through holes corresponding to the first through holes are formed in the bottoms of the first movable seat and the second movable seat, first bolt rods penetrate through the first through holes and the corresponding second through holes, and first fixing nuts capable of fixing the first bolt rods are arranged below the bottoms of the first movable seat and the second movable seat; each first bolt rod is sleeved with one first centering spring, the top end of each first centering spring abuts against each first flange plate, and the bottom end of each first centering spring abuts against the first movable seat or the second movable seat respectively.

10. The intelligent storage, gripping and extraction probe device of claim 9, wherein each of said first centering springs is externally covered by a first spring shield.

11. The apparatus for intelligently storing, clamping and extracting a probe according to claim 8, wherein a rotating bracket is disposed at a bottom of the first integrated air clamp, the rotating bracket is hinged to a first base, the first moving arm and the second moving arm can horizontally move along the rotating bracket, second flange plates are respectively disposed on two sides of the rotating bracket opposite to the first fixing seat and the second fixing seat, the first base is provided with two third flange plates corresponding to the second flange plates, each second flange plate is provided with a third through hole, each third flange plate is provided with a fourth through hole, and a cross section of each fourth through hole is in an oblong shape; a second bolt rod penetrates through each third through hole and the corresponding fourth through hole, and a second fixing nut capable of fixing the second bolt rod is arranged on one side, far away from the third flange plate, of the second flange plate; and each second bolt rod is sleeved with one second centering spring, and two ends of each second centering spring are respectively propped against the second flange plate and the third flange plate.

12. The intelligent storage, gripping and extraction probe device of claim 11, wherein each of said second centering springs is externally covered by a second spring shield.

13. The device for intelligently storing, clamping and extracting a probe according to claim 8, wherein the supporting portion comprises a fixed frame, the fixed frame is provided with supporting vertical plates extending upwards at intervals along the axial direction of the probe, the supporting vertical plates are provided with guide grooves with upward openings, the guide grooves are used for supporting the probe falling from the outlet of the storage tank, and the supporting vertical plates can slide along the vertical direction to adjust the supporting height of the guide grooves; the bottom of the fixed frame is connected with a buffer telescopic frame which can move along the axial direction of the probe, and the buffer telescopic frame is provided with the clamping structure.

14. The apparatus for intelligently storing, clamping and extracting a probe according to claim 13, wherein the buffer telescopic frame comprises a telescopic frame body, the telescopic frame body comprises telescopic side vertical plates which are arranged in pairs and at intervals, a slide bar fixing seat is arranged in the middle between the two telescopic side vertical plates, a buffer spring bearing bush is arranged at a first end between the two telescopic side vertical plates, a slide bar penetrates through the buffer spring bearing bush, and the first end of the slide bar is fixedly connected to the slide bar fixing seat; the bottom of the fixed frame is provided with an end bearing bush seat and a sliding bearing seat at intervals along the axial direction of the probe, and an end bearing bush and a sliding bearing are respectively arranged in the end bearing bush seat and the sliding bearing seat; the second end of the sliding rod penetrates through the sliding bearing, the buffer spring and the end part bearing bush and then is fixedly connected with a sliding rod connecting plate, the buffer spring extends from the end part bearing bush to the sliding bearing block, the first end of the buffer spring abuts against the end part bearing bush, and the second end of the buffer spring abuts against the buffer spring bearing bush; an adjusting screw rod penetrates through the slide bar connecting plate, the adjusting screw rod is in threaded connection with the slide bar connecting plate, and the first end of the adjusting screw rod can abut against the end portion bearing block seat to adjust the precompression amount of the buffer spring.

15. The intelligent probe storage, gripping and extraction device of claim 14, wherein a gripping proximity switch is disposed on the stationary frame near an end of the gripping structure, the gripping proximity switch is configured to sense a position of the gripping structure, and the gripping proximity switch is in signal communication with the control unit.

16. The apparatus for storing, clamping and extracting a probe according to claim 14, wherein a retractable bottom plate is disposed above the second ends of the two retractable side standing plates, a buffering stop block capable of abutting against a fixed frame is disposed on the retractable bottom plate, and the clamping structure is fixedly connected to the retractable bottom plate.

17. The apparatus according to claim 13, wherein the guide slot is a V-shaped notch with an upward opening, and the bottom of the V-shaped notch is arranged in an arc.

18. The apparatus for intelligently storing, clamping, and extracting a probe according to claim 8, wherein the guiding centering structure further comprises a second integrated air clamp, the second integrated air clamp comprises a third moving arm and a fourth moving arm capable of moving horizontally in a radial direction of the guiding cone, the third moving arm and the fourth moving arm are capable of moving toward or away from each other, the guiding cone comprises a first cone flap and a second cone flap capable of buckling and clamping a gun body in pair, the first cone flap and the second cone flap are both provided with half-cone holes, one end of the half-cone hole close to the clamping structure is communicated with a half-cone hole, and the two half-cone holes are buckled to form a guiding cone hole capable of clamping the gun body; first cone petal body through first cone petal leg joint in on the third removes the arm, second cone petal body through second cone petal leg joint in on the fourth removes the arm, the third remove the arm with the fourth removes the arm and can move in opposite directions or carry on the back of the body in order to drive first cone petal body with second cone petal body lock is tight or opens.

19. The intelligent probe storage, gripping and extraction device of claim 18, wherein the second integrated air clamp has a guide cone proximity switch disposed thereon for sensing the position of the guide cone.

20. The intelligent probe storage, gripping and extraction device of claim 18, wherein the bottom of the second integrated air clamp is slidably connected up and down to the guide structure base.

21. The apparatus according to claim 1, wherein the pulling structure further comprises a suspension arm extending from top to bottom, the bottom end of the suspension arm is connected to the second clamping portion, the second clamping portion comprises a third integrated air clamp connected to the bottom end of the suspension arm, the third integrated air clamp comprises a fifth moving arm and a sixth moving arm capable of moving horizontally along the radial direction of the second clamping portion, the fifth moving arm and the sixth moving arm are capable of moving toward or away from each other, the opening of the second clamping portion is disposed downward, the second clamping portion comprises a third finger and a fourth finger capable of being fastened and clamped to the probe in pair, the third finger is connected to the bottom surface of the fifth moving arm, the fourth finger is connected to the bottom surface of the sixth moving arm, and the fifth moving arm and the sixth moving arm are capable of moving toward or away from each other to drive the third finger and the fourth finger to fasten and clamp together Tightened or spread.

22. The intelligent probe storage, gripping and extraction device of claim 21, wherein a probe collection box is provided below the second gripping portion.

23. The device for intelligently storing, clamping and extracting a probe according to claim 1, wherein the outer side of the clamping and centering structure and the outer side of the extracting structure are covered with a front end insertion protection cover with an open bottom, one side of the front end insertion protection cover is open and is communicated with the outlet of the storage tank, a first gun body through hole and a second gun body through hole are arranged on one side of the front end insertion protection cover adjacent to the outlet of the storage tank, the central axis of the first gun body through hole is coaxial with the central axis of the guide cone, and the central axis of the second gun body through hole is coaxial with the central axis of the second clamping part.