Device and method for automatic demolding of molten steel sampler

Abstract

The invention relates to the technical field of molten steel sampling and demolding, in particular to a device and method for automatic demolding of a molten steel sampler, and the device comprises a manipulator assembly, a sampler, a sampler separation mechanism, a flushing pipe, a scanner and a handle cutting mechanism, the manipulator assembly is arranged on the side face of the sampler separation mechanism, the manipulator assembly clamps a sampler and places the sampler in the sampler separation mechanism for demolding, the scanner is arranged above a mold outlet of the sampler separation mechanism, the flushing pipe is arranged on one side of the scanner, and the handle cutting mechanism is arranged at the front end of the sampler separation mechanism to achieve separation of a molten steel sample and a round handle. The system has the beneficial effects that intelligent and unmanned production is realized, so that the production efficiency is improved, the labor cost is saved, and safe production is ensured.

Description

Technical Field

[0001] This invention relates to the field of molten steel sampling and demolding technology, and in particular to a device and method for automatic demolding of a molten steel sampler. Background Technology

[0002] Sampling is an essential step in steelmaking. The sampling process involves harsh working environments (high temperatures, dust, and splashes) and complex procedures. While some large steel companies have adopted robotic automated temperature measurement and sampling systems with advancements in technology, current robotic sampling systems can only extract molten steel from the furnace using a sampler. Complex actions such as removing the refractory material from the sampler surface, demolding the sampler, and cutting the sample handle still require manual labor. This demolding process is time-consuming and labor-intensive, resulting in low efficiency and poor quality, impacting the continuity of subsequent processes. To achieve fully automated and unmanned sampling, there is an urgent need for an automated device and method to replace manual labor and improve sampling efficiency, quality, and safety. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a device and method for automatic demolding of a molten steel sampler. The device uses a robotic arm assembly to hold the sampler and feed it into an automatic separation mechanism. The upper and lower rubbing plates reciprocate to automatically separate the coating, molten steel sample, and mold at the front end of the sampler. This enables the identification and pickup of the molten steel sample and the cutting of the molten steel sample handle, achieving intelligent and unmanned production, thereby improving production efficiency, saving labor costs, and ensuring safe production.

[0004] To achieve the above objectives, the present invention employs the following technical solution:

[0005] A device for automatic demolding of a molten steel sampler includes a robotic arm assembly, a sampler, a sampler separation mechanism, a flushing pipe, a scanner, and a cutting mechanism. The robotic arm assembly is a six-axis robotic arm, which is located on the side of the sampler separation mechanism. The robotic arm assembly holds the sampler and places it inside the sampler separation mechanism for demolding. A scanner is located above the mold ejection position of the sampler separation mechanism, and a flushing pipe is located on one side of the scanner. A cutting mechanism is located at the front end of the sampler separation mechanism to separate the sample from the round handle.

[0006] The sampler separation mechanism includes an upper frame, a lower frame, a pressing cylinder, a cutting cylinder, a cutting blade connector, a cutting blade, a washboard connector, a compression spring, an upper washboard, a lower washboard, and a longitudinal and transverse movement mechanism. The upper frame is located on top of the lower frame. The pressing cylinder and the cutting cylinder are connected from front to back and are parallel to each other on the upper frame via flanges. The cutting cylinder is connected to the cutting blade via the cutting blade connector. The bottom of the pressing cylinder is connected to the washboard connector, which is connected to the upper washboard via a compression spring. The lower washboard is located at a distance below the upper washboard. The longitudinal and transverse movement mechanism is located at the bottom of the lower washboard and is located at the top of the lower frame.

[0007] Furthermore, linear bearings are provided on both sides of the top surface of the washboard connector, and guide posts are provided inside the linear bearings. The guide posts pass through the washboard connector and extend into the compression spring, and are installed on the upper washboard through the compression spring.

[0008] Furthermore, the longitudinal and transverse movement mechanism includes a transverse linear module, a longitudinal linear module, a transverse drive cylinder, a longitudinal drive cylinder, a transverse movement platform, and a longitudinal movement platform. The longitudinal movement platform is located at the top of the lower frame, and a longitudinal linear module is installed on the longitudinal movement platform. The top of the longitudinal linear module is connected to the transverse movement platform. A longitudinal drive cylinder is installed at the longitudinal center of the longitudinal movement platform, and the end of the longitudinal drive cylinder is connected to the end face of the transverse movement platform. A transverse linear module is installed on the top surface of the transverse movement platform, and a lower washboard is connected to the top of the transverse linear module. A transverse drive cylinder is installed at the transverse center of the transverse movement platform, and the end of the transverse drive cylinder is connected to the lower washboard.

[0009] Furthermore, the longitudinal linear module includes a longitudinal guide rail and a longitudinal slider. The longitudinal guide rail is disposed on both sides of the longitudinal surface of the longitudinal moving platform, and the longitudinal slider is disposed on the lower surface of the transverse moving platform. The longitudinal guide rail and the longitudinal slider are slidably connected.

[0010] Furthermore, the horizontal linear module includes a horizontal guide rail and a horizontal slider. The horizontal guide rail is disposed on both sides of the horizontal moving platform, and the horizontal slider is disposed on the lower surface of the lower washboard. The horizontal guide rail and the horizontal slider are slidably connected.

[0011] Furthermore, the lower and upper surfaces of the aforementioned rubbing plate are both provided with transverse raised textures.

[0012] Furthermore, the lower washboard has a hollow structure.

[0013] Furthermore, a waste trough is provided below the longitudinal moving platform, and an opening is provided at the bottom of the waste trough, with a filter screen and a funnel installed at the opening.

[0014] Furthermore, the cutting mechanism includes a cutting tool and a cutting tool support. The cutting tool support is located at the front end of the sampler separation mechanism, and the cutting tool is mounted on the cutting tool support. The cutting tool is provided with a receiving hole for accommodating the round handle at the tail end of the molten steel sample.

[0015] Furthermore, the demolding method of the device for automatic demolding of the molten steel sampler includes the following:

[0016] S1. The pressing cylinder lifts up, and the cutting cylinder lifts up; the robotic arm assembly clamps the molten steel sampler and places it between the upper and lower washers in a parallel position. The pressing cylinder descends and clamps the front end of the sampler. The cutting cylinder drives the cutter to fall, completing the cutting and separation of the front and rear parts of the sampler. After the cutting is completed, the cutting cylinder resets.

[0017] S2. The transverse drive cylinder drives the lower rubbing plate to perform transverse horizontal reciprocating motion. Relying on the horizontal relative motion between the upper and lower rubbing plates, the front end of the sampler rolls and rubs between the upper and lower rubbing plates, causing the dressing of the sampler to fall off. The spring pushes the upper rubbing plate to continue to descend and clamp the front end of the sampler. The waste generated during the rubbing process will fall into the waste trough through the gap of the lower rubbing plate. After rubbing for a period of time, the transverse drive cylinder stops moving and resets at the same time.

[0018] S3. The longitudinal drive cylinder works, driving the transverse moving platform to slide longitudinally. The crushed sampler is pushed forward to the sampler separation mechanism. The remaining sampler on the lower rubbing plate is flushed by flushing water through the flushing pipe to remove residual waste, completely separating the molten steel sample from the mold, and at the same time flushing all the waste into the waste tank.

[0019] S4. After rinsing, the scanner scans and identifies the position of the molten steel sample, while the robotic arm component controls the gripper connected to the end to pick up the molten steel sample.

[0020] S5. The robotic arm assembly adjusts the position of the molten steel sample, inserts the round handle on the molten steel sample into the handle cutter, and the handle cutter cuts off the round handle. After the cutting is completed, the molten steel sample enters the next process.

[0021] S6. Based on the data identified by the scanner, the robotic arm assembly clamps the mold and feeds it into the waste trough. The robotic arm assembly then resets, and the sampler separation mechanism also resets.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] 1) The sampler separation mechanism drives the upper and lower rubbing plates to reciprocate and rub the front section of the sampler, breaking up the coating at the front of the sampler. It can automatically separate the coating, molten steel sample and mold at the front of the molten steel sampler, and cut off the residual handle of the molten steel sample. This solves the problem that the existing sampling system cannot achieve fully unmanned automatic sampling, realizes intelligent and unmanned production, improves production efficiency, reduces manual labor intensity, saves labor costs, and ensures safe production.

[0024] 2) Use water to rinse the remaining sampler on the lower washboard to completely separate the molten steel sample from the molten steel sample mold. Scan the state of the molten steel sample after separation to confirm the separation state and position of the molten steel sample, improve the demolding completion rate, and ensure the quality of the molten steel sample. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of a device for automatic demolding of a molten steel sampler according to the present invention.

[0026] Figure 2 This is a schematic diagram of the sampler structure described in this invention.

[0027] Figure 3 This is a schematic diagram of the robotic arm assembly structure described in this invention.

[0028] Figure 4 This is a schematic diagram of the sampler separation mechanism described in this invention.

[0029] Figure 5 This is a schematic diagram of the steel sample identification described in this invention.

[0030] Figure 6 This is a schematic diagram of the cutting tool described in this invention.

[0031] Figure 7 This is a flowchart of the automatic demolding process of the molten steel sampler described in this invention.

[0032] In the diagram, the following are marked: 1. Robotic arm assembly; 2. Sampler; 3. Sampler separation mechanism; 4. Scanner; 5. Cutting mechanism; 6. Molten steel sample; 7. Molten steel sample mold; 8. Dressing; 101. Robotic arm; 102. Base; 103. Gripper connector; 104. Gripper; 301. Upper frame; 302. Lower frame; 303. Pressing cylinder connecting flange; 304. Pressing cylinder; 305. Cutting cylinder connecting flange; 306. Cutting cylinder; 307. Cutting... 308 Cutting blade; 309 Washboard connecting piece; 310 Guide post; 311 Linear bearing; 312 Compression spring; 313 Upper washboard; 314 Lower washboard; 315 Horizontal linear module; 316 Vertical linear module; 317 Horizontal drive cylinder; 318 Vertical drive cylinder; 319 Horizontal moving platform; 320 Vertical moving platform; 321 Waste trough; 322 Flushing pipe; 501 Handle cutter; 502 Handle cutter bracket. Detailed Implementation

[0033] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0034] like Figures 1-7 As shown, the working principle of a device for automatic demolding of a molten steel sampler is as follows: The sampler 2 is clamped by the robotic arm assembly 1 and fed between the upper and lower rubbing plates of the sampler separation mechanism 3. The front end of the sampler 2 is clamped by the pressing cylinder 304. The rear end of the sampler 2 is cut off by the cutter 308 driven by the cutting cylinder 306. The front end of the sampler 2 remains between the upper and lower rubbing plates. The lower rubbing plate 314 is driven by the transverse driving cylinder 317 to make a transverse horizontal reciprocating motion. The upper rubbing plate 313 and the lower rubbing plate 314 move relative to each other. The transverse convex texture of the upper and lower rubbing plates grinds the surface of the sampler 2. The sampler 2 is reciprocated to achieve automatic separation of the dressing 8, the molten steel sample 6 and the molten steel sample mold 7. The waste material after grinding falls into the waste trough through the hollow of the lower rubbing plate 314. The molten steel sample 6 after grinding is flushed and scanned and sent to the cutting handle mechanism 5. After the round handle at the tail end of the molten steel sample 6 is cut off, the molten steel sample 6 is sent to the next process.

[0035] like Figures 1-7As shown, a device for automatic demolding of a molten steel sampler includes a robotic arm assembly 1, a sampler 2, a sampler separation mechanism 3, a flushing pipe 322, a scanner 4, and a cutting mechanism 5. The sampler includes an outer covering 8, a molten steel sample 6, and a molten steel sample mold 7. The robotic arm assembly 1 is a six-axis robotic arm, comprising a robotic arm 101, a base 102, a gripper connector 103, and grippers 104. The robotic arm 101 is bolted to the base 102. The grippers 104 are pneumatically driven and are mounted to the six-axis end of the robotic arm 101 via the gripper connector 103. The robotic arm assembly 1 is located on the side of the sampler separation mechanism 3. The robotic arm assembly 1 holds the sampler 2 and places it inside the sampler separation mechanism 3 for demolding. A scanner 4 is installed above the sampler outlet side of the sampler separation mechanism 3. A flushing pipe 322 is installed on one side of the scanner 4. The separated dressing 8, molten steel sample 6 and mold 7 are flushed through the flushing pipe 322. The residual waste is flushed into the waste tank 321 to reduce the interference with visual recognition and to ensure the effective separation of molten steel sample 6 and molten steel sample mold 7. A cutting mechanism 5 is installed at the front end of the sampler separation mechanism 3 to separate molten steel sample 6 from the round handle. The barcode scanner 4 scans the demolding status and position of the molten steel sample. If the demolding of molten steel sample 6 is not completed, it is pushed back to the sampler separation mechanism 3 for demolding again until the demolding is completed. Based on the position of the separated molten steel sample 6 identified by the scanner 4, the robot arm 101 is adjusted to clamp the molten steel sample 6 with the gripper 104 and then sent to the cutting mechanism 5 for cutting.

[0036] The sampler separation mechanism includes an upper frame 301, a lower frame 302, a pressing cylinder 304, a cutting cylinder 306, a cutter connector 307, a cutter 308, a washboard connector 309, a compression spring 312, an upper washboard 313, a lower washboard 314, and a longitudinal and transverse movement mechanism. The upper frame 301 is mounted on top of the lower frame 302. The pressing cylinder 304 is connected to the front end of the upper part of the upper frame via a pressing cylinder connecting flange 303. The cutting cylinder 306 is connected to the upper part of the upper frame via a cutting cylinder connecting flange 305. At the rear end, both the pressing cylinder 304 and the cutting cylinder 306 are self-guided cylinders, with both cylinders pointing downwards and arranged horizontally parallel to each other on the upper part of the upper frame 301. The cutter 308 is bolted to the bottom of the cutting cylinder 306 via the cutter connector 307, performing the cutting and separation work on the front end (including the sample mold part) of the sampler 2. The bottom of the pressing cylinder 304 is connected to the washboard connector 309, and linear bearings 311 are set on both sides of the top surface of the washboard connector 309. Guide posts 310 are set inside the linear bearings 311. The guide post 310 passes through the washboard connector 309 and extends into the compression spring 312. The guide post 310 passes through the compression spring 312 and is screwed onto the upper washboard 313. The compression spring 312 is clamped between the washboard connector 309 and the upper washboard 313. This structure allows the non-cylindrical mold to tumble between the upper washboard 313 and the lower washboard 314 when they rub against each other in the horizontal direction. The upper washboard 313 can move up and down through the guide post 310, the linear bearing 311, and the compression spring 312, maintaining the clamping force between the washboards. During the rubbing process, due to the waste material... As the sampler 2 is continuously discharged, its front end volume decreases, causing the cylinder 304 and compression spring 312 to move downwards continuously, ensuring the working effect during the pressing and rubbing motion. The compression spring 312 ensures a certain degree of rebound when clamped, facilitating the up-and-down movement of the upper rubbing plate 313 during rubbing. The rubbing plate connector 309 is connected to the upper rubbing plate 313 via the compression spring 312. A lower rubbing plate 314 is set at a distance below the upper rubbing plate 313. A longitudinal and transverse moving mechanism is set at the bottom of the lower rubbing plate 314, and the longitudinal and transverse moving mechanism is set at the top of the lower frame 302.

[0037] Furthermore, the longitudinal and transverse movement mechanism includes a transverse linear module 315, a longitudinal linear module 316, a transverse drive cylinder 317, a longitudinal drive cylinder 318, a transverse movement platform 319, and a longitudinal movement platform 320. The longitudinal movement platform 320 is located at the top of the lower frame 302. The longitudinal linear module 316 is mounted on the longitudinal movement platform 320. The top of the longitudinal linear module 316 is connected to the transverse movement platform 309. The longitudinal drive cylinder 318 is located at the longitudinal center of the longitudinal movement platform 320. The longitudinal drive cylinder 318 is fixed to the longitudinal movement platform 320 by vertical bolts. The end of the longitudinal drive cylinder 318 is connected to the end face of the transverse movement platform 319. The longitudinal drive cylinder 318 drives the transverse movement platform 319 to reciprocate longitudinally. A horizontal linear module 315 is set on the top surface of the mobile platform 319. The top of the horizontal linear module 315 is connected to the lower rubbing plate 314. A horizontal drive cylinder 317 is set at the horizontal center of the horizontal mobile platform 319. The horizontal drive cylinder 317 is fixed to the horizontal mobile platform 319 by bolts in the vertical direction. The end of the horizontal drive cylinder 317 is connected to the lower rubbing plate 314. The horizontal drive cylinder 317 drives the lower rubbing plate 314 to move horizontally back and forth. The sampler front end between the upper rubbing plate 313 and the lower rubbing plate 314 performs a rolling motion between the upper and lower rubbing plates. The upper rubbing plate 313 performs a lifting motion to press the sampler front end. The relative movement between the lower rubbing plate 314 and the upper rubbing plate 313 performs a rubbing operation on the front end of the sampler 2, realizing the separation of the dressing 8, the molten steel sample 6, and the molten steel sample mold 7.

[0038] Furthermore, the longitudinal linear module 316 includes a longitudinal guide rail and a longitudinal slider. The longitudinal guide rail is disposed on both sides of the longitudinal surface of the longitudinal moving platform 320, and the longitudinal slider is disposed on the lower surface of the transverse moving platform 319. The longitudinal guide rail and the longitudinal slider are slidably connected.

[0039] Furthermore, the horizontal linear module 315 includes a horizontal guide rail and a horizontal slider. The horizontal guide rail is disposed on both sides of the horizontal movement platform 319, and the horizontal slider is disposed on the lower surface of the lower washboard 314. The horizontal guide rail and the horizontal slider are slidably connected.

[0040] Furthermore, the upper and lower surfaces of the upper and lower rubbing plates 313 and 314 are provided with transverse ridges. The transverse ridges accelerate the shedding of the dressing at the front end of the sampler 2 under the rubbing action of the upper rubbing plate 313 and the lower rubbing plate 314, thereby increasing the demolding speed and demolding efficiency of the sampler 2.

[0041] Furthermore, the lower rubbing plate 314 has a hollow structure, and the crushed dressing 8 during the rubbing process will fall into the waste trough 321 through the hollow part of the lower rubbing plate 314.

[0042] Furthermore, a waste trough 321 is provided below the longitudinal moving platform 320. The bottom of the waste trough 321 is provided with an opening, and a filter screen and a funnel are provided at the opening to ensure effective separation of waste and sewage.

[0043] Furthermore, the cutting mechanism 5 includes a cutting tool 501 and a cutting tool support 502. The cutting tool support 502 is located at the front end of the sampler separation mechanism 3, and the cutting tool 501 is mounted on the cutting tool support 502. The cutting tool 501 is provided with a receiving hole for accommodating the round handle at the tail end of the molten steel sample 6.

[0044] Furthermore, the demolding method of the device for automatic demolding of the molten steel sampler includes the following:

[0045] S1. Pressing cylinder 304 lifts up, and cutting cylinder 306 lifts up; the robotic arm assembly 1 holds the complete sampler 2 in a parallel position and places it between the upper rubbing plate 313 and the lower rubbing plate 314. Pressing cylinder 304 descends and clamps the front end of sampler 2. Cutting cylinder 306 drives the cutter 308 to fall, completing the cutting and separation of the front and rear parts of sampler 2. After cutting, cutting cylinder 306 resets.

[0046] S2. The transverse drive cylinder 317 drives the lower rubbing plate 314 to perform transverse horizontal reciprocating motion. Relying on the horizontal relative motion between the upper and lower rubbing plates, the front end of the sampler 2 (including the sample mold part) rolls and rubs between the upper and lower rubbing plates. As the dressing 8 of the sampler 2 falls off during the rubbing process, the volume of the front end of the sampler 2 becomes smaller. Therefore, while rubbing, the compression spring 312 pushes the upper rubbing plate 313 to continuously descend and clamp the front end of the sampler 2. The waste material generated during the rubbing process will fall into the waste trough 321 at the bottom of the longitudinal moving platform 320 through the gap of the lower rubbing plate 314. After the rubbing process continues for a certain number of times, the transverse drive cylinder 317 stops moving and resets at the same time.

[0047] S3. The longitudinal drive cylinder 318 works, driving the transverse moving platform 319 to move longitudinally horizontally, pushing forward the remaining sampler 2. When it reaches the limit position, it stops. At this time, the lower wash plate 314 is completely exposed outside the frame. Through the flushing pipe 322, the remaining sampler 2 on the lower wash plate 314 is flushed by flushing water, completely separating the molten steel sample 6 from the molten steel sample mold 7. At the same time, all the waste is flushed into the waste tank 321. A filter screen is placed at the bottom of the waste tank 321. The wastewater used for flushing can directly pass through the waste tank 321 and flow out through the bottom square funnel to the wastewater treatment area.

[0048] S4. After rinsing, the scanner 4 starts working, scanning and identifying the position of the molten steel sample 6. At the same time, the robot arm 101 controls the gripper 104 connected to the end to grip the molten steel sample 6.

[0049] S5. The robot arm assembly 101 adjusts its position and grippers 104 hold the molten steel sample 6 and insert the round handle on it into the handle cutter 501. The control system controls the servo motor to start working and drives the handle cutter 501 to cut off the round handle. After the cutting is completed, the molten steel sample 6 is placed in the designated position and the cut handle falls into the scrap trough 321. The molten steel sample 6 is then sent to the next process.

[0050] S6. Based on the data identified by the scanner, the robotic arm assembly 101 controls the gripper 104 to hold the molten steel sample mold 7 and send it into the scrap tank 321. The robotic arm assembly 1 then resets, and the sampler separation mechanism 3 also resets.

[0051] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A device for automatic demolding of a molten steel sampler, comprising a robotic arm assembly, a sampler, a sampler separation mechanism, a flushing pipe, a scanner, and a cutting mechanism, wherein the robotic arm assembly is a six-axis robotic arm, characterized in that, The robotic arm assembly is located on the side of the sampler separation mechanism. The robotic arm assembly clamps the sampler and places it in the sampler separation mechanism for demolding. A scanner is set above the mold ejection position of the sampler separation mechanism. A water flushing pipe is set on one side of the scanner. A cutting mechanism is set at the front end of the sampler separation mechanism to separate the sample from the round handle. The sampler separation mechanism includes an upper frame, a lower frame, a pressing cylinder, a cutting cylinder, a cutting blade connector, a cutting blade, a washboard connector, a compression spring, an upper washboard, a lower washboard, and a longitudinal and transverse movement mechanism. The upper frame is positioned above the lower frame. The pressing cylinder and the cutting cylinder are connected from front to back by flanges and are arranged parallel to each other on the upper part of the upper frame. The cutting cylinder is connected to the cutting blade via the cutting blade connector. The bottom of the pressing cylinder is connected to the washboard connector, which is connected to the upper washboard via a compression spring. The lower washboard is positioned below the upper washboard at a distance. A longitudinal and transverse movement mechanism is positioned at the bottom of the lower washboard and is located at the top of the lower frame.

2. The device for automatic demolding of a molten steel sampler according to claim 1, characterized in that, The washboard connector is provided with linear bearings on both sides of its top surface. Guide posts are provided inside the linear bearings. The guide posts pass through the washboard connector and extend into the compression spring. The guide posts pass through the compression spring and are installed on the upper washboard.

3. The device for automatic demolding of a molten steel sampler according to claim 1, characterized in that, The aforementioned longitudinal and transverse movement mechanism includes a transverse linear module, a longitudinal linear module, a transverse drive cylinder, a longitudinal drive cylinder, a transverse movement platform, and a longitudinal movement platform. The longitudinal movement platform is located at the top of the lower frame. A longitudinal linear module is installed on the longitudinal movement platform, and the top of the longitudinal linear module is connected to the transverse movement platform. A longitudinal drive cylinder is installed at the longitudinal center of the longitudinal movement platform, and the end of the longitudinal drive cylinder is connected to the end face of the transverse movement platform. A transverse linear module is installed on the top surface of the transverse movement platform, and the top of the transverse linear module is connected to a lower washboard. A transverse drive cylinder is installed at the transverse center of the transverse movement platform, and the end of the transverse drive cylinder is connected to the lower washboard.

4. The device for automatic demolding of a molten steel sampler according to claim 3, characterized in that, The longitudinal linear module includes a longitudinal guide rail and a longitudinal slider. The longitudinal guide rail is disposed on both sides of the longitudinal moving platform, and the longitudinal slider is disposed on the lower surface of the transverse moving platform. The longitudinal guide rail and the longitudinal slider are slidably connected.

5. The device for automatic demolding of a molten steel sampler according to claim 3, characterized in that, The horizontal linear module includes a horizontal guide rail and a horizontal slider. The horizontal guide rail is set on both sides of the horizontal moving platform, and the horizontal slider is set on the lower surface of the lower washboard. The horizontal guide rail and the horizontal slider are slidably connected.

6. The device for automatic demolding of a molten steel sampler according to claim 1, characterized in that, The lower and upper washboards are provided with transverse raised textures on their respective upper and lower surfaces.

7. The device for automatic demolding of a molten steel sampler according to claim 1, characterized in that, The lower washboard has a hollow structure.

8. The device for automatic demolding of a molten steel sampler according to claim 1, characterized in that, A waste trough is provided below the longitudinal moving platform. The bottom of the waste trough has an opening, and a filter screen and a funnel are installed at the opening.

9. The device for automatic demolding of a molten steel sampler according to claim 1, characterized in that, The cutting mechanism includes a cutting tool and a cutting tool support. The cutting tool support is located at the front end of the sampler separation mechanism, and the cutting tool is mounted on the cutting tool support. The cutting tool is provided with a receiving hole for the round handle at the tail end of the molten steel sample.

10. A demolding method for the device for automatic demolding of a molten steel sampler as described in claim 1, characterized in that, The demolding method of the device for automatic demolding of molten steel sampler includes the following: S1. The pressing cylinder lifts up, and the cutting cylinder lifts up; the robotic arm component holds the molten steel sampler in a parallel position and places it between the upper and lower washers, the pressing cylinder descends, and clamps the front end of the sampler. The cutting cylinder drives the cutter to fall, completing the cutting and separation of the front and rear parts of the sampler. After the cutting is completed, the cutting cylinder resets. S2. The transverse drive cylinder drives the lower rubbing plate to perform transverse horizontal reciprocating motion. Relying on the horizontal relative motion between the upper and lower rubbing plates, the front end of the sampler rolls and rubs between the upper and lower rubbing plates, causing the dressing of the sampler to fall off. The spring pushes the upper rubbing plate to continue to descend and clamp the front end of the sampler. The waste generated during the rubbing process will fall into the waste trough through the gap of the lower rubbing plate. After rubbing for a period of time, the transverse drive cylinder stops moving and resets at the same time. S3. The longitudinal drive cylinder works, driving the transverse moving platform to slide longitudinally. The crushed sampler is pushed forward to the sampler separation mechanism. The remaining sampler on the lower rubbing plate is flushed by flushing water through the flushing pipe to remove residual waste, completely separating the molten steel sample from the mold, and at the same time flushing all the waste into the waste tank. S4. After rinsing, the scanner scans and identifies the position of the molten steel sample, while the robotic arm controls the gripper connected to the end to pick up the molten steel sample. S5. The robotic arm assembly adjusts the position of the molten steel sample, inserts the round handle on the molten steel sample into the handle cutter, and the handle cutter cuts off the round handle. After the cutting is completed, the molten steel sample enters the next process. S6. Based on the data identified by the scanner, the robotic arm assembly clamps the mold and feeds it into the waste trough. The robotic arm assembly then resets, and the sampler separation mechanism also resets.

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