Constant speed casting device based on three-axis linkage master-slave control and casting control method

Abstract

A kind of isokinetic casting device and casting control method based on three-axis linkage master-slave control belong to metallurgical casting technical field.The present application is aimed at the problems of poor precision of manual operation and low versatility of teaching method in existing casting process.The device includes, gantry frame is arranged on base, crucible is connected on gantry frame, and inclination adjustment is realized by rotating mechanism control of crucible;The flow port of crucible corresponds to the flow guide groove, and the outlet of flow guide groove corresponds to the casting sand box;Casting sand box is arranged on the lifting slide of lifting mechanism, and flow guide groove is connected on the lifting slide of lifting mechanism by support, and the inclination of flow guide groove is adjustable;Lifting mechanism is arranged on horizontal movement mechanism, and horizontal movement mechanism is used to adjust the distance of lifting slide of lifting mechanism relative to crucible along horizontal direction;Horizontal movement mechanism is arranged on base.The present application is used to realize isokinetic casting.

Description

Technical Field

[0001] This invention relates to a constant velocity casting device and casting control method based on three-axis linkage master-slave control, belonging to the field of metallurgical casting technology. Background Technology

[0002] The casting process is an important part of metal smelting. The pouring process during casting is a complex nonlinear motion process that requires the heat dissipation of the molten fluid to be consistent and the flow rate to be stable. Therefore, it cannot be achieved through a simple linear process.

[0003] Currently, there are two main methods for industrial casting operations. One method involves experienced workers manually adjusting the position and tilting angle of the crucible spout. This method gradually increases the difficulty of controlling the flow rate and position as the tilting angle changes. Improper operation can lead to phenomena such as eddies, bubbles, cold shuts, porosity, and carbon buildup during the casting process. The other method uses motion control teaching, which involves reproducing the recorded manual casting process using mechanical structures. This method is only suitable for fixed working conditions and cannot handle the pouring of molten liquid of different volumes in the crucible, nor can it change the casting flow rate, thus lacking flexibility and versatility. Summary of the Invention

[0004] To address the issues of poor precision in manual operation and low versatility of the teaching method in existing casting processes, this invention provides a constant velocity casting device and casting control method based on three-axis linkage master-slave control.

[0005] The present invention discloses a constant velocity casting device based on three-axis linkage master-slave control, comprising a base, a gantry frame, a crucible, a guide channel, a casting sand box, a rotating mechanism, a lifting mechanism, and a translational mechanism.

[0006] A gantry frame is installed on the base, and a crucible is connected to the gantry frame. The crucible's tilt angle is adjusted by a rotation mechanism. The crucible's spout corresponds to a guide channel, and the guide channel's outlet corresponds to a casting sand box.

[0007] The casting sand box is set on the lifting slide of the lifting mechanism, and the guide channel is connected to the lifting slide of the lifting mechanism through a bracket. The inclination angle of the guide channel is adjustable. The lifting mechanism is set on the translation mechanism, which is used to adjust the distance of the lifting slide of the lifting mechanism relative to the crucible in the horizontal direction. The translation mechanism is set on the base.

[0008] According to the constant velocity casting device based on three-axis linkage master-slave control of the present invention, the rotating mechanism includes a rotating shaft servo motor and a connecting rod. The connecting rod is connected to the upper section of the gantry frame through a connector. The connecting rod is fixedly connected to the crucible. The connecting rod is driven to rotate by the rotating shaft servo motor to realize the adjustment of the crucible's tilt angle.

[0009] According to the constant velocity casting device based on three-axis linkage master-slave control of the present invention, the lifting mechanism further includes a lifting shaft servo motor and a lifting lead screw.

[0010] The lifting screw is connected to the lifting slide, and the lifting shaft servo motor drives the lifting screw to rotate, thereby causing the lifting slide to produce vertical displacement.

[0011] According to the constant velocity casting device based on three-axis linkage master-slave control of the present invention, the translation mechanism includes a translation axis servo motor, a translation lead screw, and a horizontal displacement slide.

[0012] A translational lead screw is mounted on the base, and a horizontal displacement slide is mounted on the translational lead screw. A translational axis servo motor drives the translational lead screw to rotate, thereby causing the horizontal displacement slide to generate horizontal displacement. A lifting lead screw is mounted on the horizontal displacement slide, and the horizontal displacement slide is driven by the lifting lead screw to generate horizontal displacement relative to the crucible.

[0013] This invention also provides a casting control method for a constant velocity casting device based on three-axis linkage master-slave control, comprising the following steps:

[0014] Step 1: In the initial state, adjust the inclination angle of the guide channel, the relative position of the guide channel and the casting sand box according to the actual working conditions, and set the position parameters of the lifting mechanism and the translation mechanism through the human-machine interface to adjust the relative position of the guide channel and the crucible.

[0015] Step 2: Use a liquid level sensor to detect the liquid level height of the casting liquid in the crucible when the crucible is horizontal, and calculate the initial tilt angle of the crucible based on the desired casting speed;

[0016] Step 3: Calculate the initial position of the rotary axis servo motor based on the initial tilt angle of the crucible, and control the rotary axis servo motor to rotate to the initial position so that the casting liquid flows out from the crucible outlet for casting;

[0017] During the casting process, the actual flow rate of the casting liquid in the guide channel is detected by a flow rate sensor. The desired tilt angle of the crucible is calculated from the difference between the actual flow rate and the desired casting speed. The crucible is tilted to the desired angle by the drive of the rotary axis servo motor. At the same time, based on the real-time change of the crucible tilt angle, the relative position of the guide channel and the crucible is kept constant by the cooperation of the lifting axis servo motor and the translation axis servo motor, so as to achieve constant speed casting control.

[0018] According to the casting control method of the constant velocity casting device based on three-axis linkage master-slave control of the present invention, after each casting is completed, the rotary axis servo motor, the lifting axis servo motor, and the translation axis servo motor are used to reset the linkage, the lifting slide and the horizontal displacement slide, and photoelectric limit switches are used for limit protection reset detection.

[0019] According to the casting control method of the constant velocity casting device based on three-axis linkage master-slave control of the present invention, the rotary axis servo motor is controlled by the rotary axis driver;

[0020] The method for obtaining the control signal of the rotary shaft driver is as follows:

[0021] A differential signal processing module is used to convert the current position information of the rotary axis servo motor detected by the encoder into recognizable digital position information of the rotary axis. The processor subtracts the recognizable digital position information of the rotary axis from the desired tilt angle of the crucible to obtain an angle difference value. The angle difference value is calculated by the rotary axis tilt angle controller to obtain a rotation control signal. The rotary axis driver controls the rotary axis servo motor to rotate according to the rotation control signal, so that the actual tilt angle of the crucible reaches the desired tilt angle.

[0022] According to the casting control method of the constant velocity casting device based on three-axis linkage master-slave control of the present invention, the lifting axis servo motor is controlled by the lifting axis driver; the translation axis servo motor is controlled by the translation axis driver.

[0023] The method for obtaining the control signal of the lifting shaft driver is as follows: the current position information of the lifting shaft servo motor detected by the encoder is converted into recognizable digital position information of the lifting shaft using a differential signal processing module. The processor calculates the Z-axis displacement change based on the recognizable digital position information of the lifting shaft and the actual tilt angle of the crucible, and uses it as the control signal of the lifting shaft driver. The lifting shaft driver controls the rotation of the lifting shaft servo motor based on the Z-axis displacement change, so that the guide channel generates a displacement of Z-axis displacement change.

[0024] The method for obtaining the translational axis drive control signal is as follows: a differential signal processing module is used to convert the current position information of the translational axis servo motor detected by the encoder into recognizable digital position information of the translational axis. The processor calculates the change in X-axis displacement based on the recognizable digital position information of the translational axis and the actual tilt angle of the crucible, and uses it as the control signal of the translational axis drive. The translational axis drive controls the rotation of the translational axis servo motor based on the change in X-axis displacement, so that the guide channel generates a displacement of the change in X-axis displacement.

[0025] According to the casting control method of the constant velocity casting device based on three-axis linkage master-slave control of the present invention, the calculation method of X-axis displacement change and Z-axis displacement change is as follows:

[0026]

[0027] In the formula, D is the distance from the center of the rotating shaft of the rotary axis servo motor to the crucible inlet, L is the horizontal distance from the crucible inlet to the center of the rotating shaft, and h is the vertical distance from the crucible inlet to the center of the rotating shaft.

[0028] X represents the change in displacement along the X-axis, θ represents the actual tilt angle of the crucible, and Z represents the change in displacement along the Z-axis.

[0029] According to the casting control method of the constant velocity casting device based on three-axis linkage master-slave control of the present invention, the rotary axis driver, the lifting axis driver, and the translational axis driver are all set to speed mode to track and position the motion trajectory of the corresponding motor.

[0030] The beneficial effects of the present invention are as follows: The constant velocity casting device and casting control method provided by the present invention can accurately control the flow rate of the casting liquid and are applicable to most working conditions.

[0031] This invention applies three-axis linkage master-slave control to the constant velocity casting process, maintaining the constant velocity of the molten fluid, which is beneficial for obtaining castings with clear contours and complete structures.

[0032] This invention enables constant-speed casting by adjusting the crucible tilting angle during the casting process. Simultaneously, the three-axis linkage of the sand box platform's X-axis horizontal displacement, Z-axis lifting height, and R-axis tilting angle ensures a constant relative displacement between the gate and the sand box during casting, maximizing the thermal stability of the casting process and contributing to improved casting quality. Attached Figure Description

[0033] Figure 1 This is a control flowchart of the casting control method for the constant velocity casting device based on three-axis linkage master-slave control described in this invention;

[0034] Figure 2 This is a schematic diagram of the constant velocity casting device based on three-axis linkage master-slave control as described in this invention;

[0035] Figure 3 It is a constant velocity casting process state machine;

[0036] Figure 4 This is a flowchart of the master-slave control method of the present invention;

[0037] Figure 5 It is the flow rate change curve of the constant velocity dumping control process in a specific embodiment. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0040] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0041] Specific Implementation Method 1: Combination Figure 2 As shown, this invention provides a constant velocity casting device based on three-axis linkage master-slave control, including a base 1, a gantry frame 2, a crucible 3, a guide channel 4, a casting sand box 5, a rotating mechanism, a lifting mechanism, and a translational mechanism.

[0042] A gantry frame 2 is set on the base 1, and a crucible 3 is connected to the gantry frame 2. The inclination angle of the crucible 3 is adjusted by a rotation mechanism. The outlet of the crucible 3 corresponds to the guide channel 4, and the outlet of the guide channel 4 corresponds to the casting sand box 5.

[0043] The casting sand box 5 is set on the lifting slide 7-1 of the lifting mechanism. The guide channel 4 is connected to the lifting slide 7-1 of the lifting mechanism through a bracket. The inclination angle of the guide channel 4 is adjustable. The lifting mechanism is set on the translation mechanism. The translation mechanism is used to adjust the distance of the lifting slide 7-1 of the lifting mechanism relative to the crucible 3 in the horizontal direction. The translation mechanism is set on the base 1.

[0044] Furthermore, combined with Figure 2 As shown, the rotating mechanism includes a rotating shaft servo motor 6-1 and a connecting rod 6-2. The connecting rod 6-2 is connected to the upper section of the gantry frame 2 through a connector. The connecting rod 6-2 is fixedly connected to the crucible 3. The connecting rod 6-2 is driven to rotate by the rotating shaft servo motor 6-1 to realize the tilt angle adjustment of the crucible 3.

[0045] The lifting mechanism also includes a lifting shaft servo motor 7-2 and a lifting lead screw 7-3.

[0046] The lifting screw 7-3 is connected to the lifting slide 7-1. The lifting shaft servo motor 7-2 drives the lifting screw 7-3 to rotate, thereby causing the lifting slide 7-1 to produce vertical displacement.

[0047] The translation mechanism includes a translation axis servo motor 8-1, a translation lead screw 8-2, and a horizontal displacement slide 8-3.

[0048] A translational lead screw 8-2 is mounted on the base 1. A horizontal displacement slide 8-3 is mounted on the translational lead screw 8-2. A translational axis servo motor 8-1 drives the translational lead screw 8-2 to rotate, thereby causing the horizontal displacement slide 8-3 to move horizontally. A lifting lead screw 7-3 is mounted on the horizontal displacement slide 8-3. The horizontal displacement slide 8-3 drives the lifting slide 7-1 to move horizontally relative to the crucible 3 via the lifting lead screw 7-3.

[0049] The rotation axis is defined as the R-axis, the lifting axis as the Z-axis, and the translational axis as the X-axis. The R-axis servo motor is connected to the crucible 3 via linkage 6-2 for the casting action. The Z-axis servo motor is connected to the lifting screw 7-3 for the lifting motion of the guide channel 4 and the casting sand box 5. The X-axis servo motor, translation screw 8-2, and horizontal displacement slide 8-3 are connected for the overall translational motion of the lifting mechanism. All motors are controlled by drivers, which use encoders to obtain the current position information of the motors.

[0050] Specific Implementation Method Two: Combination Figures 1 to 4 As shown, the present invention also provides a casting control method for a constant velocity casting device based on three-axis linkage master-slave control, which performs casting control on the constant velocity casting device based on three-axis linkage master-slave control as described in Specific Embodiment 1, including:

[0051] Step 1: In the initial state, adjust the inclination angle of the guide channel 4, the relative position of the guide channel 4 and the casting sand box 5 according to the actual working conditions, and set the position parameters of the lifting mechanism and the translation mechanism through the human-machine interface to adjust the relative position of the guide channel 4 and the crucible 3.

[0052] Step 2: Use a liquid level sensor to detect the liquid level height of the casting liquid in crucible 3 when crucible 3 is in a horizontal state, and calculate the initial tilt angle of crucible 3 based on the desired casting speed;

[0053] Step 3: Calculate the initial position of the rotary axis servo motor 6-1 based on the initial tilt angle of the crucible 3, and control the rotary axis servo motor 6-1 to rotate to the initial position so that the casting liquid flows out from the outlet of the crucible 3 for casting;

[0054] During the casting process, the actual flow rate of the casting liquid in the guide channel 4 is detected by a flow rate sensor. The desired tilt angle of the crucible 3 is calculated from the difference between the actual flow rate and the desired casting speed. The tilt angle of the crucible 3 is made to the desired tilt angle by driving the rotary axis servo motor 6-1. At the same time, according to the real-time change of the tilt angle of the crucible 3, the relative position of the guide channel 4 and the crucible 3 is kept constant by the cooperation of the lifting axis servo motor 7-2 and the translation axis servo motor 8-1, so as to achieve constant speed casting control.

[0055] This implementation employs a three-axis linkage control structure with one master and two slave axes, combining a controller with a nested outer velocity loop and an inner position loop to achieve constant velocity casting of the molten fluid. Its overall architecture is as follows: Figure 1 As shown, it includes a mechanical motion structure and a drive system frame.

[0056] In this embodiment, after each casting is completed, the rotary axis servo motor 6-1, the lifting axis servo motor 7-2, and the translation axis servo motor 8-1 are used to reset the linkage 6-2, the lifting slide 7-1, and the horizontal displacement slide 8-3, and photoelectric limit switches are used for limit protection reset detection.

[0057] Furthermore, combined with Figure 1 and Figure 4 As shown, the rotary axis servo motor 6-1 is controlled by a rotary axis driver;

[0058] The method for obtaining the control signal of the rotary shaft driver is as follows:

[0059] A differential signal processing module is used to convert the current position information of the rotary axis servo motor 6-1 detected by the encoder into recognizable digital position information of the rotary axis. The processor subtracts the recognizable digital position information of the rotary axis from the desired tilt angle of the crucible 3 to obtain an angle difference value. The angle difference value is calculated by the rotary axis tilt angle controller to obtain a rotation control signal. The rotary axis driver controls the rotary axis servo motor 6-1 to rotate according to the rotation control signal, so that the actual tilt angle of the crucible 3 reaches the desired tilt angle.

[0060] The lifting axis servo motor 7-2 is controlled by the lifting axis driver; the translation axis servo motor 8-1 is controlled by the translation axis driver.

[0061] The method for obtaining the control signal of the lifting shaft driver is as follows: the current position information of the lifting shaft servo motor 7-2 detected by the encoder is converted into recognizable digital position information of the lifting shaft using a differential signal processing module. The processor calculates the Z-axis displacement change based on the recognizable digital position information of the lifting shaft and the actual tilt angle of the crucible 3, and uses it as the control signal of the lifting shaft driver. The lifting shaft driver controls the rotation of the lifting shaft servo motor 7-2 based on the Z-axis displacement change, so that the guide groove 4 generates a displacement of the Z-axis displacement change.

[0062] The method for obtaining the translational axis driver control signal is as follows: The differential signal processing module converts the current position information of the translational axis servo motor 8-1 detected by the encoder into recognizable digital position information of the translational axis. The processor calculates the change in X-axis displacement based on the recognizable digital position information of the translational axis and the actual tilt angle of the crucible 3, and uses it as the control signal of the translational axis driver. The translational axis driver controls the rotation of the translational axis servo motor 8-1 based on the change in X-axis displacement, so that the guide groove 4 generates a displacement with the change in X-axis displacement.

[0063] In this embodiment, the calculation methods for the X-axis displacement change and the Z-axis displacement change are as follows:

[0064]

[0065] In the formula, D is the distance from the center of the rotating shaft of the rotary axis servo motor to the crucible inlet, L is the horizontal distance from the crucible inlet to the center of the rotating shaft, and h is the vertical distance from the crucible inlet to the center of the rotating shaft.

[0066] X represents the change in displacement along the X-axis, θ represents the actual tilt angle of the crucible, and Z represents the change in displacement along the Z-axis.

[0067] As an example, the rotary axis driver, lifting axis driver, and translational axis driver are all set to speed mode to track and locate the motion trajectory of the corresponding motor.

[0068] Combination Figure 1 As shown, the drive system of this embodiment can be composed of a PLC and expansion modules, detection elements and transmitters, to control the mechanical structure described in Specific Embodiment 1.

[0069] As an example, a Siemens S7-200smart (PLC) can be used as the overall logic control unit, with an external 16-channel digital input module and an 8-channel analog input module for receiving sensor signals, and a 4-channel analog output module for sending control signals.

[0070] The detection elements and transmitters mainly include a differential signal processing module, a photoelectric limit switch, a flow rate sensor, and a transmission unit, used for physical quantity detection and signal feedback. The differential signal processing module receives encoder position information from the servo motor, the photoelectric limit switch is used for limit protection and zero-position detection, the liquid level sensor detects the initial liquid level height, and the transmission unit and flow rate sensor detect and transmit flow rate information.

[0071] This implementation method can use a state machine to control the workflow. The switching conditions for the constant-rate casting process are shown in the table below:

[0072] <![CDATA[C0]]> The system performs a self-test upon startup and is running normally. <![CDATA[C1]]> Select the casting mode. <![CDATA[C2]]> After adjusting the tilt angle, input the desired flow rate. <![CDATA[C3]]> The tilt angle exceeds 90° and the flow rate sensor detects a flow rate of 0. <![CDATA[C4]]> Select single-axis debugging mode. <![CDATA[C5,C6,C7]]> Select the zero-adjustment mode. <![CDATA[C8]]> Trigger the zero-position photoelectric limit switch, or press the stop button. <![CDATA[C9,C 10 ]]> Press the stop button. <![CDATA[C 11 ,C 12 ,C 13 ]]> Trigger the photoelectric limit switch. <![CDATA[C 14 ]]> Limit protection is triggered, and the system stops running.

[0073] The specific workflow is as follows: Figure 3 As shown:

[0074] After the system starts up and detects no abnormalities, it enters standby mode. In standby mode, parameters such as casting speed, casting position, and initial position of each axis can be set through the human-machine interface. Modes such as initial casting adjustment, zeroing adjustment, and single-axis debugging can also be selected.

[0075] 1) At the start of the casting process, an initial adjustment of the tilting angle is required. Select "Initial Casting Adjustment," and the system adjusts the tilt angle based on the initial liquid level information detected by the liquid level sensor to make the crucible spout level with the liquid surface; the X-axis and Z-axis adjust their initial positions synchronously. After the initial state adjustment is completed, set the casting speed and casting position, and the system performs constant-speed casting of the molten metal. Once the system determines that casting is complete, press the stop button to return to standby mode.

[0076] 2) Zeroing adjustment mode is used for system zeroing and reset. In this mode, the R-axis will be reset, bringing the crucible back to a horizontal position, while the X-axis and Z-axis will be controlled to return to zero. The photoelectric limit switch detects that the three-axis reset is complete, and the system returns to standby mode.

[0077] 3) Single-axis debugging can be used for troubleshooting before casting. In this mode, the parameters of each axis can be set independently for debugging. After the adjustment is completed, press the stop button and the system will enter standby mode.

[0078] 4) It is worth noting that if the maximum travel of the moving structure is exceeded under any condition, the limit stop protection will be triggered and the system will return to standby state.

[0079] Combination Figure 4 As shown, the control in this embodiment is mainly divided into two parts: an active control structure and a passive control structure.

[0080] The active control structure employs a flow rate-tilt angle dual closed-loop design to achieve constant velocity tilting during the casting process. The passive control structure uses a three-axis linkage control with one master and two slave axes to maintain the relative position of the crucible spout and the casting sand box, ensuring good thermal stability of the molten fluid during casting, reducing defects such as sand holes and slag holes, and improving casting quality.

[0081] 1) The active control structure consists of a flow velocity outer loop and a tilt angle inner loop. The flow velocity outer loop outputs the desired tilt angle information to achieve flow velocity control, while the tilt angle inner loop is used for precise positioning of the R-axis tilt angle. The flow velocity feedback signal is subtracted from the flow velocity command, and the difference is converted into the desired angle information by the flow velocity controller. The R-axis encoder position information is subtracted from the desired angle, and the difference is calculated by the R-axis tilt angle controller and then sent as an analog control signal to the servo motor driver to complete the tilt angle adjustment. Since the PLC lacks interpolation functionality and cannot perform data densification on the motion trajectory, the servo motor driver is set to speed mode. In speed mode, the motor response is fast and the control accuracy is high, enabling high-precision tracking and positioning of the motion trajectory.

[0082] 2) The driven control structure consists of an X-axis position loop and a Z-axis position loop. The R-axis tilt angle information is processed by motion calculation to obtain the desired X-axis and Z-axis position commands.

[0083] 3) The difference between the desired X-axis and Z-axis position commands and the corresponding encoder position feedback is used to obtain the analog control signal for the servo motor via the position controller. The servo drives for the X-axis and Z-axis also adopt speed control mode. The master-slave control of the three-axis linkage ensures that the X-axis, Z-axis and R-axis move synchronously during the pouring process. Different molten metals require different pouring heights and external environments, so in addition to the linkage control, a pouring position change function suitable for different working conditions has been added. Specific implementation examples:

[0085] Using the system of this invention, the casting angle is initially adjusted in the first 5 seconds, at which point the flow rate is 0 g / s. After the initial adjustment, the flow rate is set to 20 g / s for the casting operation. After casting, the flow rate returns to zero. The actual flow rate is monitored during the casting process. Multiple experiments show that the actual flow rate meets the desired flow rate, and the experimental results are as expected. The obtained flow rate curve is shown below. Figure 5 As shown.

[0086] While the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that different dependent claims and features described herein can be combined in ways different from those described in the original claims. It is also understood that features described in conjunction with individual embodiments can be used in other described embodiments.

Claims

1. A casting control method for a constant velocity casting device based on three-axis linkage master-slave control, characterized in that, The constant velocity casting device based on three-axis linkage master-slave control includes a base (1), a gantry frame (2), a crucible (3), a guide channel (4), a casting sand box (5), a rotating mechanism, a lifting mechanism, and a translational mechanism. A gantry frame (2) is set on the base (1), and a crucible (3) is connected to the gantry frame (2). The crucible (3) is tilted by a rotating mechanism. The outlet of the crucible (3) corresponds to the guide channel (4), and the outlet of the guide channel (4) corresponds to the casting sand box (5). The casting sand box (5) is set on the lifting slide (7-1) of the lifting mechanism. The guide channel (4) is connected to the lifting slide (7-1) of the lifting mechanism through a bracket. The inclination angle of the guide channel (4) is adjustable. The lifting mechanism is set on the translation mechanism. The translation mechanism is used to adjust the distance of the lifting slide (7-1) of the lifting mechanism relative to the crucible (3) in the horizontal direction. The translation mechanism is set on the base (1). The rotating mechanism includes a rotary shaft servo motor (6-1) and a connecting rod (6-2). The connecting rod (6-2) is connected to the upper section of the gantry frame (2) through a connector. The connecting rod (6-2) is fixedly connected to the crucible (3). The connecting rod (6-2) is driven to rotate by the rotary shaft servo motor (6-1) to realize the tilt angle adjustment of the crucible (3). The lifting mechanism also includes a lifting shaft servo motor (7-2) and a lifting lead screw (7-3). The lifting screw (7-3) is connected to the lifting slide (7-1). The lifting shaft servo motor (7-2) drives the lifting screw (7-3) to rotate, thereby causing the lifting slide (7-1) to generate vertical displacement. The translation mechanism includes a translation axis servo motor (8-1), a translation lead screw (8-2), and a horizontal displacement slide (8-3). A translation screw (8-2) is mounted on the base (1), and a horizontal displacement slide (8-3) is mounted on the translation screw (8-2). A translation axis servo motor (8-1) drives the translation screw (8-2) to rotate, thereby causing the horizontal displacement slide (8-3) to generate horizontal displacement. A lifting screw (7-3) is mounted on the horizontal displacement slide (8-3), and the horizontal displacement slide (8-3) drives the lifting slide (7-1) to generate horizontal displacement relative to the crucible (3) through the lifting screw (7-3). The methods include, Step 1: In the initial state, adjust the inclination angle of the guide channel (4), the relative position of the guide channel (4) and the casting sand box (5) according to the actual working conditions, and set the position parameters of the lifting mechanism and the translation mechanism through the human-machine interface to adjust the relative position of the guide channel (4) and the crucible (3). Step 2: Use a liquid level sensor to detect the liquid level height of the casting liquid in the crucible (3) when the crucible (3) is in a horizontal state, and calculate the initial tilt angle of the crucible (3) according to the desired casting speed; Step 3: Calculate the initial position of the rotary axis servo motor (6-1) based on the initial tilt angle of the crucible (3), and control the rotary axis servo motor (6-1) to rotate to the initial position so that the casting liquid flows out from the outlet of the crucible (3) for casting; During the casting process, the actual flow rate of the casting liquid in the guide channel (4) is detected by the flow rate sensor. The desired tilt angle of the crucible (3) is calculated by the difference between the actual flow rate and the desired casting speed. The tilt angle of the crucible (3) is made to the desired tilt angle by the drive of the rotary axis servo motor (6-1). At the same time, according to the real-time change of the tilt angle of the crucible (3), the relative position of the guide channel (4) and the crucible (3) is kept unchanged by the cooperation of the lifting axis servo motor (7-2) and the translation axis servo motor (8-1) to achieve constant speed casting control. The lifting axis servo motor (7-2) is controlled by the lifting axis driver; the translation axis servo motor (8-1) is controlled by the translation axis driver. The method for obtaining the control signal of the lifting shaft driver is as follows: the current position information of the lifting shaft servo motor (7-2) detected by the encoder is converted into identifiable digital position information of the lifting shaft using a differential signal processing module. The processor calculates the Z-axis displacement change based on the identifiable digital position information of the lifting shaft and the actual tilt angle of the crucible (3) as the control signal of the lifting shaft driver. The lifting shaft driver controls the rotation of the lifting shaft servo motor (7-2) based on the Z-axis displacement change, so that the guide groove (4) generates a displacement of Z-axis displacement change. The method for obtaining the control signal of the translation axis driver is as follows: the current position information of the translation axis servo motor (8-1) detected by the encoder is converted into identifiable digital position information of the translation axis using a differential signal processing module. The processor calculates the change in X-axis displacement based on the identifiable digital position information of the translation axis and the actual tilt angle of the crucible (3) as the control signal of the translation axis driver. The translation axis driver controls the rotation of the translation axis servo motor (8-1) based on the change in X-axis displacement, so that the guide groove (4) generates a displacement with the change in X-axis displacement. The calculation methods for the changes in X-axis displacement and Z-axis displacement are as follows: ， In the formula L is the distance from the center of the rotating shaft of the rotary axis servo motor to the crucible inlet, and h is the horizontal distance from the crucible inlet to the center of the rotating shaft. X represents the change in displacement along the X-axis, θ represents the actual tilt angle of the crucible, and Z represents the change in displacement along the Z-axis.

2. The casting control method for a constant velocity casting device based on three-axis linkage master-slave control according to claim 1, characterized in that, After each casting is completed, the rotary axis servo motor (6-1), the lifting axis servo motor (7-2), and the translation axis servo motor (8-1) are used to reset the linkage (6-2), the lifting slide (7-1), and the horizontal displacement slide (8-3), and photoelectric limit switches are used for limit protection reset detection.

3. The casting control method for a constant velocity casting device based on three-axis linkage master-slave control according to claim 2, characterized in that, The rotary axis servo motor (6-1) is controlled by a rotary axis driver; The method for obtaining the control signal of the rotary shaft driver is as follows: The differential signal processing module converts the current position information of the rotary axis servo motor (6-1) detected by the encoder into identifiable digital position information of the rotary axis. The processor subtracts the identifiable digital position information of the rotary axis from the desired tilt angle of the crucible (3) to obtain the angle difference value. The angle difference value is calculated by the rotary axis tilt angle controller to obtain the rotation control signal. The rotary axis driver controls the rotary axis servo motor (6-1) to rotate according to the rotation control signal, so that the actual tilt angle of the crucible (3) reaches the desired tilt angle.

4. The casting control method for a constant velocity casting device based on three-axis linkage master-slave control according to claim 3, characterized in that, The rotary shaft driver, lifting shaft driver, and translational shaft driver are all set to speed mode to track and position the motion trajectory of the corresponding motors.

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