A mould tilting robot for steel ingot moulds

Abstract

The present application relates to the field of steelmaking, and particularly relates to a steel ingot mold swing mechanism arm for steelmaking mold casting, which comprises a moving vehicle body and a vertical rod, a motorized rotating platform is installed on the moving vehicle body, a hydraulic telescopic arm is arranged on the vertical rod, a hanging rack is installed on the hydraulic telescopic arm, and a demolding mechanism is arranged on the moving vehicle body. The present application adds a hydraulic telescopic arm, a lifting mechanism and a visual angle control system, the hanging rack is hung with a steel ingot mold, the hydraulic telescopic arm lifts the steel ingot mold, the pouring gate of the steel ingot mold is aligned with a certain injection port of the pouring platform, then the hydraulic telescopic arm is lowered until the pouring gate of the steel ingot mold is connected with the injection port of the pouring platform; the above operation is repeated until the pouring platform is connected with all the steel ingot molds, the automatic connection and placement of the steel ingot mold is realized, the production efficiency is improved, the working strength of the workers is reduced, and the safety hidden danger is also reduced; the demolding mechanism is added, the pouring and setting and the demolding are integrated, the procedure is simplified, and the operation is more convenient.

Description

Technical Field

[0001] This invention relates to the field of steelmaking technology, and more specifically to a swing-type robotic arm for steel ingot casting. Background Technology

[0002] There are two methods for casting steel ingots: top casting and bottom casting. For bottom casting, multiple preheated steel ingot molds are accurately suspended on the casting platform, ensuring the ingot mold's gate aligns with the platform's inlet. After the steel ingot cools and solidifies, the mold and the ingot inside are then placed into a demolding device for demolding.

[0003] Currently, workers remotely direct cranes via walkie-talkie to lift steel ingots onto the casting platform. After lifting, workers need to stand on the ingot mold to check if the two holes are aligned, and then make adjustments as needed. This process is labor-intensive and poses significant safety hazards. Furthermore, a separate demolding process is required, making the procedure complex and inconvenient. To address these issues, we have proposed a robotic arm for ingot mold swinging in steelmaking casting. Summary of the Invention

[0004] (I) In view of the shortcomings of the prior art, the present invention provides a steel ingot mold swinging robot arm for steelmaking mold casting, which overcomes the problems of high strength, great hidden dangers and complex operation when placing steel ingot molds in the prior art, realizes the docking and placement of steel ingot molds automatically, realizes the integration of casting, molding and demolding, and improves production efficiency.

[0005] (II) To achieve the above objectives, the present invention is implemented through the following technical solution: a steel ingot mold swinging manipulator for steelmaking mold casting, comprising a mobile vehicle body and a vertical pole, an electric rotating platform for driving the vertical pole to rotate is installed on the mobile vehicle body, a liftable hydraulic telescopic arm is slidably installed on the vertical pole, a lifting frame for hanging the steel ingot mold is installed at the movable end of the hydraulic telescopic arm, the lifting frame moves horizontally under the drive of the hydraulic telescopic arm, and a demolding mechanism is provided on the mobile vehicle body, which is used to hold the steel ingot mold after casting and to separate the steel ingot inside from the steel ingot mold by rapid vibration;

[0006] The hoisting frame includes a boom fixed to a hydraulic telescopic boom, a viewing control system is installed on the boom, and two sets of ropes are fixed on the boom. The other end of the two sets of ropes is fixed with a hook that is connected to the lug of the steel ingot mold.

[0007] Preferably, the upright has a slide rail for sliding installation of the hydraulic telescopic boom, and the top of the upright has a through hole.

[0008] Preferably, a lifting mechanism is provided between the electric rotating platform and the hydraulic telescopic arm; the lifting mechanism includes a lifting motor installed on the electric rotating platform and a fixed pulley installed on the top of the pole, a coil is installed on the output end of the lifting motor, a steel rope is wound on the coil, and the other end of the steel rope passes around the fixed pulley and through the through hole to be fixed to the hydraulic telescopic arm.

[0009] Preferably, the demolding mechanism includes a first base fixed to a mobile vehicle body, a first cavity inside the first base, and a first slot for locking the steel ingot mold on the top of the first base. A constraint hole is provided between the first slot and the first cavity. The first cavity is provided with a striking part for striking the steel ingot and an extrusion part for deflecting the steel ingot.

[0010] Preferably, the striking part includes a striking tube slidably mounted with the constraint hole and a first motor mounted on the inner wall of the first cavity. A turntable is fixed to the output end of the first motor, an eccentric rod is fixed on the turntable, and a swing arm is rotatably mounted on the eccentric rod. The other end of the swing arm is rotatably mounted to the outer end of the striking tube.

[0011] Preferably, the extrusion section includes two sets of first hydraulic rods installed in the first cavity. The movable ends of the two sets of first hydraulic rods are fixed with the same set of bearing plates, and the bearing plates are fixed with extrusion rods that pass through the striking tube.

[0012] Preferably, the demolding mechanism includes a second base fixed to a mobile vehicle body, a second cavity inside the second base, and a second slot for locking the steel ingot mold on the top of the second base. A constraint channel is provided between the second slot and the second cavity. The second cavity is provided with an impact part for striking the steel ingot and a pushing part for deflecting the steel ingot.

[0013] Preferably, the impact part includes a second motor installed in the second cavity and a fixed rod fixed to the bottom wall of the second cavity. An impact rod is slidably installed on the fixed rod and can pass through the constraint channel. A spring is sleeved on the fixed rod at the position between the bottom wall of the second cavity and the bottom of the impact rod. A rotating rod is installed at the output end of the second motor. A guide roller is rotatably installed on the rotating rod. A docking plate that cooperates with the guide roller is fixed at the outer end of the impact rod, and an extension ring is provided at the bottom of the impact rod.

[0014] Preferably, the actuating part includes two sets of second hydraulic rods installed on the inner wall of the second cavity. The movable ends of the two sets of second hydraulic rods are fixed with the same set of connecting plates. The connecting plates are provided with slots for the fixed rod and spring to pass through. The inner diameter of the slots is smaller than the diameter of the outer ring to ensure that the outer ring does not pass through the slots.

[0015] Preferably, an ejection mechanism is provided on the mobile vehicle body at a position opposite to the demolding mechanism, which is used to eject the steel ingot from the steel ingot mold so that the chuck can grab and lift the ejected steel ingot; the ejection mechanism includes a top seat fixed on the mobile vehicle body, the top of the top seat has a receiving groove for receiving the steel ingot mold, and the inner wall of the receiving groove has an ejector rod that is directly opposite the gate of the steel ingot mold.

[0016] (III) This invention provides a swing-type robotic arm for steel ingot casting, which has the following beneficial effects:

[0017] 1. By incorporating a hydraulic telescopic arm, lifting mechanism, and perspective control system, the hoisting frame is used to attach the steel ingot mold. The hydraulic telescopic arm lifts the steel ingot mold, and the perspective control system aligns the gate of the steel ingot mold with a specific injection port on the pouring platform. Then, the hydraulic telescopic arm is lowered until the gate of the steel ingot mold is aligned with the injection port on the pouring platform. This process is repeated until the pouring platform is aligned with all steel ingot molds, achieving automated placement and connection of steel ingot molds. This improves production efficiency, reduces the workload of workers, and also reduces safety hazards.

[0018] 2. By adding a demolding mechanism, the bottom of the steel ingot is intermittently vibrated, causing the ingot mold and the steel ingot inside to vibrate, achieving initial separation between the steel ingot and the ingot mold. Then, the steel ingot is separated from the ingot mold again vertically. Through vibration and vertical separation, the demolding effect is guaranteed. There is no need to send the steel ingot mold into a special demolding device, realizing the integration of casting, molding and demolding, simplifying the process and making it more convenient to operate.

[0019] 3. By adding an ejection mechanism, after the steel ingot in the ingot mold is demolded by the demolding mechanism, the lower part of the steel ingot mold is controlled to insert into the receiving groove. Previously, the steel ingot and the steel ingot mold have been separated. Due to the obstruction of the ejector rod, the top of the steel ingot protrudes from the steel ingot mold. At this time, the workers can use the chucks or clamps on the crane to grab and lift the steel ingot out, which provides convenience for taking the steel ingot out of the steel ingot mold. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the robotic arm structure of the present invention;

[0021] Figure 2 This is a schematic diagram of the robotic arm of the present invention from another perspective;

[0022] Figure 3 This is a schematic diagram of the hydraulic telescopic boom and lifting mechanism of the present invention;

[0023] Figure 4 This is a schematic diagram of the lifting frame structure of the present invention;

[0024] Figure 5 This is a schematic diagram of the ejection mechanism of the present invention;

[0025] Figure 6 This is a cross-sectional view of the demolding mechanism and its structure in Embodiment 1 of the present invention;

[0026] Figure 7 This is a partial structural separation diagram of the demolding mechanism in Embodiment 1 of the present invention;

[0027] Figure 8 This is a cross-sectional view of the demolding mechanism and its structure in Embodiment 3 of the present invention;

[0028] Figure 9 This is a schematic diagram of the impact part and the jacking part in Embodiment 3 of the present invention;

[0029] Figure 10 This is a front view of part of the impact section and the jacking section structure in Embodiment 3 of the present invention;

[0030] Figure 11 This is a schematic diagram showing the placement of the steel ingot mold of the present invention on the casting platform.

[0031] In the diagram: 1. Moving vehicle body; 2. Electric rotating platform; 3. Upright pole; 3a. Slide rail; 3b. Through hole; 4. Hydraulic telescopic arm; 5. Lifting mechanism; 51. Lifting motor; 52. Cable reel; 53. Steel rope; 54. Fixed pulley; 6. Lifting frame; 61. Lifting rod; 62. View control system; 63. Hook; 64. Rope; 7. Ejection mechanism; 71. Top seat; 72. Receiving groove; 73. Ejector rod; 8. Demolding mechanism; 81. First base; 82. First slot; 83. Constraint hole; 84. Striking part; 841. First motor; 842. Rotating... 843. Disc; 844. Eccentric rod; 845. Swing rod; 846. Striking tube; 85. Extrusion section; 851. Bearing plate; 852. First hydraulic rod; 853. Extrusion rod; 9. Demolding mechanism; 91. Second base; 92. Second slot; 93. Constraint track; 94. Impact section; 941. Second motor; 942. Rotating rod; 943. Guide roller; 944. Connecting plate; 945. Impact rod; 946. Fixed rod; 947. Spring; 948. Outer ring; 95. Pushing section; 951. Connecting plate; 952. Slot; 953. Second hydraulic rod. Detailed Implementation

[0032] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0033] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Example 1

[0035] like Figures 1-7 as well as Figure 11 As shown, a steel ingot mold swinging manipulator for steelmaking mold casting includes a mobile body 1 and a vertical pole 3. An electric rotating platform 2 is installed on the mobile body 1 to drive the vertical pole 3 to rotate. A liftable hydraulic telescopic arm 4 is slidably installed on the vertical pole 3. A lifting frame 6 is installed at the movable end of the hydraulic telescopic arm 4 to hang the steel ingot mold (the steel ingot mold is larger at the top and smaller at the bottom, and its bottom has a gate). A counterweight can be connected to the end of the hydraulic telescopic arm 4 opposite to the lifting frame 6 to improve stability. The lifting frame 6 moves horizontally under the drive of the hydraulic telescopic arm 4. The mobile body 1 is provided with a demolding mechanism 8, which is used to hold the steel ingot mold after casting and to separate the steel ingot from the steel ingot mold by rapid vibration.

[0036] After the mobile vehicle 1 is moved to a suitable position, the lifting frame 6 hooks onto the ingot mold, driving the hydraulic telescopic arm 4 to move upward, lifting the ingot mold into the air. Then, the electric rotating platform 2 is controlled to drive the upright 3, hydraulic telescopic arm 4, lifting frame 6, and the ingot mold on it to rotate until the ingot mold is close to the casting platform. Next, the hydraulic telescopic arm 4 is controlled to move the ingot mold horizontally, aligning the ingot mold's gate with a certain injection port on the casting platform. Then, the hydraulic telescopic arm 4 is lowered until the ingot mold's gate is connected to the injection port on the casting platform. The above operation is repeated until the casting platform is connected to all ingot molds. Figure 11 As shown, the automated docking and placement of steel ingot molds improves production efficiency, reduces the workload of workers, and also reduces safety hazards.

[0037] After the casting is completed and the steel ingot in the ingot mold cools and solidifies, the lifting frame 6 lifts the corresponding steel ingot mold from the casting platform and rotates it to the position of the demolding mechanism 8. After the steel ingot mold is connected with the demolding mechanism 8, the demolding mechanism 8 is activated to quickly vibrate the steel ingot mold, so that the steel ingot inside is demolded. There is no need to send the steel ingot mold into a special demolding device, realizing the integration of casting, molding and demolding, simplifying the procedure and making it more convenient to operate.

[0038] The hoisting frame 6 includes a boom 61 fixed to the hydraulic telescopic boom 4. A perspective control system 62 is installed on the boom 61, and two sets of ropes 64 are fixed on the boom 61. The other end of the two sets of ropes 64 is fixed with a hook 63 that is connected to the lug of the steel ingot mold.

[0039] By rotating and extending the hydraulic telescopic boom 4, the boom 61 and its ropes 64 and hooks 63 are moved, so that the two sets of hooks 63 can be hooked onto the trunnions on both sides of the steel ingot mold. In this way, the steel ingot mold will also move as the lifting frame 6 moves.

[0040] In this embodiment, the upright 3 has a slide rail 3a for sliding installation of the hydraulic telescopic arm 4, and the top of the upright 3 has a through hole 3b. The through hole 3b is provided for the steel cable 53 to pass through, and the hydraulic telescopic arm 4 passes through the slide rail 3a and is set perpendicular to the slide rail 3a.

[0041] In this embodiment, a lifting mechanism 5 is provided between the electric rotating platform 2 and the hydraulic telescopic arm 4. The lifting mechanism 5 includes a lifting motor 51 mounted on the electric rotating platform 2 and a fixed pulley 54 mounted on the top of the upright 3. A coil 52 is mounted on the output end of the lifting motor 51, and a steel rope 53 is wound on the coil 52. The other end of the steel rope 53 passes around the fixed pulley 54 and through the through hole 3b to be fixed to the hydraulic telescopic arm 4. When it is necessary to lift the ingot mold, the lifting motor 51 is started, which drives the coil 52 to rotate and wind up the steel rope 53. By reversing the direction of the fixed pulley 54, the hydraulic telescopic arm 4 fixed to the steel rope 53 is driven to move upward, thus achieving the lifting. When it is necessary to lower the ingot mold, the lifting motor 51 is controlled to reverse, lengthening the steel rope 53. Under the action of gravity, the hydraulic telescopic arm 4 moves downward, thus achieving the lowering. The structure is simple and easy to use.

[0042] In this embodiment, the demolding mechanism 8 includes a first base 81 fixed to the mobile vehicle body 1. The first base 81 has a first cavity inside. A side door is provided on the first base 81 corresponding to the position of the first cavity. Multiple sets of heat dissipation holes are provided on the side door. A first slot 82 for locking the steel ingot mold is provided on the top of the first base 81. A constraint hole 83 is provided between the first slot 82 and the first cavity. The first cavity is provided with a striking part 84 for striking the steel ingot and an extrusion part 85 for deflecting the steel ingot. The striking part 84 includes a striking tube 845 (a rubber ring block can be provided on the top of the striking tube 845) slidably installed with the constraint hole 83 and a first motor 841 installed on the inner wall of the first cavity. A turntable 842 is fixed to the output end of the first motor 841. An eccentric rod 843 is fixed on the turntable 842. A swing rod 844 is rotatably installed on the eccentric rod 843. The other end of the swing rod 844 is rotatably installed with the outer end of the striking tube 845. The extrusion section 85 includes two sets of first hydraulic rods 852 installed in the first cavity. The movable ends of the two sets of first hydraulic rods 852 are fixed to the same set of bearing plates 851. An extrusion rod 853 passing through the striking tube 845 is fixed on the bearing plate 851, that is, the outer diameter of the extrusion rod 853 is smaller than the diameter of the striking tube 845. The two sets of first hydraulic rods 852 are located on both sides of the extrusion rod 853. When the bottom of the ingot mold is inserted into the first slot 82, the position of its gate is aligned with the position of the constraint hole 83. The first motor 841 is started, driving the turntable 842 connected to its output end to rotate. The eccentric rod 843 on it rotates around the center of the turntable 842. Through the transmission of the swing rod 844, the striking tube 845 can be driven to move back and forth vertically, intermittently striking the bottom of the ingot, causing the ingot mold and the ingot inside to vibrate, realizing the initial separation of the ingot from the ingot mold. After the striking is completed, the two sets of first hydraulic rods 852 are started. The pressure rod 852 moves the bearing plate 851 upward, which in turn moves the top of the extrusion rod 853 upward, passing through the striking tube 845 and the ingot mold gate and contacting the ingot. As the extrusion rod 853 continues to move upward, it causes the ingot to shift upward, separating the ingot from the ingot mold again vertically, thus completing the demolding. Vibration and vertical separation ensure the demolding effect. There is no need to send the ingot mold into a special demolding device, realizing the integration of casting, molding and demolding, simplifying the procedure and making the operation more convenient.

[0043] Example 2

[0044] refer to Figures 8-10The demolding mechanism is basically the same as that in Embodiment 1, except that the demolding mechanism 9 includes a second base 91 fixed on the mobile vehicle body 1. The second base 91 has a second cavity. The second base 91 has a side door corresponding to the position of the second cavity. The side door has multiple sets of heat dissipation holes. The top of the second base 91 has a second slot 92 for locking the steel ingot mold. A constraint channel 93 is provided between the second slot 92 and the second cavity. The second cavity has an impact part 94 for striking the steel ingot and a pushing part 95 for deflecting the steel ingot.

[0045] After the bottom of the ingot mold is inserted into the first slot 82, the position of its gate is aligned with the position of the constraint channel 93. The impact part 94 is controlled to vibrate the ingot inside the ingot mold, realizing the initial separation of the ingot from the ingot mold. After the impact is completed, the jacking part 95 is controlled to push the ingot inside the ingot mold upward, and the ingot is separated from the ingot mold again vertically, thus completing the demolding. The demolding effect is guaranteed by vibration and vertical separation. At the same time, there is no need to send the ingot mold into a special demolding device, realizing the integration of casting, molding and demolding, simplifying the procedure and making the operation more convenient.

[0046] In this embodiment, the impact unit 94 includes a second motor 941 installed in the second cavity and a fixed rod 946 fixed to the bottom wall of the second cavity. An impact rod 945 is slidably installed on the fixed rod 946. The impact rod 945 can pass through the constraint channel 93. A spring 947 is sleeved on the fixed rod 946 at the position between the bottom wall of the second cavity and the bottom of the impact rod 945. A rotating rod 942 is installed at the output end of the second motor 941. A guide roller 943 is rotatably installed on the rotating rod 942. A docking plate 944 that cooperates with the guide roller 943 is fixed at the outer end of the impact rod 945. An extension ring 948 is provided at the bottom of the impact rod 945. Two sets of the second motor 941, the rotating rod 942, the guide roller 943 and the docking plate 944 are provided. In this process, the second motor 941 is started, which drives the rotating rod 942 connected to its output end to rotate. During the rotation, the rotating rod 942 first contacts the docking plate 944 and presses it downward. The impact rod 945 moves downward accordingly. During this process, the spring 947 is compressed. As the rotating rod 942 continues to rotate and disengages from the docking plate 944, under the elastic force of the spring 947, the impact rod 945 suddenly moves upward and passes through the gate to vibrate the steel ingot. By repeating the above operation, the impact rod 945 will continuously vibrate the steel ingot, achieving initial separation. Since the impact rod 945 is not through (unlike the striking tube 845), it will not deform after long-term impact use (the striking tube 845 is easy to deform because it is through). However, the structure of the impact part 94 is more complex than that of the striking part 84.

[0047] In this embodiment, the jacking part 95 includes two sets of second hydraulic rods 953 installed on the inner wall of the second cavity. The two sets of second hydraulic rods 953 are located on both sides of the impact rod 945. The movable ends of the two sets of second hydraulic rods 953 are fixed with the same set of connecting plates 951. The connecting plates 951 have slots 952 for the fixed rod 946 and the spring 947 to pass through. The inner diameter of the slots 952 is smaller than the diameter of the outer ring 948 to ensure that the outer ring 948 does not pass through the slots 952. After the impact is completed, the two sets of second hydraulic rods 953 are activated, which drives the connecting plates 951 to move upward. The connecting plates 951 pass through the fixed rod 946 and the spring 947 and abut against the outer ring 948. As the connecting plates 951 continue to move upward, the impact rod 945 can be driven to move upward, causing the steel ingot to shift upward. The steel ingot is then separated from the steel ingot mold again in the vertical direction, thus completing the demolding.

[0048] Example 3

[0049] refer to Figure 1 and Figure 5 Based on Embodiment 1 or Embodiment 2, a further optimization is that an ejection mechanism 7 is provided on the mobile vehicle body 1 at a position opposite to the demolding mechanism (8, 9), which is used to eject the steel ingot from the steel ingot mold so that the chuck can grab and lift the ejected steel ingot; the ejection mechanism 7 includes a top seat 71 fixed on the mobile vehicle body 1, and a receiving groove 72 for receiving the steel ingot mold is opened on the top of the top seat 71. An ejector rod 73 is fixed on the inner wall of the receiving groove 72 and is directly opposite to the gate of the steel ingot mold.

[0050] After the steel ingot in the ingot mold is demolded by the demolding mechanism (8, 9), the hydraulic telescopic arm 4 is controlled to move the steel ingot mold to the position of the top seat 71. The lifting mechanism 5 is controlled so that the lower part of the steel ingot mold is inserted into the receiving groove 72. Since the steel ingot and the steel ingot mold have been separated, the bottom of the steel ingot mold is in contact with the bottom wall of the receiving groove 72. Since the steel ingot is blocked by the top rod 73, the top of the steel ingot protrudes from the steel ingot mold. At this time, the workers can use the chucks or clamps on the crane to grab and lift the steel ingot out, which provides convenience for taking the steel ingot out of the steel ingot mold.

[0051] All components used in this application are standard parts that can be purchased from the market. The specific connection methods of each part adopt conventional methods such as bolts, rivets and welding that are mature in the existing technology. The machinery, parts and electrical equipment all adopt conventional models in the existing technology.

[0052] The embodiments disclosed herein are preferred embodiments, but are not limited thereto. Those skilled in the art can readily grasp the spirit of the present invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of the present invention, they are all within the protection scope of the present invention.

Claims

1. A robotic arm for casting steel ingot molds in steelmaking, characterized in that: The mobile vehicle (1) and the upright (3) are included. An electric rotating platform (2) is installed on the mobile vehicle (1) to drive the upright (3) to rotate. A liftable hydraulic telescopic arm (4) is slidably installed on the upright (3). A lifting frame (6) for hanging the steel ingot mold is installed on the movable end of the hydraulic telescopic arm (4). The lifting frame (6) moves horizontally under the drive of the hydraulic telescopic arm (4). The mobile vehicle (1) is provided with a demolding mechanism (8), which is used to hold the steel ingot mold after casting and to separate the steel ingot from the steel ingot mold by rapid vibration. The hoisting frame (6) includes a boom (61) fixed to the hydraulic telescopic boom (4), a viewing control system (62) is installed on the boom (61), and two sets of ropes (64) are fixed on the boom (61). The other end of the two sets of ropes (64) is fixed with a hook (63) that is connected to the lug shaft of the steel ingot mold. The demolding mechanism (8) includes a first base (81) fixed on the mobile vehicle body (1), the first base (81) has a first cavity, the first cavity has a striking part (84) for striking the steel ingot and an extrusion part (85) for deflecting the steel ingot. The striking part (84) includes a striking tube (845) slidably mounted with the constraint hole (83) and a first motor (841) mounted on the inner wall of the first cavity. A turntable (842) is fixed to the output end of the first motor (841). An eccentric rod (843) is fixed on the turntable (842). A swing rod (844) is rotatably mounted on the eccentric rod (843). The other end of the swing rod (844) is rotatably mounted to the outer end of the striking tube (845). The extrusion section (85) includes two sets of first hydraulic rods (852) installed in the first cavity. The movable ends of the two sets of first hydraulic rods (852) are fixed with the same set of support plates (851). An extrusion rod (853) passing through the striking tube (845) is fixed on the support plate (851).

2. The steel ingot mold swinging manipulator for steelmaking casting as described in claim 1, characterized in that: The upright (3) has a slide (3a) for sliding installation of the hydraulic telescopic arm (4), and the top of the upright (3) has a through hole (3b).

3. The steel ingot mold swinging manipulator for steelmaking casting as described in claim 2, characterized in that: A lifting mechanism (5) is provided between the electric rotating platform (2) and the hydraulic telescopic arm (4); The lifting mechanism (5) includes a lifting motor (51) installed on the electric rotating platform (2) and a fixed pulley (54) installed on the top of the pole (3). A coil (52) is installed on the output end of the lifting motor (51), and a steel rope (53) is wound on the coil (52). The other end of the steel rope (53) passes around the fixed pulley (54) and through the through hole (3b) and is fixed to the hydraulic telescopic arm (4).

4. The steel ingot mold swinging manipulator for steelmaking casting as described in claim 1, characterized in that: The top of the first base (81) is provided with a first slot (82) for locking the steel ingot mold, and a constraint hole (83) is provided between the first slot (82) and the first cavity.

5. The steel ingot mold swinging manipulator for steelmaking casting as described in claim 4, characterized in that: An ejection mechanism (7) is provided on the mobile vehicle body (1) at a position opposite to the demolding mechanism (8), which is used to eject the steel ingot from the steel ingot mold so that the chuck can grab and lift out the ejected steel ingot; The ejection mechanism (7) includes a top seat (71) fixed on the mobile vehicle body (1). The top of the top seat (71) has a receiving groove (72) for receiving the steel ingot mold. The inner wall of the receiving groove (72) is fixed with an ejector rod (73) that is directly opposite the gate of the steel ingot mold.

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