Manipulator structure for automatically disassembling and assembling steel ladle long nozzle

Abstract

The invention discloses a mechanical arm structure for automatic disassembly and assembly of a steel ladle long nozzle, and relates to the technical field of mechanical engineering, the mechanical arm structure comprises a mechanical arm base, a rotary platform assembly, a large arm, a hydraulic cylinder with a displacement sensor, a three-axis seat, a four-axis rotating assembly, a lengthening rod and a backing ring assembly, a large arm is fixedly installed at the top end of the outer wall of the rotary platform assembly, a three-axis seat is fixedly installed at the lower end of the second set of outer wall of the rotary platform assembly, and a four-axis rotating assembly is fixedly installed at the front end of the outer wall of the three-axis seat. Through the rotary platform assembly, the hydraulic cylinder with the displacement sensor and the four-shaft rotating assembly, the first shaft and the second shaft meet the requirement for the annular working range, the four shafts meet the posture adjusting requirement during moving, and the problem that workers have to operate semi-automatic equipment to disassemble and assemble the steel ladle long nozzle in the severe environment is solved; the occurrence probability of dangerous accidents is reduced, and the life health and safety of workers are guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical engineering, and in particular to a manipulator structure used for automatic disassembly and assembly of a ladle shroud. Background Art

[0002] Continuous casting steel production is a production process that transforms high-temperature molten steel from liquid into qualified ingots. There are many kinds of raw and auxiliary materials used in the steel production process, which brings many occupational hazards to the workers at the steel production site, such as high temperature, dust, noise, etc. Steel casting positions are also defined as high-temperature dust occupational hazard positions. The goal of continuous casting production is stability, high efficiency, and low cost, and improving the level of automation control and the use of artificial intelligence technology are effective means to achieve its goals. At present, the disassembly and assembly of the long nozzle in the continuous casting steel production process requires manual use of an operating arm near the steel pouring nozzle to complete the disassembly and assembly of the long nozzle. Manual operation and control not only has low labor efficiency and high labor intensity, but is also a typical 3D position.

[0003] Therefore, it is very necessary to propose a robot structure for automatic disassembly and assembly of the long nozzle of the ladle in the present application to solve the problems in the background.

[0004] 1. Patent document CN115416434B discloses an adaptive tire disassembly and assembly robot. The above patent realizes simple structure and low cost, can effectively reduce the damage to tires and wheels, and greatly improves the automation level of the equipment and the success rate and accuracy of tire disassembly and assembly. However, the above patent cannot realize that one axis and two axes meet the requirements of circular working range and four axes meet the requirements of posture adjustment during movement.

[0005] 2. Patent document CN111687614B discloses an automatic disassembly and assembly device for a hot press head. The above patent realizes the automatic alignment, installation and disassembly of the hot press head, and has the characteristics of small size, simple structure, and high assembly precision. However, the above patent cannot realize the precise position and speed control of the end of the robotic arm.

[0006] 3. Patent document CN110695986A discloses an automated four-axis manipulator device for grasping a long shroud and a method of using the same. The above patent achieves improved efficiency, safety, reliability, and strong adaptability, but the above patent cannot achieve full-process automation of automatic disassembly and assembly of the ladle shroud.

[0007] 4. Patent document CN216882574U discloses a mechanical device for installing sleeves. The above patent realizes that the sleeve can be driven to a preset installation position only by automatic control of the controller, and the installation of the sleeve can be completed without manual operation. However, the above patent cannot meet large load requirements and adapt to various arm spans of the robot.

[0008] In summary, the above patent cannot achieve the requirements of one axis and two axes meeting the circular working range, four axes meeting the posture adjustment requirements during movement, precise position and speed control of the end of the robot arm, and full process automation and large load requirements for automatic disassembly and assembly of the ladle shroud. As a result, workers at the steelmaking area casting platform must operate semi-automatic equipment in harsh environments to disassemble and assemble the ladle shroud, the positioning of the ladle shroud during disassembly and assembly is inaccurate, the installation or disassembly speed is uneven, the shroud installation accuracy is not high, and the applicable site is narrow; To this end, the present application proposes a robot structure for automatic disassembly and assembly of the ladle long nozzle that can achieve full process automation and large load requirements for automatic disassembly and assembly of the ladle long nozzle, with one axis and two axes meeting the requirements of annular working range and four axes meeting the requirements of posture adjustment during movement, precise position and speed control of the end of the robot arm, and automatic disassembly and assembly of the ladle long nozzle. Summary of the invention

[0009] The purpose of the present invention is to provide a robot structure for automatic disassembly and assembly of the ladle shroud, so as to solve the technical problems proposed in the above-mentioned background technology that one axis and two axes cannot meet the requirements of the annular working range and four axes cannot meet the requirements of posture adjustment during movement, the precise position and speed control of the end of the robot arm, and the automatic disassembly and assembly of the ladle shroud for full-process automation and large load requirements, resulting in workers at the steel casting platform in the steelmaking area having to operate semi-automatic equipment in a harsh environment to disassemble and assemble the ladle shroud, inaccurate positioning during the disassembly and assembly of the ladle shroud, uneven installation or disassembly speed, low shroud installation accuracy, and narrow applicable space.

[0010] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a manipulator structure for automatic disassembly and assembly of a ladle long nozzle, comprising a manipulator base, a slewing platform assembly, a large arm, a hydraulic cylinder with a displacement sensor, a three-axis seat, a four-axis rotation assembly, an extension rod and a support ring assembly, the top of the outer wall of the manipulator base is fixedly mounted with a slewing platform assembly, the top of the outer wall of the slewing platform assembly is fixedly mounted with a large arm, the lower end of the second group of outer walls of the slewing platform assembly is fixedly mounted with a three-axis seat, the front end of the outer wall of the three-axis seat is fixedly mounted with a four-axis rotation assembly, the top of the outer wall of the four-axis rotation assembly is fixedly mounted with a hydraulic cylinder with a displacement sensor, the front end of the outer wall of the four-axis rotation assembly is fixedly mounted with an extension rod, and the front end of the outer wall of the extension rod is fixedly mounted with a support ring assembly; The slewing platform assembly includes a turntable motor, a turntable motor seat, a turntable reducer, a turntable housing end flange, a turntable bearing and a turntable output end flange; A turntable motor is fixedly installed on the top of the outer wall of the turntable motor seat, the turntable output end flange is connected to the output flange of the turntable reducer by bolts, the turntable output end flange is connected to the outer ring of the turntable bearing by bolts, the turntable outer shell end flange is connected to the inner ring of the turntable bearing, the outer shell of the turntable reducer and the turntable motor seat by bolts, and the turntable motor drives the turntable reducer through the input gear.

[0011] Preferably, the outer rings of the turntable housing end flange and the turntable output end flange are both provided with mounting surfaces, and mounting holes are opened on the mounting surfaces; A skeleton oil seal is fixedly installed at the transmission of the turntable reducer and the turntable motor, a No. 1 O-ring is provided at the mounting surface of the turntable reducer and the turntable housing end flange, a No. 2 O-ring is provided at the mounting surface of the turntable reducer and the turntable output end flange, oil ports are respectively opened at the top of the outer walls of the turntable motor seat and the turntable housing end flange, a turntable oil filling port plug is fixedly installed at the oil port of the turntable motor seat, a turntable oil outlet port plug is fixedly installed at the oil port of the turntable housing end flange, the skeleton oil seal, the No. 1 O-ring sealing part, the No. 2 O-ring sealing part, the turntable motor seat and the oil port of the turntable housing end flange jointly form a sealed cavity, and the sealed cavity is filled with grease for the cycloidal pinwheel reducer.

[0012] Preferably, the rotary platform assembly is provided with two groups, the rotary platform assembly fixedly installed at the top of the outer wall of the robot arm base is a one-axis rotary platform assembly, the rotating axis arranged inside the one-axis rotary platform assembly is one axis, the rotary platform assembly connected to the arm through the suspended flange is a two-axis rotary platform assembly, the rotating axis arranged inside the two-axis rotary platform assembly is two axes, the rotating axis fixedly installed at the bottom end of the outer wall of the three-axis seat is three axes, and the rotating axis arranged inside the four-axis rotation assembly is four axes; Flanges are fixedly installed on both sides of the bottom end of the outer wall of the boom, the axes of the flanges at both ends are parallel and fixed in distance, the flanges at both ends are connected to the boom through steel structure cantilever welding, and the boom is fixedly installed with a one-axis slewing platform assembly and a two-axis slewing platform assembly through the flanges at both ends.

[0013] Preferably, a trunnion is fixedly installed on the cylinder end of the hydraulic cylinder with the displacement sensor, a trunnion is fixedly installed on the outer wall of the four-axis rotating assembly, and two bearing seats are fixedly installed on the bottom end of the outer wall of the hydraulic cylinder with the displacement sensor; The outer wall of the three-axis seat is provided with a flange, and the three-axis seat is fixedly installed with a two-axis rotary platform assembly through the flange. Two bearing seats are fixedly installed at the bottom end of the outer wall of the three-axis seat. The three-axis seat is fixedly installed with the ear shaft of the four-axis rotation assembly through the bearing seat. The three-axis seat is fixedly connected to the bearing seat of the hydraulic cylinder with a displacement sensor through the mounting surface and mounting hole set at the top of the outer wall; A hinge joint is fixedly installed at the end of the hydraulic cylinder rod, the hinge joint is connected to the four-axis rotation assembly, and a displacement sensor is fixedly installed at the rear end of the cylinder body. The displacement sensor feeds back the position signal of the hydraulic cylinder piston to the controller in real time.

[0014] Preferably, the four-axis rotating assembly includes a four-axis motor, a four-axis motor seat, a four-axis reducer, a four-axis fixed bearing, a four-axis fixed bearing oiling plug, a four-axis seat, a four-axis transmission shaft, a four-axis floating bearing, a four-axis floating bearing oiling plug, a four-axis bearing end cover and a four-axis reducer seat; The four-axis reducer is connected to the four-axis seat through the four-axis reducer seat, and the four-axis motor is connected to the four-axis reducer seat through the four-axis motor seat; The four-axis transmission shaft, four-axis fixed bearing, four-axis floating bearing, four-axis reducer and four-axis motor are coaxially installed to form a four-axis shaft system. The inner ring of the four-axis fixed bearing is axially positioned through the four-axis transmission shaft and the round nut installed on the top of the outer wall of the four-axis transmission shaft. The outer ring of the four-axis fixed bearing is axially positioned through the step surface of the ear shaft end of the four-axis seat and the four-axis reducer seat. The flange side bearing mounting cylindrical surface of the four-axis transmission shaft is fixedly installed with a four-axis floating bearing. The outer ring of the four-axis floating bearing is axially positioned through the step surface of the four-axis floating bearing of the four-axis seat and the four-axis bearing end cover. The side of the four-axis seat is provided with an ear shaft, and the four-axis seat is fixedly installed on the bearing seat of the three-axis seat through the ear shaft. The oil filling port of the four-axis fixed bearing is fixedly installed with a four-axis fixed bearing oil filling plug, and the oil filling port of the four-axis floating bearing is fixedly installed with a four-axis floating bearing oil filling plug.

[0015] Preferably, a hydraulic cylinder joint seat is provided at the front end of the four-axis seat, and the hydraulic cylinder joint seat is connected to the hinge joint of the hydraulic cylinder with a displacement sensor through a pin shaft, and a mounting surface and a mounting hole are provided on the side of the ear shaft of the four-axis seat, and the four-axis seat fixes the four-axis motor seat through the mounting surface and the mounting hole, and the inner cavity on the ear shaft side is provided with a matching cylindrical surface for installing the four-axis fixed bearing and a step surface for providing axial positioning for the matching cylindrical surface, and an oil filling port is provided at the installation location of the four-axis fixed bearing, and the mounting surface and the mounting hole provided on the side of the hydraulic cylinder joint seat fix the four-axis bearing end cover, and the inner cavity on the joint seat side is provided with a matching cylindrical surface and a step surface for installing the four-axis floating bearing, and an oil filling port is provided at the installation location of the four-axis floating bearing.

[0016] Preferably, one end of the four-axis transmission shaft is connected to the extension rod through a flange, the other end of the four-axis transmission shaft is provided with a hole with a keyway, the four-axis transmission shaft is connected to the transmission shaft of the four-axis reducer through the hole with the keyway, and both ends of the extension rod are connected to the four-axis rotation assembly and the support ring assembly through flanges; The support ring assembly is composed of a support ring seat, a support ring, a support ring shaft fixing plate and a long shroud fixing plate; The flange of the support ring seat is connected to the extension rod, the ear shaft of the support ring is fixedly installed on the top of the open shaft seat, the support ring is fixedly installed on the open shaft seat of the support ring seat through the ear shaft, the vertical line of the ear shaft axis passing through the center of gravity of the support ring is parallel to the direction of gravity, the support ring shaft fixing plate is fixedly installed on the upper end of the open shaft seat of the support ring seat, and a long water outlet fixing plate is fixedly installed on the front end of the outer wall of the support ring shaft fixing plate.

[0017] Preferably, the lower mounting surface of the robotic arm base is fixedly connected to the on-site mounting platform by chemical anchors, the upper mounting surface of the robotic arm base is connected to the turntable output end flange of the one-axis rotary platform assembly by bolts, the turntable shell end flange of the one-axis rotary platform assembly is fixed to the mounting surface at one end of the boom, the mounting surface at the other end of the boom is fixed to the turntable shell end flange of the two-axis rotary platform assembly, the turntable output end flange of the two-axis rotary platform assembly is connected to the flange of the three-axis seat, the ear shaft of the four-axis rotation assembly is fixedly installed on the bearing seat at the bottom end of the outer wall of the three-axis seat, the bearing seat of the hydraulic cylinder with a displacement sensor is installed on the mounting surface at the top end of the outer wall of the three-axis seat, and the hinge joint of the hydraulic cylinder with the displacement sensor is connected to the hinge joint seat of the four-axis rotation assembly through a pin shaft.

[0018] Preferably, the three-axis seat, the four-axis rotating assembly and the hydraulic cylinder with a displacement sensor form a connecting rod, with the ear axis of the four-axis rotating assembly as the three-axis rotation center, the extension and retraction of the hydraulic cylinder rod controls the pitch angle of the four-axis rotating assembly, the extension rod is fixedly installed on the flange outer wall of the four-axis rotating assembly, the support ring assembly is installed on the flange on the other side of the extension rod, and the long water outlet is sleeved on the support ring.

[0019] Preferably, a mounting surface and a mounting hole are provided at the bottom end of the outer wall of the robotic arm base, and the robotic arm base is connected to the on-site mounting platform through the mounting surface and the mounting hole. A flange is fixedly installed on the top of the mounting surface of the robotic arm base, and a single-axis rotary platform assembly is fixedly installed on the robotic arm base through the flange. The mounting surfaces and mounting holes of the turntable shell end flange and the turntable output end flange are assembled with the support ring assembly and the four-axis rotation assembly.

[0020] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention uses a rotary platform assembly, a hydraulic cylinder with a displacement sensor and a four-axis rotating assembly to achieve that the first and second axes meet the annular working range requirements, and the four axes meet the posture adjustment requirements during movement, thereby solving the problem that workers at the steelmaking area casting platform must operate semi-automatic equipment to disassemble and assemble the ladle shroud in harsh environments, reducing the probability of safety accidents caused by molten steel splashing, etc., protecting the life, health and safety of workers, and improving the work efficiency of the entire steelmaking process; 2. The present invention realizes accurate position and speed control of the end of the mechanical arm through a hydraulic cylinder with a displacement sensor, a proportional servo valve and its control system, solves the problems of inaccurate positioning and uneven installation or removal speed during the disassembly and assembly of the ladle shroud, improves the degree of automation and enhances operational stability; 3. The present invention realizes the full process automation of automatic disassembly and assembly of the ladle shroud through the modular design of the rotary platform assembly, the four-axis rotation assembly and the support ring assembly, solves the problem of low installation accuracy of the shroud, facilitates the assembly and maintenance of the equipment, and enhances the flexibility and adaptability of production; 4. The present invention realizes large load requirements and adapts to various robot arm spans through three-axis hydraulic cylinder driving connecting rods and extension rods, solving the problems of equipment failure and narrow applicable sites caused by insufficient power or poor movement accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a front view structural schematic diagram of the automatic long shroud manipulator of the present invention; Figure 2 It is a schematic diagram of the structure of the rotary platform assembly of the present invention; Figure 3 It is a schematic diagram of the structure of the four-axis rotating assembly of the present invention; Figure 4 It is a schematic diagram of the structure of the shroud support ring of the present invention; Figure 5 It is a schematic diagram of the structure of the mechanical arm base of the present invention; Figure 6 It is a schematic diagram of the structure of the upper arm of the present invention; Figure 7 It is a schematic diagram of the structure of a hydraulic cylinder with a displacement sensor of the present invention; Figure 8 It is a schematic diagram of the structure of the three-axis seat of the present invention; Fig. 9 It is a schematic diagram of the extension rod structure of the present invention.

[0022] In the figure: 1. Robot arm base; 2. Rotating platform assembly; 3. Big arm; 4. Hydraulic cylinder with displacement sensor; 5. Three-axis seat; 6. Four-axis rotation assembly; 7. Extension rod; 8. Support ring assembly; 9. Long water outlet; 10. Turntable motor; 11. Turntable motor seat; 12. Turntable reducer; 13. Turntable housing end flange; 14. Turntable bearing; 15. Turntable output end flange; 16. Turntable oil filling port plug; 17. Turntable oil outlet Mouth plug; 18. Four-axis motor; 19. Four-axis motor seat; 20. Four-axis reducer; 21. Four-axis reducer seat; 22. Four-axis fixed bearing; 23. Four-axis fixed bearing oiling plug; 24. Four-axis seat; 25. Four-axis transmission shaft; 26. Four-axis floating bearing; 27. Four-axis floating bearing oiling plug; 28. Four-axis bearing end cover; 29. ​​Support ring seat; 30. Support ring; 31. Support ring shaft fixing plate; 32. Long water inlet fixing plate. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front end", "rear end", "two ends", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0025] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] See also Figure 1 , Figure 3 , Figure 5 , Figure 6 , Figure 8 and Fig. 9 , an embodiment provided by the present invention: a manipulator structure for automatic disassembly and assembly of a ladle long nozzle, comprising a manipulator base 1, a rotary platform assembly 2, a large arm 3, a hydraulic cylinder 4 with a displacement sensor, a three-axis seat 5, a four-axis rotation assembly 6, an extension rod 7 and a support ring assembly 8, the top of the outer wall of the manipulator base 1 is fixedly mounted with the rotary platform assembly 2, the top of the outer wall of the rotary platform assembly 2 is fixedly mounted with the large arm 3, the lower end of the second group of outer walls of the rotary platform assembly 2 is fixedly mounted with the three-axis seat 5, the front end of the outer wall of the three-axis seat 5 is fixedly mounted with the four-axis rotation assembly 6, the top of the outer wall of the four-axis rotation assembly 6 is fixedly mounted with the hydraulic cylinder 4 with a displacement sensor, the front end of the outer wall of the four-axis rotation assembly 6 is fixedly mounted with the extension rod 7, and the front end of the outer wall of the extension rod 7 is fixedly mounted with the support ring assembly 8; The revolving platform assembly 2 is provided with two groups. The revolving platform assembly 2 fixedly installed at the top of the outer wall of the robot arm base 1 is a one-axis revolving platform assembly, and the rotating axis arranged inside the one-axis revolving platform assembly is one axis. The revolving platform assembly 2 connected to the arm 3 through the suspended flange is a two-axis revolving platform assembly, and the rotating axis arranged inside the two-axis revolving platform assembly is two axes. The rotating axis fixedly installed at the bottom end of the outer wall of the three-axis seat 5 is three axes, and the rotating axis arranged inside the four-axis rotating assembly 6 is four axes. The four-axis rotating assembly 6 includes a four-axis motor 18, a four-axis motor seat 19, a four-axis reducer 20, a four-axis fixed bearing 22, a four-axis fixed bearing oiling plug 23, a four-axis seat 24, a four-axis transmission shaft 25, a four-axis floating bearing 26, a four-axis floating bearing oiling plug 27, a four-axis bearing end cover 28 and a four-axis reducer seat 21; Further, the staff puts the long shroud 9 into the support ring assembly 8 in advance, the lower mounting surface of the robot arm base 1 is fixed to the on-site mounting platform, the upper mounting surface is bolted to the turntable output end flange 15 of the one-axis rotary platform assembly 2, the hinge joint of the hydraulic cylinder 4 is connected to the hinge joint seat of the four-axis rotation assembly 6 through a pin shaft, the three-axis seat 5, the four-axis rotation assembly 6, and the hydraulic cylinder 4 form a connecting rod, and the controller drives the turntable motor 10 of the one-axis rotary platform assembly and the two-axis rotary platform assembly. The one-axis and the two-axis rotation axes are parallel and perpendicular to the ground. The three-axis controls the pitch angle of the four-axis rotation assembly 6 through the extension and retraction of the hydraulic cylinder 4 and the connecting rod mechanism, and the four-axis controls the inclination of the long shroud 9; First, the four-axis rotation assembly 6 rotates 60°, and at the same time, the hydraulic cylinder 4 with a displacement sensor controls the cylinder rod to extend, so that the three-axis seat 5 descends. Then, the robotic arm base 1 and the rotary platform assembly 2 drive the arm 3 to perform one-axis and two-axis linkage, and according to the pre-set motion trajectory and coordinate data, the long water nozzle 9 is gradually guided to the bottom of the ladle outlet. When the long water nozzle 9 is about to reach the target position, the four-axis rotation assembly 6 returns to the center, driving the support ring assembly 8 to return to a vertical state, and at the same time, the hydraulic cylinder 4 retracts the piston rod to place the long water nozzle 9. After the long water nozzle 9 is successfully inserted, the three-axis hydraulic cylinder controlled by the hydraulic cylinder 4 with a displacement sensor is retracted, so that the long water nozzle 9 is fitted with the ladle outlet. The system controls the pressure applied to the long water nozzle 9 to be maintained between 80-150kg to prevent molten steel leakage and the intrusion of outside air.

[0027] See also Figure 1 , Figure 2 , Figure 5 , Figure 6 and Figure 7 , an embodiment provided by the present invention: a manipulator structure for automatic disassembly and assembly of a ladle long nozzle, the slewing platform assembly 2 comprises a turntable motor 10, a turntable motor seat 11, a turntable reducer 12, a turntable housing end flange 13, a turntable bearing 14 and a turntable output end flange 15; the turntable motor 10 is fixedly installed on the top of the outer wall of the turntable motor seat 11, the turntable output end flange 15 is connected to the output flange of the turntable reducer 12 by bolts, the turntable output end flange 15 is connected to the outer ring of the turntable bearing 14 by bolts, the turntable housing end flange 13 is connected to the inner ring of the turntable bearing 14, the housing of the turntable reducer 12 and the turntable motor seat 11 by bolts, and the turntable motor 10 drives the turntable reducer 12 through the input gear; The bottom end of the outer wall of the robot arm base 1 is provided with a mounting surface and a mounting hole, and the robot arm base 1 is connected to the on-site mounting platform through the mounting surface and the mounting hole. A flange is fixedly installed on the top of the mounting surface of the robot arm base 1, and the robot arm base 1 is fixedly installed with a one-axis rotary platform assembly through the flange. The mounting surfaces and mounting holes of the turntable shell end flange 13 and the turntable output end flange 15 are assembled with the support ring assembly 8 and the four-axis rotation assembly 6; The lower mounting surface of the robotic arm base 1 is fixedly connected to the on-site mounting platform by chemical anchor bolts, the upper mounting surface of the robotic arm base 1 is connected to the turntable output end flange 15 of the one-axis rotary platform assembly by bolts, the turntable shell end flange 13 of the one-axis rotary platform assembly is fixed to the mounting surface at one end of the big arm 3, the mounting surface at the other end of the big arm 3 is fixed to the turntable shell end flange 13 of the two-axis rotary platform assembly, the turntable output end flange 15 of the two-axis rotary platform assembly is connected to the flange of the three-axis seat 5, the ear shaft of the four-axis rotation assembly 6 is fixedly installed on the bearing seat at the bottom end of the outer wall of the three-axis seat 5, the bearing seat of the hydraulic cylinder 4 with a displacement sensor is installed on the mounting surface at the top end of the outer wall of the three-axis seat 5, and the hinge joint of the hydraulic cylinder 4 with a displacement sensor is connected to the hinge joint seat of the four-axis rotation assembly 6 by a pin shaft; Further, first, the mechanical arm base 1 is fixedly connected to the on-site installation platform using chemical anchor bolts. The chemical anchor bolts are high-strength anchor bolts with a specification of M16 and a length of 300 mm. The anchor bolts are implanted at a depth of 200 mm to ensure that the mechanical arm base 1 is firmly connected to the installation platform and can withstand various loads generated by the manipulator during operation. After the installation is completed, the level of the mechanical arm base 1 is detected using a level meter and adjusted to a level deviation of ±0.01°; The turntable motor 10 uses a servo motor with a multi-turn absolute encoder, which drives the turntable reducer 12 through the input gear to rotate the big arm 3 to the general direction of the ladle long nozzle. The four-axis motor 18 of the four-axis rotating assembly 6 is started, driving the extension rod 7 and the support ring assembly 8 to rise vertically at a rising speed of 78 mm / s. The hydraulic cylinder 4 with a displacement sensor is started at the same time, and the four-axis rotating assembly 6 rotates 60° quickly and smoothly, and then the first and second axes cooperate to transport the ladle long nozzle to the designated storage position. Finally, the four-axis rotating assembly 6 adjusts the angle so that the ladle long nozzle can be accurately placed in the storage position, and the placement angle accuracy is ±0.01°; The axes of the manipulator move to move the support ring assembly 8 to above the position where the new ladle shroud is stored. The four-axis rotation assembly 6 adjusts the angle so that the center line deviation between the support ring assembly 8 and the new ladle shroud is within ±0.01 mm. The four-axis rotation assembly 6 fine-tunes the angle so that the new ladle shroud is aligned with the ladle mounting port with an alignment accuracy of ±0.01 mm. The hydraulic cylinder 4 with a displacement sensor contracts to insert the new ladle shroud into the ladle mounting port. The insertion depth is monitored by the displacement sensor, and the insertion depth error is required to be within ±5 mm. After the insertion is completed, the support ring assembly 8 is released.

[0028] See also Figure 1 , Figure 2 , Figure 5 , Figure 6 and Fig. 9 , an embodiment of the present invention: a manipulator structure for automatic disassembly and assembly of a ladle long nozzle, the outer rings of the turntable shell end flange 13 and the turntable output end flange 15 are both provided with mounting surfaces, and mounting holes are opened on the mounting surfaces; a skeleton oil seal is fixedly installed at the transmission of the turntable reducer 12 and the turntable motor 10, a No. 1 O-type sealing ring is provided at the mounting surface of the turntable reducer 12 and the turntable shell end flange 13, and a No. 2 O-type sealing ring is provided at the mounting surface of the turntable reducer 12 and the turntable output end flange 15. The sealing ring, the outer wall tops of the turntable motor base 11 and the turntable housing end flange 13 are respectively provided with oil ports, the turntable oil filling port plug 16 is fixedly installed at the oil port of the turntable motor base 11, and the turntable oil outlet plug 17 is fixedly installed at the oil port of the turntable housing end flange 13. The skeleton oil seal, the No. 1 O-ring sealing part, the No. 2 O-ring sealing part, the turntable motor base 11 and the oil port of the turntable housing end flange 13 jointly form a sealing cavity, and the cavity of the sealing cavity is filled with grease for the cycloidal pinwheel reducer; Flanges are fixedly installed on both sides of the bottom end of the outer wall of the big arm 3, the axes of the flanges at both ends are parallel and fixedly spaced, the flanges at both ends are connected to the big arm 3 by steel structure cantilever welding, and the big arm 3 is fixedly installed with a one-axis rotary platform assembly and a two-axis rotary platform assembly by the flanges at both ends; The three-axis seat 5, the four-axis rotating assembly 6 and the hydraulic cylinder 4 with a displacement sensor form a connecting rod, with the ear axis of the four-axis rotating assembly 6 as the three-axis rotation center, the extension and retraction of the hydraulic cylinder rod control the pitch angle of the four-axis rotating assembly 6, the extension rod 7 is fixedly installed on the flange outer wall of the four-axis rotating assembly 6, the support ring assembly 8 is installed on the flange on the other side of the extension rod 7, and the long water inlet 9 is sleeved on the support ring 30; Furthermore, the skeleton oil seal is made of fluororubber with specifications of inner diameter 50mm, outer diameter 70mm and thickness 10mm. The O-ring is made of nitrile rubber with a cross-sectional diameter of 3mm and an oil port diameter of 10mm. The amount of grease injected is 80% of the cavity volume. The arm 3 is made of high-strength alloy steel with a length of 1m. The flanges on both sides of the bottom of the outer wall are 300mm in diameter and 30mm in thickness. The axes of the flanges at both ends are parallel and 1m apart. The arm 3 is connected by steel structure cantilever welding. The double-sided welding process is used at the welding point. The weld height is 8mm to ensure that the welding strength meets the force requirements of the robot during operation. Then, the one-axis rotary platform assembly and the two-axis rotary platform assembly are fixed to the flanges at both ends of the arm 3 by bolts. The bolt specification is M24 and the tightening torque is 800N・m. During installation, ensure that the rotation axis of the rotary platform assembly is perpendicular to the axis of the arm 3 within ±0.01°. Start the one-axis rotary platform assembly to rotate its rotating axis at a speed of 50° / s, drive the boom 3 to rotate horizontally, move the support ring assembly 8 to a position 1m horizontally away from the long water outlet of the ladle, and control the positioning accuracy of the rotation angle of the one-axis to be ±0.01°. Simultaneously, the two-axis rotary platform assembly adjusts the rotation angle of the boom 3 at a speed of 50° / s to make the support ring assembly 8 100mm higher than the bottom of the long water outlet of the ladle, and the angle adjustment accuracy of the two axes is ±0.01°. With the ear axis of the four-axis rotating assembly 6 as the three-axis rotation center, drive the support ring assembly 8 to approach the long water outlet of the ladle laterally, and stop when the support ring assembly 8 is 80mm away from the side of the ladle outlet. Start the hydraulic cylinder 4 with a displacement sensor, and extend the hydraulic cylinder rod with a maximum extension speed of 78mm / s. According to the feedback of the displacement sensor, when the long water outlet 9 contacts the ladle outlet and the upward displacement reaches 30mm, the displacement sensor accuracy is ±0.3mm, and the long water outlet 9 docks with the ladle outlet.

[0029] See also Figure 1 , Figure 3 , Figure 5 , Figure 6 and Figure 7 , an embodiment provided by the present invention: a manipulator structure for automatic disassembly and assembly of a ladle long nozzle, the cylinder end of the hydraulic cylinder 4 with a displacement sensor is fixedly installed with an ear shaft, the outer wall of the four-axis rotating assembly 6 is fixedly installed with an ear shaft, and the bottom end of the outer wall of the hydraulic cylinder 4 with a displacement sensor is fixedly installed with two bearing seats; the outer wall of the three-axis seat 5 is provided with a flange, and the three-axis seat 5 is fixedly installed with a two-axis rotary platform assembly through the flange, and the bottom end of the outer wall of the three-axis seat 5 is fixedly installed with two bearing seats, and the three-axis seat 5 is fixedly installed with the ear shaft of the four-axis rotating assembly 6 through the bearing seat, and the three-axis seat 5 is fixedly connected to the bearing seat of the hydraulic cylinder 4 with a displacement sensor through the mounting surface and the mounting hole set at the top of the outer wall; the end of the hydraulic cylinder rod is fixedly installed with a hinge joint, the hinge joint is connected to the four-axis rotating assembly 6, and the rear end of the cylinder body is fixedly installed with a displacement sensor, and the displacement sensor feeds back the position signal of the hydraulic cylinder piston to the controller in real time; A hydraulic cylinder joint seat is provided at the front end of the four-axis seat 24, and the hydraulic cylinder joint seat is connected to the hinge joint of the hydraulic cylinder 4 with a displacement sensor through a pin shaft. A mounting surface and a mounting hole are provided on the side of the ear shaft of the four-axis seat 24. The four-axis seat 24 is fixedly installed with the four-axis motor seat 19 through the mounting surface and the mounting hole. The inner cavity on the ear shaft side is provided with a matching cylindrical surface for installing the four-axis fixed bearing 22 and a step surface for providing axial positioning for the matching cylindrical surface. An oil filling port is provided at the installation location of the four-axis fixed bearing 22. The mounting surface and the mounting hole provided on the side of the hydraulic cylinder joint seat are fixedly installed with the four-axis bearing end cover 28. The inner cavity on the joint seat side is provided with a matching cylindrical surface and a step surface for installing the four-axis floating bearing 26. An oil filling port is provided at the installation location of the four-axis floating bearing 26. Furthermore, the hydraulic cylinder 4 with displacement sensor uses a standard hydraulic cylinder with a cylinder diameter of 80mm and a stroke of 350mm. The ear shaft at the cylinder end is made of alloy steel with a diameter of 30mm and a length of 100mm. The ear shaft of the hydraulic cylinder 4 is connected to the ear shaft of the outer wall of the four-axis rotation component 6. The connection adopts clearance fit, and the clearance is controlled between 0.025-0.05mm. The hinge joint at the end of the hydraulic cylinder rod adopts a ball joint structure. The displacement sensor at the rear end of the cylinder body uses a magnetostrictive displacement sensor with a resolution of 0.01mm. The controller starts each axis rotary platform assembly according to the preset program. The one-axis rotary platform assembly and the two-axis rotary platform assembly adjust the pitch angle of the four-axis rotation assembly 6. At the same time, the three axes on the three-axis seat 5 rotate, driving the four-axis rotation assembly 6 and other components to reach the top of the middle ladle. When the support ring assembly 8 is 30mm away from the bottom of the ladle outlet, it stops, and the hydraulic cylinder 4 with a displacement sensor starts the compression action. According to the feedback from the displacement sensor, when the long nozzle 9 contacts the ladle outlet and the upward displacement reaches 30mm, the four-axis rotation assembly 6 can be fine-tuned as needed. The adjustment angle range of the four axes is ±0.01°. Before reaching the target position, the four axes are returned to the center to complete the action of inserting the long nozzle into the pouring hole of the middle ladle.

[0030] See also Figure 1 , Figure 3 , Figure 4 , Figure 6 and Fig. 9 , an embodiment of the present invention: a manipulator structure for automatic disassembly and assembly of a ladle long nozzle, a four-axis reducer 20 is connected to a four-axis seat 24 through a four-axis reducer seat 21, and a four-axis motor 18 is connected to a four-axis reducer seat 21 through a four-axis motor seat 19; a four-axis transmission shaft 25, a four-axis fixed bearing 22, a four-axis floating bearing 26, a four-axis reducer 20 and a four-axis motor 18 are coaxially installed to form a four-axis shaft system, the inner ring of the four-axis fixed bearing 22 is axially positioned through the four-axis transmission shaft 25 and a round nut installed on the top of the outer wall of the four-axis transmission shaft 25, and the outer ring of the four-axis fixed bearing 22 is axially positioned through the four-axis seat 24 The step surface at the end of the ear shaft and the four-axis reducer seat 21 are axially positioned, the flange side bearing mounting cylindrical surface of the four-axis transmission shaft 25 is fixedly mounted with a four-axis floating bearing 26, the outer ring of the four-axis floating bearing 26 is axially positioned by the step surface of the four-axis floating bearing 26 of the four-axis seat 24 and the four-axis bearing end cover 28, the side of the four-axis seat 24 is provided with an ear shaft, the four-axis seat 24 is fixedly mounted on the bearing seat of the three-axis seat 5 through the ear shaft, the oil filling port of the four-axis fixed bearing 22 is fixedly mounted with a four-axis fixed bearing oil filling plug 23, and the oil filling port of the four-axis floating bearing 26 is fixedly mounted with a four-axis floating bearing oil filling plug 27; One end of the four-axis transmission shaft 25 is connected to the extension rod 7 through a flange, and the other end of the four-axis transmission shaft 25 is provided with a hole with a keyway. The four-axis transmission shaft 25 is connected to the transmission shaft of the four-axis reducer 20 through the hole with the keyway. The two ends of the extension rod 7 are connected to the four-axis rotation assembly 6 and the support ring assembly 8 through flanges; the support ring assembly 8 is composed of a support ring seat 29, a support ring 30, a support ring shaft fixing plate 31 and a long water outlet fixing plate 32; the flange of the support ring seat 29 is connected to the extension rod 7, and the ear shaft of the support ring 30 is fixedly installed on the top of the open shaft seat, and the support ring 30 is fixedly installed on the open shaft seat of the support ring seat 29 through the ear shaft, and the vertical line of the ear shaft axis passing through the center of gravity of the support ring 30 is parallel to the direction of gravity, the support ring shaft fixing plate 31 is fixedly installed on the upper end of the open shaft seat of the support ring seat 29, and the long water outlet fixing plate 32 is fixedly installed on the front end of the outer wall of the support ring shaft fixing plate 31; Furthermore, the four-axis reducer 20 uses a cycloidal pinwheel reducer with a reduction ratio of 50:1, and the connecting bolts use M12 high-strength bolts, which are connected to the four-axis reducer seat 21 through the four-axis motor seat 19. The flatness error of the motor seat mounting surface is controlled within ±0.01mm. The four-axis fixed bearing 22 uses a double-row tapered roller bearing, and the bearing end cover is fixed to the four-axis seat 24 by 6 M8 bolts. The ear shaft arranged on the side of the four-axis seat 24 has a diameter of 50mm and a length of 100mm. The slewing platform assembly 2 on the robot arm base 1 is started, and the one-axis slewing platform assembly and the two-axis slewing platform assembly drive the large arm 3 to rotate horizontally, so that the support ring assembly 8 faces the direction of the ladle outlet, so that the support ring assembly 8 is located 100mm below the ladle outlet. The two-axis adjustment speed is 50° / s, and the angle accuracy is ±0.01°. The four-axis motor 18 of the four-axis rotation assembly 6 drives the four-axis transmission shaft 25 to rotate, driving the extension rod 7 and the support ring assembly 8 to rise, and the hydraulic cylinder 4 with a displacement sensor is started at the same time. When the support ring assembly 8 contacts the ladle outlet and moves upward by 30mm, the displacement sensor accuracy is ±0.01mm. The three axes first rotate in the opposite direction to move the long water outlet of the ladle horizontally out of the area above the middle ladle, and then the one-axis and the two-axis cooperate to move the long water outlet of the ladle to the top of the designated storage position, with the ear axis of the four-axis rotation assembly 6 as the three-axis rotation center, and the extension and retraction of the hydraulic cylinder rod control the pitch angle of the four-axis rotation assembly 6.

[0031] Note, Figure 5-Figure 9 It is a detailed display of a single part; the long nozzle 9 is a schematic diagram of a workpiece that needs to be carried by the present invention and does not belong to the content of the present invention.

[0032] Working principle: the robot arm base 1 is fixed on the on-site installation platform through the mounting surface and the mounting hole. The turntable motor 10 drives the turntable reducer 12, which in turn drives the turntable output end flange 15 to rotate, so that the arm 3 can rotate around the first and second axes to adjust the horizontal position of the robot arm; The four-axis motor 18 drives the four-axis reducer 20 through the four-axis motor seat 19 and the four-axis reducer seat 21 to drive the four-axis transmission shaft 25 to rotate, so that the extension rod 7 connected to one end of the four-axis transmission shaft 25 rotates, and the four-axis transmission shaft 25 is coaxially installed with the four-axis fixed bearing 22, the four-axis floating bearing 26, the four-axis reducer 20 and the four-axis motor 18 to form a stable shaft system. Each bearing is axially positioned by a corresponding step surface, a round nut and a bearing seat. The three-axis seat 5, the four-axis rotation component 6 and the hydraulic cylinder 4 with a displacement sensor form a connecting rod structure, with the ear shaft of the four-axis rotation component 6 as the three-axis rotation center. The displacement sensor at the rear end of the cylinder body feeds back the piston position signal to the controller in real time. When the hydraulic cylinder rod is extended or retracted, the pitch angle of the four-axis rotation component 6 is controlled to adjust the position in the vertical direction; The support ring 30 is installed on the open shaft seat of the support ring seat 29 through the ear shaft, and the ear shaft axis passes through the vertical line of the center of gravity of the support ring 30 and is parallel to the direction of gravity. The long water outlet 9 is sleeved on the support ring 30. Through the rotation and pitch of the robot arm and the rotation of the extension rod 7, the support ring assembly 8 is moved to the long water outlet of the ladle for automatic disassembly and assembly.

[0033] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A manipulator structure for automatic disassembly and assembly of a ladle shroud, characterized in that: The invention comprises a mechanical arm base (1), a slewing platform assembly (2), a large arm (3), a hydraulic cylinder (4) with a displacement sensor, a three-axis seat (5), a four-axis rotating assembly (6), an extension rod (7) and a support ring assembly (8), wherein the top end of the outer wall of the mechanical arm base (1) is fixedly mounted with the slewing platform assembly (2), the top end of the outer wall of the slewing platform assembly (2) is fixedly mounted with the large arm (3), the lower end of the second group of outer walls of the slewing platform assembly (2) is fixedly mounted with the three-axis seat (5), the front end of the outer wall of the three-axis seat (5) is fixedly mounted with the four-axis rotating assembly (6), the top end of the outer wall of the four-axis rotating assembly (6) is fixedly mounted with the hydraulic cylinder (4) with a displacement sensor, the front end of the outer wall of the four-axis rotating assembly (6) is fixedly mounted with the extension rod (7), and the front end of the outer wall of the extension rod (7) is fixedly mounted with the support ring assembly (8); The slewing platform assembly (2) comprises a turntable motor (10), a turntable motor base (11), a turntable reducer (12), a turntable housing end flange (13), a turntable bearing (14) and a turntable output end flange (15); A turntable motor (10) is fixedly mounted on the top of the outer wall of the turntable motor seat (11); the turntable output end flange (15) is connected to the output flange of the turntable reducer (12) by bolts; the turntable output end flange (15) is connected to the outer ring of the turntable bearing (14) by bolts; the turntable outer shell end flange (13) is connected to the inner ring of the turntable bearing (14), the outer shell of the turntable reducer (12) and the turntable motor seat (11) by bolts; and the turntable motor (10) drives the turntable reducer (12) via an input gear.

2. A manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 1, characterized in that: The outer rings of the turntable housing end flange (13) and the turntable output end flange (15) are both provided with mounting surfaces, and the mounting surfaces are provided with mounting holes; A skeleton oil seal is fixedly installed at the transmission part of the turntable reducer (12) and the turntable motor (10), a No. 1 O-ring is provided at the mounting surface of the turntable reducer (12) and the turntable housing end flange (13), a No. 2 O-ring is provided at the mounting surface of the turntable reducer (12) and the turntable output end flange (15), oil ports are respectively opened at the top of the outer wall of the turntable motor seat (11) and the turntable housing end flange (13), a turntable oil filling port plug (16) is fixedly installed at the oil port of the turntable motor seat (11), and a turntable oil outlet plug (17) is fixedly installed at the oil port of the turntable housing end flange (13), the skeleton oil seal, the No. 1 O-ring sealing part, the No. 2 O-ring sealing part, the turntable motor seat (11) and the turntable housing end flange (13) The oil port forms a sealed cavity together, and the cavity of the sealed cavity is filled with grease for the cycloidal pinwheel reducer.

3. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 1, characterized in that: The rotary platform assembly (2) is provided with two groups. The rotary platform assembly (2) fixedly mounted on the top of the outer wall of the robot arm base (1) is a one-axis rotary platform assembly, and the rotation axis arranged inside the one-axis rotary platform assembly is one axis. The rotary platform assembly (2) connected to the arm (3) through the suspended flange is a two-axis rotary platform assembly, and the rotation axis arranged inside the two-axis rotary platform assembly is two axes. The rotation axis fixedly mounted on the bottom of the outer wall of the three-axis seat (5) is three axes, and the rotation axis arranged inside the four-axis rotating assembly (6) is four axes. Flanges are fixedly mounted on both sides of the bottom end of the outer wall of the boom (3), the axes of the flanges at both ends are parallel and fixedly spaced, the flanges at both ends are welded to the boom (3) through a steel structure cantilever, and the one-axis slewing platform assembly and the two-axis slewing platform assembly are fixedly mounted on the boom (3) through the flanges at both ends.

4. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 1, characterized in that: The cylinder end of the hydraulic cylinder (4) with a displacement sensor is fixedly mounted with a trunnion, the outer wall of the four-axis rotating assembly (6) is fixedly mounted with a trunnion, and the bottom end of the outer wall of the hydraulic cylinder (4) with a displacement sensor is fixedly mounted with two bearing seats; The outer wall of the three-axis seat (5) is provided with a flange, and the two-axis rotary platform assembly is fixedly mounted on the three-axis seat (5) via the flange. Two bearing seats are fixedly mounted on the bottom end of the outer wall of the three-axis seat (5). The three-axis seat (5) is fixedly mounted with the ear shaft of the four-axis rotating assembly (6) via the bearing seats. The three-axis seat (5) is fixedly connected to the bearing seat of the hydraulic cylinder (4) with the displacement sensor via the mounting surface and mounting holes provided at the top end of the outer wall; A hinge joint is fixedly installed at the end of the hydraulic cylinder rod, and the hinge joint is connected to the four-axis rotation assembly (6). A displacement sensor is fixedly installed at the rear end of the cylinder body, and the displacement sensor feeds back the position signal of the hydraulic cylinder piston to the controller in real time.

5. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 1, characterized in that: The four-axis rotating assembly (6) comprises a four-axis motor (18), a four-axis motor seat (19), a four-axis reducer (20), a four-axis fixed bearing (22), a four-axis fixed bearing oil injection plug (23), a four-axis seat (24), a four-axis transmission shaft (25), a four-axis floating bearing (26), a four-axis floating bearing oil injection plug (27), a four-axis bearing end cover (28) and a four-axis reducer seat (21); The four-axis reducer (20) is connected to the four-axis seat (24) via the four-axis reducer seat (21), and the four-axis motor (18) is connected to the four-axis reducer seat (21) via the four-axis motor seat (19); The four-axis transmission shaft (25), the four-axis fixed bearing (22), the four-axis floating bearing (26), the four-axis reducer (20) and the four-axis motor (18) are coaxially installed to form a four-axis shaft system. The inner ring of the four-axis fixed bearing (22) is axially positioned through the four-axis transmission shaft (25) and a round nut installed on the top of the outer wall of the four-axis transmission shaft (25). The outer ring of the four-axis fixed bearing (22) is axially positioned through the step surface of the ear shaft end of the four-axis seat (24) and the four-axis reducer seat (21). The flange side bearing of the four-axis transmission shaft (25) is fixedly installed on the cylindrical surface. A four-axis floating bearing (26) is provided, the outer ring of the four-axis floating bearing (26) is axially positioned by the step surface of the four-axis floating bearing (26) of the four-axis seat (24) and the four-axis bearing end cover (28), a trunnion is provided on the side of the four-axis seat (24), the four-axis seat (24) is fixedly mounted on the bearing seat of the three-axis seat (5) through the trunnion, a four-axis fixed bearing oil filling plug (23) is fixedly mounted at the oil filling port of the four-axis fixed bearing (22), and a four-axis floating bearing oil filling plug (27) is fixedly mounted at the oil filling port of the four-axis floating bearing (26).

6. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 5, characterized in that: A hydraulic cylinder joint seat is provided at the front end of the four-axis seat (24), and the hydraulic cylinder joint seat is connected to the hinge joint of the hydraulic cylinder (4) with the displacement sensor via a pin shaft. A mounting surface and a mounting hole are provided on the side of the ear shaft of the four-axis seat (24). The four-axis seat (24) is fixedly mounted on the four-axis motor seat (19) via the mounting surface and the mounting hole. A matching cylindrical surface for mounting a four-axis fixed bearing (22) and a step surface for providing axial positioning for the matching cylindrical surface are provided in the inner cavity on the ear shaft side. An oil filling port is provided at the mounting location of the four-axis fixed bearing (22). The mounting surface and the mounting hole provided on the side of the hydraulic cylinder joint seat are fixedly mounted on the four-axis bearing end cover (28). A matching cylindrical surface and a step surface for mounting a four-axis floating bearing (26) are provided in the inner cavity on the joint seat side. An oil filling port is provided at the mounting location of the four-axis floating bearing (26).

7. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 5, characterized in that: One end of the four-axis transmission shaft (25) is connected to the extension rod (7) via a flange, the other end of the four-axis transmission shaft (25) is provided with a hole with a keyway, the four-axis transmission shaft (25) is connected to the transmission shaft of the four-axis reducer (20) via the hole with the keyway, and both ends of the extension rod (7) are connected to the four-axis rotation assembly (6) and the support ring assembly (8) via flanges; The support ring assembly (8) is composed of a support ring seat (29), a support ring (30), a support ring shaft fixing plate (31) and a long shroud fixing plate (32); The flange of the support ring seat (29) is connected to the extension rod (7), the ear shaft of the support ring (30) is fixedly installed on the top of the open shaft seat, the support ring (30) is fixedly installed on the open shaft seat of the support ring seat (29) through the ear shaft, the vertical line of the ear shaft axis passing through the center of gravity of the support ring (30) is parallel to the gravity direction, the support ring shaft fixing plate (31) is fixedly installed on the upper end of the open shaft seat of the support ring seat (29), and the front end of the outer wall of the support ring shaft fixing plate (31) is fixedly installed with a long shroud fixing plate (32).

8. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 1, characterized in that: The lower mounting surface of the mechanical arm base (1) is fixedly connected to the on-site mounting platform by chemical anchor bolts, the upper mounting surface of the mechanical arm base (1) is connected to the turntable output end flange (15) of the one-axis rotary platform assembly by bolts, the turntable shell end flange (13) of the one-axis rotary platform assembly is fixed to the mounting surface at one end of the big arm (3), the mounting surface at the other end of the big arm (3) is fixed to the turntable shell end flange (13) of the two-axis rotary platform assembly, the turntable output end flange (15) of the two-axis rotary platform assembly is connected to the flange of the three-axis seat (5), the ear shaft of the four-axis rotation assembly (6) is fixedly installed on the bearing seat at the bottom end of the outer wall of the three-axis seat (5), the bearing seat of the hydraulic cylinder (4) with a displacement sensor is installed on the mounting surface at the top end of the outer wall of the three-axis seat (5), and the hinge joint of the hydraulic cylinder (4) with a displacement sensor is connected to the hinge joint seat of the four-axis rotation assembly (6) by a pin shaft.

9. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 1, characterized in that: The three-axis seat (5), the four-axis rotating assembly (6) and the hydraulic cylinder (4) with a displacement sensor form a connecting rod, with the ear axis of the four-axis rotating assembly (6) as the three-axis rotating center, the extension and retraction of the hydraulic cylinder rod control the pitch angle of the four-axis rotating assembly (6), the extension rod (7) is fixedly mounted on the flange outer wall of the four-axis rotating assembly (6), the support ring assembly (8) is mounted on the flange on the other side of the extension rod (7), and the long water outlet (9) is sleeved on the support ring (30).

10. The manipulator structure for automatic assembly and disassembly of a ladle shroud according to claim 1, characterized in that: The bottom end of the outer wall of the robot arm base (1) is provided with a mounting surface and a mounting hole, the robot arm base (1) is connected to the on-site mounting platform via the mounting surface and the mounting hole, a flange is fixedly mounted on the top of the mounting surface of the robot arm base (1), a one-axis rotary platform assembly is fixedly mounted on the robot arm base (1) via the flange, and the mounting surfaces and mounting holes of the turntable shell end flange (13) and the turntable output end flange (15) are assembled with the support ring assembly (8) and the four-axis rotation assembly (6).

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