Automatic demolding device and demolding method for molten metal sampler

Abstract

The invention discloses an automatic demolding device and method for a molten metal sampler. The device comprises a sample injection unit (2), a crushing unit (3), a demolding unit (4) and a central controller. The sample injection unit (2) comprises a sample injection port (21) and a first clamping jaw (22) arranged below the sample injection port (21); the first clamping jaw (22) is provided with a first clamping driving mechanism (23) and a first rotation driving mechanism (24); the crushing unit (3) comprises a sample receiving hopper (31), a pair of opposite extrusion heads (32) and a turnover table (33); the demolding unit (4) comprises a demolding box, a guide rail (42) and a demolding box driver (43). According to the automatic demolding device and demolding method for the molten metal sampler, through cooperation of the crushing unit and the demolding unit, the molten metal sampler can be thoroughly demolded and released.

Description

Technical Field

[0001] The invention generally relates to the technical field of metallurgy, and in particular to an automatic demoulding device and a demoulding method for a molten metal sampler. Background Art

[0002] In the process of metal smelting, it is necessary to sample the molten metal in the smelting furnace in real time to monitor its composition and quality to ensure that it meets the qualified standards. The structure of the molten metal sampler currently widely used can be found in Chinese patent CN2238432Y. Figure 1 The molten steel sampler has a mold 5' with a bottleneck-shaped opening at the front end, which is formed by two half-cavity pieces and has an air outlet 9'. A quartz sample delivery tube 2' is inserted into the front end opening of the mold 5'. A sleeve 7' is provided outside the mold 5'. A positioning seat 3' made of refractory material is built into the front end of the sleeve 7'. The sample delivery tube 2' is fixed to the positioning seat 3'. A retaining spring 6' is provided at the rear end of the mold 5', and a clamp 4' is provided outside the front end opening of the mold 5'. The outer shape and inner cavity of the sample storage part of the mold are in the shape of a round cake. An inner tube 8' and a core tube 10' are provided at the rear end of the mold 5' to limit the mold 5' and strengthen the sleeve 7'. The sleeve 7', the inner tube 8' and the core tube 10' are high-temperature resistant paper tubes. After sampling in the molten steel, these paper tubes are carbonized into carbon tubes. A protective cap 1' is covered at the entrance of the sample delivery tube 2'. This example is an insertion sampler. When the sampler is inserted into molten steel or molten iron for sampling after a sampling rod is inserted into the rear end of the inner tube 8', the molten steel with static pressure breaks through the protective cap 1' as a slag barrier and enters the mold 5' through the quartz tube 2'. A moment after sampling, the operator needs to manually break the carbonized sleeve 7' to take out the sample mold, and then knock the mold to separate the two pieces, and the steel sample will automatically come out. This manual demoulding method poses a safety risk to personnel due to the high-temperature knocking operation.

[0003] Chinese patent CN219665095U discloses an automatic demoulding machine for a molten steel sampler, which mainly includes: a sample feeding unit, a crushing unit, a transfer unit, a release unit, a demoulding platform and a handling unit. Its working principle is to squeeze the front end of the molten steel sampler through a pair of extrusion heads of the crushing unit to crush the external carbonized paper tube (sleeve, inner tube and core tube) and the internal sample delivery tube and positioning seat; then the release unit is used to remove the retaining ring on the mold. In the actual working process of this automatic demoulding machine, the crushing unit is often not completely crushed, resulting in the clamping block of the release unit behind having difficulty in clamping the retaining ring, thereby causing the machine to jam. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the object of the present invention is to provide an automatic demoulding device and demoulding method for a molten metal sampler, which can be used to completely demould and release the molten metal sampler after it is broken by external impact, thereby improving work efficiency and production safety.

[0005] According to a first aspect of the present invention, there is provided an automatic demoulding device for a molten metal sampler, comprising:

[0006] The injection unit comprises an injection port and a first clamping jaw arranged below the injection port; the first clamping jaw is provided with a first clamping driving mechanism and a first rotating driving mechanism;

[0007] The crushing unit is arranged below the sample feeding unit, and comprises a sample receiving bucket, a pair of extrusion heads facing each other and a turning platform; the sample receiving bucket is arranged directly below the first clamping jaw; the extrusion head is provided with a telescopic driving mechanism, and the extrusion head can perform horizontal telescopic movement through the opening of the side wall of the sample receiving bucket; the turning platform is provided with a plurality of vertical through holes, and one end of the turning platform passes through the side wall of the sample receiving bucket through an axis and is connected to the turning driving mechanism;

[0008] The demoulding unit is arranged below the crushing unit and includes a demoulding box, a guide rail and a demoulding box driver; the demoulding box is used to receive the molten metal sampler after passing through the crushing unit, the guide rail is horizontally arranged and slidably connected to the demoulding box, and the demoulding box driver is connected to the demoulding box to drive the demoulding box to perform reciprocating horizontal motion on the guide rail; and

[0009] The central controller is used to control the automatic operation of the driving mechanisms in the above-mentioned units.

[0010] In a specific case, the automatic demoulding device of the molten metal sampler of the present invention may further include a sampling unit, and the sampling unit includes a gripper for automatically gripping the sample after demoulding, and the gripper is a multi-degree-of-freedom mechanical claw.

[0011] In a specific case, a sensor is provided at the sampling port to sense the signal of the molten metal sampler entering the sampling port, and transmit the signal to the central controller, thereby starting each unit to enter the operating state.

[0012] Preferably, the turning table is also provided with a first lifting drive mechanism. During the process of the extrusion head extruding the molten metal sampler, the first lifting drive mechanism drives the turning table to perform lifting movement, applying a vibration force to the molten metal sampler in the axial direction, thereby removing the broken shell.

[0013] Specifically, the demoulding box includes a box body and an upper cover. The box body is square, has a bottom wall and surrounding side walls, and an upper end is open. The upper cover is provided with an automatic opening and closing drive device.

[0014] Furthermore, the automatic demoulding device for the molten metal sampler of the present invention may also include a positioning unit and an identification unit;

[0015] The positioning unit includes a positioning plate, and positioning slots are respectively arranged on the side walls around the box body. A positioning plate is correspondingly arranged outside each positioning slot, and a corresponding positioning plate driver is arranged at the rear end of each positioning plate. The positioning plate driver can extend the positioning plate into the corresponding positioning slot and enter the box body to position the molten metal sampler.

[0016] The identification unit includes an industrial camera, which is arranged above the demoulding box to take pictures and identify the positioned molten metal sampler to determine whether the demoulding is completed.

[0017] In a specific case, the automatic demoulding device of the molten metal sampler of the present invention may further include a slag receiving box, which is arranged below the demoulding unit.

[0018] In a specific case, the automatic demoulding device of the molten metal sampler of the present invention may further include a sample table for receiving the sample after demoulding.

[0019] According to a second aspect of the present invention, there is provided a method for automatically demoulding a molten metal sampler, comprising the following steps:

[0020] (1) Providing an automatic demoulding device for a molten metal sampler as described in the first aspect of the present invention;

[0021] (2) After the molten metal sampler completes sampling, it enters the automatic demoulding device of the molten metal sampler through the sampling port. When the front end of the molten metal sampler abuts against the turning table, the first clamping drive mechanism drives the first clamping jaw to automatically close so as to clamp the rear end of the molten metal sampler;

[0022] (3) The crushing unit repeatedly squeezes and crushes the outer shell of the molten metal sampler suspended in the sample receiving bucket through a pair of rigid extrusion heads; after the crushing is completed, the first clamping jaw is released, and the molten metal sampler falls onto the turning table, and the turning drive mechanism drives the turning table to turn over, so that the molten metal sampler is transferred to the demolding unit;

[0023] (4) The demoulding box driver drives the demoulding box to make reciprocating horizontal motion on the guide rail, and the molten metal sampler collides with the inner wall of the demoulding box to remove the residual shell and mold.

[0024] Preferably, in step (2), the sensor disposed at the sampling port can automatically sense the metal liquid sampler entering the sampling port, and transmit a signal to the central controller, thereby automatically starting each unit to enter an operating state.

[0025] Preferably, in step (3), after squeezing in one direction for a first predetermined time, the first clamping jaw rotates 90 degrees and continues to squeeze and crush the molten metal sampler in another direction through the extrusion head for a second predetermined time.

[0026] Preferably, in step (3), during the process of radially extruding and crushing the molten metal sampler by the extrusion head, the first lifting drive mechanism drives the flip table to perform lifting movement at a certain interval, thereby applying a vibration force to the molten metal sampler in the axial direction, thereby removing the broken outer shell.

[0027] Preferably, in step (4), when the molten metal sampler reaches the third predetermined time in the demolding unit, the demolding box is opened, and the demolding molten metal sampler after demolding is located in the center of the bottom wall of the demolding box through the positioning unit; then, the sample is photographed and image recognized by an industrial camera, and if the demolding is confirmed to be qualified, the sample is clamped out by the clamp; if the demolding is confirmed to be unqualified, it returns again, and the demolding box driver drives the demolding box to reciprocate again for the fourth predetermined time, and then positioning and identification are performed again, and this cycle is repeated until the demolding is completely completed.

[0028] The automatic demoulding device and demoulding method of the molten metal sampler of the present invention can completely demould and disengage the molten metal sampler through the cooperation of the crushing unit and the demoulding unit. In addition, the recognition unit can also perform image recognition and identification to improve the success rate of the demoulding operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the structure of a conventional molten metal sampler.

[0030] Figure 2 It is a schematic diagram of the overall structure of the automatic demoulding device of the molten metal sampler of the present invention.

[0031] Figure 3 It is a schematic diagram of the main structure of the automatic demoulding device of the molten metal sampler of the present invention.

[0032] Figure 4 It is a schematic diagram of the structure of the sample injection unit in the present invention.

[0033] Figure 5 It is a schematic diagram of the crushing unit structure in the present invention.

[0034] Figure 6 for Figure 5 Schematic diagram of the turning table structure of the crushing unit shown in FIG.

[0035] Figure 7 It is a schematic diagram of the structure of the demoulding unit and the positioning unit in the present invention (excluding the upper cover of the demoulding box).

[0036] Figure 8 It is a schematic diagram of the structure of the demoulding unit and the positioning unit in the present invention (including the upper cover of the demoulding box).

[0037] Fig. 9 It is a schematic diagram of the connection structure between the demoulding unit and the positioning unit and the frame in the present invention.

[0038] Fig.10 It is a schematic diagram of the connection structure between the upper cover of the demoulding box and the frame in the present invention.

[0039] Fig.11 It is a schematic diagram of the structure of the sampling unit and the identification unit in the present invention.

[0040] Fig.12 It is a schematic diagram of the structure of the identification unit in the present invention.

[0041] The reference numerals in the accompanying drawings represent:

[0042] 1-frame, 2-sample injection unit, 3-crushing unit, 4-demolding unit, 5-sampling unit, 6-positioning unit, 7-identification unit, 8-slag receiving box, 9-sample table, 21-sample injection port, 22-first clamping jaw, 23-first clamping drive mechanism, 24-first rotating drive mechanism, 31-sample receiving bucket, 32-extrusion head, 33-turning table, 34-telescopic drive mechanism, 35-turning drive mechanism, 36-first lifting drive mechanism, 37-vertical through hole, 41- Box body, 42-guide rail, 43-demolding box driver, 44-upper cover, 45-first opening and closing driving mechanism, 46-positioning slot, 51-second clamping claw, 52-second rotating driving mechanism, 53-second lifting driving mechanism, 54-horizontal driving mechanism, 55-second clamping driving mechanism, 56-mounting plate, 61-positioning plate, 62-positioning plate driver, 71-industrial camera, 72-ring light, 73-outer cover, 74-shading plate, 75-second opening and closing driving mechanism. DETAILED DESCRIPTION

[0043] The specific embodiments of the automatic demoulding device and demoulding method of the molten metal sampler of the present invention are described in detail below in conjunction with the accompanying drawings. It should be understood by those skilled in the art that the embodiments described below are only exemplary descriptions of the present invention and are not intended to limit the present invention in any way.

[0044] See also Figure 2-3 The automatic demoulding device for a molten metal sampler according to the present invention mainly comprises a frame 1 (or a chassis), a sampling unit 2, a crushing unit 3, a demoulding unit 4, a sampling unit 5, a positioning unit 6, an identification unit 7, a slag receiving box 8, a sample table 9 and a central controller (not shown in the figure). The frame 1 is used to support various units and components. The sampling unit 2, the crushing unit 3, the demoulding unit 4 and the slag receiving box 8 are arranged in sequence from top to bottom, and the sampling unit 5 and the identification unit 7 are arranged above the demoulding unit 4; the central controller is used to control the automatic operation of each component.

[0045] See Figure 4The sampling unit 2 includes a sampling port 21, a first clamping jaw 22 arranged below the sampling port 21; the first clamping jaw 22 is equipped with a first clamping drive mechanism 23 and a first rotation drive mechanism 24. The sampling port 21 is usually arranged at the top of the frame 1, and is preferably funnel-shaped. The first clamping drive mechanism 23 is used to control the clamping and loosening of the first clamping jaw 22, and the first rotation drive mechanism 24 is used to control the rotation of the first clamping jaw 22. The first clamping drive mechanism 23 can specifically be an electric hydraulic mechanism, and the first rotation drive mechanism 24 is usually a motor drive mechanism. The sampling port 21 can be provided with a sensor. When the molten metal sampler passes through the sampling port 21, the sensor transmits the sensing signal to the central controller, and automatically starts each unit to enter the operating state.

[0046] See Figure 5-6 The crushing unit 3 includes a sample receiving bucket 31, a pair of extrusion heads 32 facing each other, and a turning platform 33. The sample receiving bucket 31 is arranged directly below the first clamping jaw 22; the extrusion head 32 is provided with a telescopic drive mechanism 34, and the extrusion head 32 can perform horizontal telescopic movement through the side wall opening of the sample receiving bucket 31. The turning platform 33 is provided with a plurality of vertical through holes 34, and one end of the turning platform 33 passes through the side wall of the sample receiving bucket 31 through an axis and is connected to the turning drive mechanism 35 and the first lifting drive mechanism 36.

[0047] The crushing unit 3 repeatedly squeezes and crushes the outer shell of the molten metal sampler suspended in the sample receiving bucket 31 through a pair of rigid extrusion heads 32, and the fallen shell slag flows to the slag receiving box 8 below through the vertical through hole 34 of the turning table 33. After the extrusion in one direction is completed, the first clamp 22 is driven to rotate 90 degrees by the first rotating drive mechanism 24, and the molten metal sampler is repeatedly squeezed and crushed in another direction through the extrusion head 32. During the radial extrusion and crushing process of the molten metal sampler by the extrusion head 32, the first lifting drive mechanism 36 drives the turning table 33 to lift and lower at a certain interval, and applies a vibration force to the molten metal sampler in the axial direction, so as to remove the broken outer shell. In addition, during the crushing process, a certain interval time can also be set so that the turning drive mechanism 35 drives the turning table 33 to turn over, and the large pieces of shell slag that cannot pass through the vertical through hole 34 are poured into the slag receiving box 8 below. After the crushing is completed, the first clamping jaw 22 is released, and the molten metal sampler falls onto the turning table 33 . The turning driving mechanism 35 drives the turning table 33 to turn over, so that the molten metal sampler is transferred into the demoulding unit 4 .

[0048] See Figure 7-10The demoulding unit 4 includes a demoulding box, a guide rail 42 and a demoulding box driver 43. The demoulding box includes a box body 41 and an upper cover 44. The box body 41 is used to receive the molten metal sampler after passing through the crushing unit 3. Two parallel guide rails 42 are horizontally arranged on both sides of the box body 41, and are slidably connected to the box body 41 through a sliding sleeve. Both ends of the guide rail 42 are fixed on the frame 1. The demoulding box driver 43 is connected to the box body 41 through a connecting rod. The demoulding box driver 43 is specifically a motor, which can drive the box body 41 to make reciprocating horizontal high-speed motion on the guide rail 42 through an existing mechanism that converts rotational motion into reciprocating linear motion (such as a crankshaft connecting rod mechanism or a cam mechanism).

[0049] Specifically, the box body 41 is square, has a bottom wall and surrounding side walls, and is open at the top; the upper cover 44 is detachable from the box body 41, and the two ends of the upper cover 44 are respectively connected to a first opening and closing driving mechanism 45, through which the upper cover 44 can be driven to move forward and backward on the box body 41. The first opening and closing driving mechanism 45 can adopt an existing conventional driving mechanism, such as a motor screw driving mechanism. The box body 41 and the upper cover 44 are both made of high-hardness wear-resistant materials.

[0050] When the molten metal sampler is crushed in the crushing unit 3, the upper cover 44 is offset to the front or rear side of the frame 1, and the box body 41 is offset to the left or right side of the frame 1, so that the lower outlet of the sample receiving bucket 31 of the crushing unit 3 directly faces the slag receiving box 8 below. When the molten metal sampler is crushed in the crushing unit 3, the box body 41 first returns to its position to catch the molten metal sampler falling from the turning table 33; then the upper cover 44 returns to its position to cover the opening of the box body 41. Then the demolding box driver 43 drives the box body 41 to make reciprocating high-speed horizontal motion on the guide rail 42, and the molten metal sampler collides with the inner wall of the box body 41 and the lower surface of the upper cover 44 to remove the residual shell and mold. A leakage hole is provided on the bottom wall of the box body 41, which can leak the residue removed by the molten metal sampler into the slag receiving box 8 below.

[0051] In order to automatically determine whether the demoulding and release of the molten metal sampler in the box body 41 is complete, the automatic demoulding device for the molten metal sampler of the present invention is further provided with a positioning unit 6 and an identification unit 7 .

[0052] See Figure 7The positioning unit includes a positioning plate 61 and a positioning plate driver 62. Positioning slots 46 are respectively arranged on the side walls around the box body 41, and a positioning plate 61 is correspondingly arranged outside each positioning slot 46. A corresponding positioning plate driver 62 is arranged at the rear end of each positioning plate 61. The positioning plate driver 62 enables the positioning plate 61 to extend into the corresponding positioning slot 46 and then enter the box body 41 to position the demolded molten metal sampler so that it is located at the center of the bottom wall of the box body 41. The positioning slot 46 is a long and narrow slit, the length of which is slightly smaller than the length of the corresponding side wall, and the width (i.e., the height in the vertical direction) is slightly larger than the thickness of the positioning plate 61.

[0053] See Figure 11-12 The identification unit 7 is arranged above the demoulding box, and is used to take pictures and identify the positioned molten metal sampler to determine whether demoulding is completed. The identification unit 7 mainly includes an industrial camera 71, which is arranged on the frame 1 above the demoulding box, and can also be fixed on the sampling unit 5 through a fixing plate 56. An outer cover 73 is arranged on the periphery of the industrial camera 71, and a shading plate 74 that can be opened and closed is arranged at the bottom of the outer cover 73. The shading plate 74 is automatically opened and closed by a second opening and closing driving mechanism 75. A ring light 72 can also be arranged on the periphery of the lens of the industrial camera 71 to enhance the lighting when taking pictures. The industrial camera 71 is connected to an external central controller, and an image recognition program is pre-installed in the controller. The image recognition program determines whether the sample is demoulding through image comparison.

[0054] See Figure 11-12 The sampling unit 5 is specifically a gripper, which is used to automatically grip the sample after demoulding. The gripper preferably adopts a multi-degree-of-freedom mechanical claw. Specifically, the gripper includes a second gripper 51, a second rotation drive mechanism 52, a second lifting drive mechanism 53, a horizontal drive mechanism 54 and a second clamping drive mechanism 55.

[0055] In addition, a sample table 9 is provided on the frame 1 for receiving the sample clamped by the clamper.

[0056] The working process of the automatic demoulding device for the molten metal sampler of the present invention is briefly described below.

[0057] After completing sampling, the molten metal sampler enters the automatic demoulding device of the molten metal sampler of the present invention through the sampling port 21. When the front end of the molten metal sampler abuts against the turning table 33, the first clamping drive mechanism 23 drives the first clamping jaw 22 to automatically close to clamp the rear end of the molten metal sampler.

[0058] The crushing unit 3 repeatedly squeezes and crushes the outer shell of the molten metal sampler suspended in the sample receiving bucket 31 through a pair of rigid extrusion heads 32, and the fallen shell slag falls to the slag receiving box 8 below through the vertical through hole 34 of the turning table 33. After the first predetermined time of extrusion in one direction, the first clamp 22 is driven to rotate 90 degrees by the first rotating drive mechanism 24, and the molten metal sampler is continued to be squeezed and crushed in the other direction by the extrusion head 32 for a second predetermined time. During the radial extrusion and crushing process of the molten metal sampler by the extrusion head 32, the first lifting drive mechanism 36 drives the turning table 33 to lift and lower at intervals, and applies vibration force to the molten metal sampler in the axial direction, so as to remove the broken shell. In addition, during the crushing process, a certain interval time can also be set so that the turning drive mechanism 35 drives the turning table 33 to turn over, and the large pieces of shell slag that cannot pass through the vertical through hole 34 are poured into the slag receiving box 8 below. After the crushing is completed, the first clamping jaw 22 is released, and the molten metal sampler falls onto the turning table 33 . The turning driving mechanism 35 drives the turning table 33 to turn over, so that the molten metal sampler is transferred into the demoulding unit 4 .

[0059] When the molten metal sampler is crushed in the crushing unit 3, the upper cover 44 is located at the front or rear side of the frame 1, and the box body 41 is located at the left or right side of the frame 1, so that the lower outlet of the sample receiving bucket 31 of the crushing unit 3 directly faces the slag receiving box 8 below. When the molten metal sampler is crushed in the crushing unit 3, the box body 41 first returns to its position to catch the molten metal sampler falling from the turning table 33; then the upper cover 44 returns to its position to cover the opening of the box body 41. Then the demolding box driver 43 drives the box body 41 to make reciprocating high-speed horizontal motion on the guide rail 42, and the molten metal sampler collides with the inner wall of the box body 41 and the lower surface of the upper cover 44 to remove the residual shell and mold. The residue removed by the molten metal sampler leaks into the slag receiving box 8 below through the leakage hole on the bottom wall of the box body 41.

[0060] When the molten metal sampler reaches the third predetermined time in the demoulding unit 4, the upper cover 44 is opened, and each positioning plate driver 62 drives the positioning plate 61 to extend horizontally into the corresponding positioning slot 46, enters the box body 41, and positions the demoulded molten metal sampler so that it is located in the center of the bottom wall of the box body 41. Subsequently, the industrial camera 71 takes a picture of the sample and recognizes the image. If the demoulding is confirmed to be qualified, the sample is clamped out by the clamp; if the demoulding is confirmed to be unqualified, it returns again, and the demoulding box driver 43 drives the box body 41 to reciprocate again for the fourth predetermined time, and then positions and recognizes again, and the cycle is repeated until the demoulding is complete.

[0061] After demoulding is completed, the sample is automatically clamped by the clamper and sent to the sample stage 9.

[0062] During the operation of the above-mentioned device, the driving mechanism of each component is automatically operated through the program set by the central controller. In the early stage, a large number of experiments are carried out to determine the optimal operating time and speed and other operating parameters of each step (such as the first, second, third and fourth predetermined time), and input them into the central controller as preset parameters.

[0063] The above description according to the present invention is only a specific embodiment of the invention and is not intended to limit the present invention in any way. Any equivalent changes and modifications made thereto according to the spirit of the present invention are within the scope of the technical protection scheme of the present invention.

Claims

1. An automatic demoulding device for a molten metal sampler, characterized in that: include: The sample injection unit (2) comprises a sample injection port (21) and a first clamping jaw (22) arranged below the sample injection port (21); the first clamping jaw (22) is provided with a first clamping drive mechanism (23) and a first rotation drive mechanism (24); The crushing unit (3) is arranged below the sample feeding unit (2), and comprises a sample receiving bucket (31), a pair of extrusion heads (32) facing each other, and a turning platform (33); the sample receiving bucket (31) is arranged directly below the first clamping jaw (22); the extrusion head (32) is provided with a telescopic driving mechanism (34), and the extrusion head (32) can perform horizontal telescopic movement through the side wall opening of the sample receiving bucket (31); The turning platform (33) is provided with a plurality of vertical through holes (37); one end of the turning platform (33) passes through the side wall of the sample receiving bucket (31) through an axis and is connected to the turning driving mechanism (35); The demoulding unit (4) is arranged below the crushing unit (3), and comprises a demoulding box, a guide rail (42) and a demoulding box driver (43); the demoulding box is used to receive the molten metal sampler after passing through the crushing unit (3); the guide rail (42) is arranged horizontally and is slidably connected to the demoulding box; the demoulding box driver (43) is connected to the demoulding box and is used to drive the demoulding box to perform reciprocating horizontal motion on the guide rail (42); and The central controller is used to control the automatic operation of the driving mechanisms in the above-mentioned units.

2. The automatic demoulding device for molten metal sampler according to claim 1, characterized in that: It also comprises a sampling unit (5), which comprises a gripper for automatically gripping the sample after demoulding, and the gripper is a multi-degree-of-freedom mechanical claw.

3. The automatic demoulding device for molten metal sampler according to claim 1, characterized in that: The sampling port (21) is provided with a sensor for sensing a signal from a molten metal sampler entering the sampling port (21).

4. The automatic demoulding device for molten metal sampler according to claim 1, characterized in that: The demoulding box comprises a box body (41) and an upper cover (44); the box body (41) is square, has a bottom wall and surrounding side walls, and an upper end is open; and the upper cover (44) is provided with an automatic opening and closing driving mechanism.

5. The automatic demoulding device for molten metal sampler according to claim 4, characterized in that: It also includes a positioning unit (6) and an identification unit (7); The positioning unit (6) comprises a positioning plate (61) and a positioning plate driver (62). Positioning slots (46) are respectively arranged on the side walls around the box body (41). A positioning plate (61) is correspondingly arranged outside each positioning slot (46). A corresponding positioning plate driver (62) is arranged at the rear end of each positioning plate (61). The positioning plate driver (62) enables the positioning plate (61) to extend into the corresponding positioning slot (46) and then enter the box body (41) to position the molten metal sampler. The identification unit (7) comprises an industrial camera (71) which is arranged above the demoulding box and takes a photo of the positioned molten metal sampler to identify whether demoulding is completed.

6. The automatic demoulding device for molten metal sampler according to claim 1, characterized in that: It also comprises a slag receiving box (8) which is arranged below the demoulding unit (4).

7. The automatic demoulding device for molten metal sampler according to claim 1, characterized in that: It also includes a sample table (9) for receiving the sample after demoulding.

8. A method for automatically demoulding a molten metal sampler, characterized in that: The following steps are involved: (1) Provide an automatic demoulding device for a molten metal sampler as described in any one of claims 1 to 7; (2) After the molten metal sampler completes sampling, it enters the molten metal sampler automatic demoulding device through the sampling port (21), and when the front end of the molten metal sampler abuts against the turning table (33), the first clamping drive mechanism (23) drives the first clamping jaw (22) to automatically close so as to clamp the rear end of the molten metal sampler; (3) The crushing unit (3) repeatedly squeezes and crushes the outer shell of the molten metal sampler suspended in the sample receiving bucket (31) through a pair of rigid extrusion heads (32); after the crushing is completed, the first clamping jaw (22) is released, and the molten metal sampler falls onto the turning table (33), and the turning drive mechanism (35) drives the turning table (33) to turn over, so that the molten metal sampler is transferred to the demoulding unit (4); (4) The demoulding box driver (43) drives the demoulding box to perform reciprocating horizontal motion on the guide rail (42), and the molten metal sampler collides with the inner wall of the demoulding box to remove the residual shell and mold.

9. The automatic demoulding method of the molten metal sampler according to claim 8, characterized in that: In step (3), after squeezing in one direction for a first predetermined time, the first clamping jaw (22) rotates 90 degrees and continues to squeeze and crush the molten metal sampler in another direction through the extrusion head (32) for a second predetermined time.

10. The automatic demoulding method of a molten metal sampler according to claim 8, characterized in that: In step (4), when the molten metal sampler reaches the third predetermined time in the demoulding unit (4), the demoulding box is opened, and the demoulding molten metal sampler is positioned at the center of the bottom wall of the demoulding box through the positioning unit (6); then, the sample is photographed and image recognized through the industrial camera (71), and if the demoulding is confirmed to be qualified, the sample is clamped out by the clamp; if the demoulding is confirmed to be unqualified, it returns and the demoulding box driver (43) drives the demoulding box to reciprocate again for the fourth predetermined time, and then positioning and recognition are performed again, and this cycle is repeated until the demoulding is completely completed.

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