A multi-degree-of-freedom slagging-off device and process method for a centrifugal casting ladle

Abstract

The present application relates to horizontal centrifugal casting and process technical field, and disclose a kind of centrifugal casting ladle multiple degree of freedom slagging equipment and process method, including station scheduling system, the station station scheduling system includes mobile trolley chassis, the bottom of the mobile trolley chassis is connected with four groups of omni-directional walking wheel, the top of the trolley chassis is fixedly installed with vehicle-mounted support platform, the top of the vehicle-mounted support platform is provided with multiple degree of freedom mechanical arm execution system, one side of the trolley chassis is provided with ladle posture coordination system;The ladle posture coordination system includes ladle support base, ladle support frame and ladle pouring driving device, the top of the ladle support base is fixedly connected with the bottom of ladle support frame;The present application can be accurate control by to slagging execution end posture, action depth and motion path, so that slagging process can be layered, progressive removal with slag face.

Description

Technical Field

[0001] This invention relates to the field of horizontal centrifugal casting and process technology, specifically to a multi-degree-of-freedom slag removal device and process method for centrifugal casting molten iron ladle. Background Technology

[0002] Against the backdrop of the rapid development of the global steel industry, the rolling mill industry, as a crucial link in the steel industry chain, is facing increasingly severe challenges. With the continuous growth of steel production, especially the ever-increasing demand for high-strength, high-quality rolling mill products, the level of refinement, automation, and intelligence in each stage of the rolling mill production process—particularly the casting process—has become a key factor determining production efficiency, product quality, and energy consumption. As one of the important pieces of equipment, the casting ladle undertakes the core task of pouring molten steel. However, during the casting process, the accumulation of slag inside the ladle has become increasingly prominent. This slag not only greatly affects the quality of the molten steel but also poses a significant safety hazard in the casting process.

[0003] Waste slag is generated due to unavoidable oxidation reactions and impurity precipitation during the smelting, refining, and casting processes of molten steel. Waste slag not only affects the fluidity of molten steel but can also lead to quality fluctuations during casting, thus impacting the mechanical properties of the final product. Especially during casting, if waste slag is not removed promptly, it may become trapped within the casting, creating casting defects and, in severe cases, even resulting in scrap, thereby increasing production costs and delaying delivery. Therefore, waste slag removal is not merely a simple operational issue; it directly relates to the smooth progress of the casting process and the quality of the final product.

[0004] Currently, traditional slag removal relies on manual labor. Especially in high-temperature molten steel environments, manual slag removal not only poses a significant threat to the health of operators but also suffers from low efficiency and incomplete cleaning. Slag in high-temperature environments has a high melting point and often contains harmful gases. Long-term exposure to such an environment can easily lead to a series of occupational diseases, such as respiratory illnesses, skin burns, and heat stress. Furthermore, manual slag removal is not precise enough for cleaning the ladle surface, easily resulting in slag residue and affecting casting quality. Moreover, due to the complexity of the working environment, manual cleaning lacks stability and controllability, making it difficult to meet the high-efficiency and precise cleaning requirements of modern production.

[0005] Although some automated cleaning equipment has emerged on the market, most of which employ mechanized, single-operation methods, such as fixed robotic arms or rotary brush cleaning devices, these devices still have certain limitations. First, most can only handle simple, single-task waste cleaning, lacking flexibility. Second, existing equipment lacks highly intelligent control during operation and cannot autonomously determine cleaning strategies in complex production environments, thus still requiring manual intervention. Finally, many automated cleaning devices have not broken through traditional mechanical design concepts, resulting in bulky equipment, complex maintenance, and difficulty adapting to the increasingly compact space requirements of production lines.

[0006] To address these issues, this invention proposes a multi-degree-of-freedom slag removal device and process for centrifugal casting molten iron ladles based on a multi-degree-of-freedom robotic arm. The aim is to completely revolutionize traditional slag removal methods and, through highly intelligent equipment design, provide a more efficient, safer solution that meets the needs of modern production. The core innovation of this invention lies in combining a multi-degree-of-freedom robotic arm with an intelligent control system, enabling precise motion trajectory planning and flexible operation to complete the slag removal task.

[0007] Specifically, this invention utilizes a multi-degree-of-freedom robotic arm mounted on a moving trolley to precisely clean complex-shaped slag from inside a molten steel ladle through different degrees of freedom of movement. Compared to traditional single-operation mechanical equipment, the multi-degree-of-freedom robotic arm can move freely in three-dimensional space, making the equipment more flexible in the slag cleaning process inside the molten steel ladle and able to efficiently handle different slag accumulation shapes and spatial structures. During the cleaning process, the robotic arm can automatically adjust its operating angle, force, and cleaning path based on real-time feedback data, thereby ensuring that the slag is precisely cleaned without causing any damage to the molten steel ladle.

[0008] This invention also innovatively introduces a built-in motor drive system into the molten steel ladle, enabling semi-automatic tilting operations. This design significantly improves the efficiency of waste removal. In traditional manual operation, the tilting of the molten steel ladle typically relies on manual control, a cumbersome and imprecise process. This invention, by integrating motor drive technology, achieves automatic tilting of the molten steel ladle, ensuring that waste is removed at the optimal time and in the optimal manner, reducing operator intervention and lowering the probability of human error.

[0009] Compared to traditional slag removal methods, the equipment of this invention has significant advantages: Firstly, it boasts a high degree of intelligence, automatically adjusting cleaning strategies and operating parameters based on real-time data and environmental changes, thereby significantly improving the efficiency and quality of slag removal. Secondly, the introduction of a multi-degree-of-freedom robotic arm allows the equipment to flexibly adapt to different working environments, offering greater flexibility and freedom from spatial limitations. Thirdly, the equipment significantly reduces reliance on operators and exposure to hazards, minimizing occupational diseases and reducing labor costs. Furthermore, through automated and intelligent management, the equipment brings greater stability to the production line, ensuring the continuity and efficiency of the production process.

[0010] In summary, the multi-degree-of-freedom slag removal equipment and process method for centrifugal casting molten iron ladles of the present invention, by breaking through the bottlenecks of traditional technology and combining advanced robotic arm technology and intelligent control, innovatively solves the pain point of slag removal in the process of steel smelting and rolling mill production. It provides a safe, efficient and intelligent solution for modern steel production and will surely play an important role in improving production efficiency, ensuring operational safety, reducing production costs and improving product quality. Summary of the Invention

[0011] The purpose of this invention is to provide a multi-degree-of-freedom slag removal device and process for centrifugal casting molten iron ladle, so as to solve the problems mentioned in the background art.

[0012] To achieve the above objectives, the present invention provides the following technical solution: a centrifugal casting ladle multi-degree-of-freedom slag removal device, comprising a workstation scheduling system, wherein the workstation scheduling system comprises a mobile trolley chassis, the bottom of the mobile trolley chassis is connected to four sets of omnidirectional wheels, a vehicle-mounted support platform is fixedly installed on the top of the trolley chassis, a multi-degree-of-freedom robotic arm execution system is provided on the top of the vehicle-mounted support platform, and a ladle attitude coordination system is provided on one side of the trolley chassis; The ladle posture coordination system includes a ladle support base, a ladle support frame, and a ladle tilting drive device. The top of the ladle support base is fixedly connected to the bottom of the ladle support frame. A lifting frame is fixedly connected to the top of the ladle support frame. The ladle body is installed inside the ladle support frame. A slag discharge pipe is fixedly connected to the bottom of the ladle body. The ladle tilting drive device is installed on one side of the ladle support frame. The multi-degree-of-freedom robotic arm execution system includes a robotic arm base fixedly connected to the top of a vehicle-mounted support platform. A robotic arm hinge seat is located on the top of the robotic arm base, and the robotic arm is hinged to the top of the base. A hydraulic cylinder a for controlling the adjustment of the robotic arm is hinged inside the hinge seat. A forearm hinge seat is located on one side of the robotic arm, and a forearm a is hinged to the forearm a. A hydraulic cylinder b for controlling the adjustment of the forearm a is hinged to one side of the robotic arm. One side of the robotic arm forearm a is hinged to a robotic arm forearm b. The bottom of the robotic arm forearm a is hinged to a hydraulic cylinder a for controlling the adjustment of the robotic arm forearm b. One end of the robotic arm forearm b is hinged to a hydraulic cylinder c. The output end of the hydraulic cylinder c is hinged to a slag-scraping rotary motor. The top of the robotic arm forearm b is hinged to a hydraulic cylinder b for controlling the adjustment of the slag-scraping rotary motor. Buffer spring assemblies are fixedly installed on both sides of the slag-scraping rotary motor. An end slag-scraping head is fixedly installed on the output end of the slag-scraping rotary motor. The molten iron ladle tilting drive device includes a tilting motor fixedly installed on one side of the support frame. The output end of the tilting motor is provided with a coupling, and a reducer is fixedly connected to it through the coupling. One end of the reducer passes through the interior of the molten iron ladle support frame and is fixedly connected to one side of the molten iron ladle body. A bearing seat is provided at the connection between the molten iron ladle body and the molten iron ladle support frame, and the ladle body is rotatably connected through the bearing seat.

[0013] Preferably, the robotic arm base is fixed to the vehicle-mounted support platform by fastening connectors, which can ensure the stability of the multi-degree-of-freedom robotic arm execution system.

[0014] Preferably, the multi-degree-of-freedom robotic arm execution system has at least two degrees of freedom, wherein the "pitch" degree of freedom is used to adjust the up and down angle of the end slag-removing head, and the "rotation" degree of freedom is used to adjust the direction of the end slag-removing head, so as to ensure that it adapts to the complex inner wall surface of the molten iron ladle body.

[0015] Preferably, the ladle attitude coordination system achieves the tilting of the ladle body through the tilting motor, and the tilting angle is adjustable.

[0016] Preferably, the tilt angle of the molten iron ladle body is between 10° and 15°.

[0017] Preferably, the end slag-removing head works in conjunction with the slag-removing rotary motor and the molten iron ladle tilting drive device, enabling it to clean slag along a three-dimensional trajectory on the complex curved surface of the inner wall of the molten iron ladle.

[0018] Preferably, the process method for a multi-degree-of-freedom slag removal device for centrifugal casting molten iron ladle according to the above claims includes the following steps: S1: Start the mobile load-bearing and workstation scheduling system, and drive the omnidirectional wheels to accurately position the mobile trolley chassis to the target molten iron ladle workstation; S2: The positioning module calibrates the relative position of the equipment and the ladle body to ensure the accuracy of the equipment positioning; the control robotic arm execution system moves the end slag removal head to above the liquid surface of the ladle body by adjusting the upper and lower arms of the robotic arm, and ensures the accuracy of the initial position of the end slag removal head. S2: Activate the ladle attitude coordination system, control the ladle tilting drive device to tilt the ladle body by 10° to 15°, so that the slag gathers in the working area; adjust the attitude of the end slag scraper head to fit the curved surface of the inner wall of the ladle body, and drive the end slag scraper head to rotate by starting the slag scraper rotary motor to scrape off and collect the slag. S4: Control the robotic arm system to continue driving the end slag removal head to move at a constant speed along the curved surface of the inner wall of the molten iron ladle, to remove and collect all floating slag; S5: After the slag removal is completed, control the robotic arm to reset along the original path to ensure safe operation of the equipment; start the mobile load-bearing and workstation scheduling system to transfer the equipment to the next workstation, repeat the above steps to achieve continuous and efficient slag removal operation.

[0019] Preferably, the contact pressure between the end slag removal head and the inner wall of the molten iron ladle is adjusted in real time by a buffer spring assembly to avoid damage to the equipment or the molten iron ladle due to excessive pressure.

[0020] Preferably, the multi-degree-of-freedom robotic arm execution system and the ladle posture coordination system monitor the thickness and state of the slag layer inside the ladle body in real time during the slag removal process, and automatically adjust the movement path and scraping force of the end slag removal head to adapt to different slag layer states.

[0021] Preferably, the workstation scheduling system has multi-workstation adaptability and can automatically switch between multiple molten iron ladle body workstations to ensure the rhythm of continuous production.

[0022] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) In the process of slag removal from centrifugal casting molten iron ladles, there are characteristics such as uneven slag surface, limited space at the ladle opening, large variation in slag layer thickness, and sensitivity to slag inclusions. Therefore, a multi-degree-of-freedom slag removal device and supporting process method are proposed. By setting up a slag removal actuator with multiple degrees of freedom such as rotation, lifting, extension, and pitch, the slag removal tool can form an adjustable three-dimensional motion trajectory at the ladle opening and inside the ladle. Compared with the existing slag removal devices with only one or a few degrees of freedom, it can effectively cover slag layer areas at different positions and heights inside the ladle, avoid dead corners in slag removal due to structural limitations, and improve the thoroughness of slag removal.

[0023] (2) This invention combines a multi-degree-of-freedom slag removal device with a corresponding process method. By standardizing the initial position calibration before slag removal, the path planning during slag removal, and the state determination after slag removal, the slag removal operation is transformed from a random behavior dependent on human experience into a repeatable and controllable standardized process. Compared with existing slag removal schemes that only achieve simple automatic actions or fixed path operation, this invention has stronger versatility and stability in adapting to different molten iron ladle specifications, different molten iron level heights, and different slag layer states.

[0024] (3) The multi-degree-of-freedom slag removal equipment and process method of the present invention can significantly shorten the slag removal operation time while ensuring the quality of slag removal, reduce the risk of personnel working in the high temperature molten iron environment, and improve the safety, consistency and production efficiency of the centrifugal casting molten iron treatment process, and has significant industrial application value. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the three-dimensional structure in this invention; Figure 2 This is a schematic diagram of a side view in this invention; Figure 3 This is a frontal view schematic diagram of the present invention; Figure 4 This is a schematic diagram of the orthographic section in this invention; Figure 5 This is a schematic diagram of the side section in this invention.

[0026] In the diagram: 1. Car chassis; 2. Omnidirectional wheels; 3. Robotic arm base; 4. Robotic arm boom; 5. Robotic arm forearm b; 6. Vehicle-mounted support platform; 7. Boom hydraulic cylinder a; 8. Boom hydraulic cylinder b; 9. Robotic arm forearm a; 10. Forearm hydraulic cylinder a; 11. Forearm hinge seat; 12. Forearm hydraulic cylinder b; 13. Forearm hydraulic cylinder c; 14. Slag-removing rotary motor; 15. End slag-removing head; 16. Ladle support. Frame; 17. Ladle tilting drive device; 18. Ladle support base; 19. Ladle body; 20. Mechanical arm boom hinge seat; 21. Buffer spring assembly; 22. Slag discharge pipe; 23. Coupling; 24. Reducer; 25. Tilting motor; 26. Lifting frame; 27. Bearing seat; 28. Drive motor; 29. ​​Drive screw; 30. First U-shaped connecting block; 31. Second U-shaped connecting block; 32. Connecting rod. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figures 1-5 As shown, Example 1: A centrifugal casting molten iron ladle multi-degree-of-freedom slag removal device includes a workstation scheduling system. The workstation scheduling system includes a mobile trolley chassis 1. The bottom of the mobile trolley chassis 1 is connected to four sets of omnidirectional wheels 2. The top of the trolley chassis 1 is fixedly installed with a vehicle-mounted support platform 6. The top of the vehicle-mounted support platform 6 is equipped with a multi-degree-of-freedom robotic arm execution system. A molten iron ladle attitude coordination system is set on one side of the trolley chassis 1. The ladle posture coordination system includes a ladle support base 18, a ladle support frame 16, and a ladle tilting drive device 17. The top of the ladle support base 18 is fixedly connected to the bottom of the ladle support frame. A lifting frame 26 is fixedly connected to the top of the ladle support frame 16. A ladle body 19 is provided inside the ladle support frame 16. A slag discharge pipe 22 is fixedly connected to the bottom of the ladle body 19. The ladle tilting drive device 17 is provided on one side of the ladle support frame 16. The multi-degree-of-freedom robotic arm execution system includes a robotic arm base 3 fixedly connected to the top of a vehicle-mounted support platform 6. A robotic arm upper arm hinge seat 20 is located on the top of the robotic arm base 3, and a robotic arm upper arm 4 is hinged to the upper arm hinge seat. A hydraulic cylinder a7 for controlling the adjustment of the robotic arm upper arm 4 is hinged inside the robotic arm upper arm hinge seat 20. A lower arm hinge seat 11 is located on one side of the robotic arm upper arm 4, and a robotic arm lower arm a9 is hinged to the lower arm hinge seat 11. A hydraulic cylinder b8 for controlling the adjustment of the robotic arm lower arm a9 is hinged to one side of the robotic arm upper arm 4. A robotic arm forearm a9 is hinged to one side of a robotic arm forearm b5. A hydraulic cylinder a10 for controlling the adjustment of the robotic arm forearm b5 is hinged to the bottom of the robotic arm forearm a9. A hydraulic cylinder c13 is hinged to one end of the robotic arm forearm b5. A slag-scraping rotary motor 14 is hinged to the output end of the hydraulic cylinder c13. A hydraulic cylinder b12 for controlling the adjustment of the slag-scraping rotary motor 14 is hinged to the top of the robotic arm forearm b5. Buffer spring assemblies 21 are fixedly installed on both sides of the slag-scraping rotary motor 14. A slag-scraping head 15 is fixedly installed at the output end of the slag-scraping rotary motor 14. The molten iron ladle tilting drive device 17 includes a tilting motor 25 fixedly installed on one side of the support frame. The output end of the tilting motor 25 is provided with a coupling 23, and a reducer 24 is fixedly connected through the coupling 23. One end of the reducer 24 passes through the interior of the molten iron ladle support frame 16 and is fixedly connected to one side of the molten iron ladle body 19. A bearing seat 27 is provided at the connection between the molten iron ladle body 19 and the molten iron ladle support frame 16, and the molten iron ladle body 19 is rotatably connected through the bearing seat 27.

[0029] The robotic arm base 3 is fixed to the vehicle-mounted support platform 6 by fastening connectors, which can ensure the stability of the multi-degree-of-freedom robotic arm execution system.

[0030] The multi-degree-of-freedom robotic arm execution system has at least two degrees of freedom, where the "pitch" degree of freedom is used to adjust the up and down angle of the end slag-removing head 15, and the "rotation" degree of freedom is used to adjust the direction of the end slag-removing head 15 to ensure that it adapts to the complex inner wall surface of the molten iron ladle body 19.

[0031] The ladle attitude coordination system achieves the tilting of the ladle body 19 by driving the tilting motor 25, and the tilting angle is adjustable.

[0032] The preferred tilt angle of the molten iron ladle body 19 is 10° to 15°.

[0033] The end slag removal head 15 works in coordination with the slag removal rotary motor 14 and the molten iron ladle tilting drive device 17, and can clean the slag along a three-dimensional trajectory on the complex curved surface of the inner wall of the molten iron ladle body 19.

[0034] A process method for a multi-degree-of-freedom slag removal device for centrifugal casting molten iron ladle according to any one of claims 1-6 includes the following steps: S1: Start the mobile load-bearing and workstation scheduling system, drive the omnidirectional walking wheels 2 to accurately position the mobile trolley chassis 1 to the target molten iron ladle workstation; S2: The positioning module calibrates the relative position of the equipment and the ladle body 19 to ensure the accuracy of the equipment positioning; the control robot arm execution system moves the end slag removal head 15 to above the liquid surface of the ladle body 19 by adjusting the robot arm 4 and the forearm, and ensures the accuracy of the initial position of the end slag removal head 15. S2: Activate the ladle attitude coordination system, control the ladle tilting drive device 17 to tilt the ladle body 19 by 10° to 15°, so that the slag gathers in the working area; adjust the attitude of the end slag scraper head 15 so that it fits the curved surface of the inner wall of the ladle body 19, and drive the end slag scraper head 15 to rotate by starting the slag scraper rotary motor 14 to scrape off and collect the slag. S4: Control the robotic arm system to continue driving the end slag removal head 15 to move at a constant speed along the inner curved surface of the ladle body 19 to remove and collect all floating slag; S5: After the slag removal is completed, control the robotic arm to reset along the original path to ensure safe operation of the equipment; start the mobile load-bearing and workstation scheduling system to transfer the equipment to the next workstation, repeat the above steps to achieve continuous and efficient slag removal operation.

[0035] The contact pressure between the end slag removal head 15 and the inner wall of the molten iron ladle body 19 is adjusted in real time by the buffer spring assembly 21 to avoid damage to the equipment or the molten iron ladle body 19 due to excessive pressure.

[0036] The multi-degree-of-freedom robotic arm execution system and the ladle posture coordination system monitor the thickness and state of the slag layer inside the ladle body 19 in real time during the slag removal process, and automatically adjust the movement path and scraping force of the end slag removal head 15 to adapt to different slag layer states.

[0037] The workstation scheduling system has multi-workstation adaptability and can automatically switch between 19 workstations on multiple molten iron ladle bodies to ensure the rhythm of continuous production.

[0038] First, the control and collaborative interaction system sends a command to the mobile carrier and workstation scheduling system to start the vehicle drive motor, drive the omnidirectional walking wheels 2 to move the mobile trolley chassis 1 to the target molten iron ladle workstation, and calibrate the relative position of the mobile trolley chassis 1 and the molten iron ladle body 19 through the positioning module to complete the equipment positioning.

[0039] 2. After the positioning and calibration are completed, the control and collaborative interaction system issues action commands to sequentially control the movement of the robotic arm base 3 joint, robotic arm upper arm 4, robotic arm lower arm a9 and robotic arm lower arm b5. Through the coordinated drive of upper arm hydraulic cylinder a7, upper arm hydraulic cylinder b8, lower arm hydraulic cylinder a10, lower arm hydraulic cylinder b12 and lower arm hydraulic cylinder c13, the end slag removal head 15 is moved to the initial working area above the liquid surface of the molten iron ladle body 19.

[0040] 3. After the initial position is reached, the control and collaborative interaction system sends a tilting command to the ladle attitude coordination system, starts the ladle tilting drive device 17, drives the ladle body 19 to tilt 10°-15° around the hinged support of the ladle support frame 16, so that the slag in the ladle body 19 gathers towards the initial working area.

[0041] Fourth, after the ladle body 19 tilts into place and remains stable, the control and collaborative interaction system controls the wrist multi-axis joint assembly to adjust its posture, causing the end slag-scraping head 15 to fit against the inner curved surface of the ladle body 19. At the same time, the slag-scraping rotary motor 14 is started to drive the end slag-scraping head 15 to rotate.

[0042] V. Subsequently, the control and collaborative interaction system continues to issue trajectory control commands, driving the robotic arm 4 through the boom hydraulic cylinders a7 and b8, and the robotic arm a9 and b5 through the forearm hydraulic cylinders a10, b12, and c13. This causes the end slag scraper head 15 to move at a constant speed along the curved surface of the inner wall of the ladle body 19. The rotating end slag scraper head 15 is used to scrape and collect the floating slag. The buffer spring assembly 21 buffers the contact pressure between the end slag scraper head 15 and the inner wall of the ladle in real time to avoid damage to the ladle body.

[0043] VI. After the scum is scraped and collected, the control and collaborative interaction system controls the multi-degree-of-freedom robotic arm execution system to reset according to the original motion path, that is, it sequentially controls the joint movements of the robotic arm forearm b5, robotic arm forearm a9, robotic arm upper arm 4 and robotic arm base 3, so as to retract the end scum scraper head 15 to a safe position above the initial working area.

[0044] 7. After the robotic arm is reset, the control and collaborative interaction system sends a transfer command to the mobile load and workstation scheduling system. The vehicle-mounted drive motor drives the omnidirectional walking wheels 2 to move the mobile trolley chassis 1 to the next workstation. Repeat steps one to six above to achieve continuous slag removal operation.

[0045] This invention combines multi-degree-of-freedom collaborative slag removal with ladle posture collaborative control, synchronizing precise workstation scheduling with a layered, progressive slag removal process. This effectively covers complex curved areas within the ladle, eliminates blind spots in slag removal, and improves the thoroughness of slag cleaning. Through optimized design of the mobile carrier and intelligent collaborative control, it effectively adapts to the continuous production rhythm of multiple workstations, reduces the risk of high-temperature operations for personnel, and improves production efficiency and safety.

[0046] Example 2: The molten iron ladle tilting drive device 17 may also include a transmission motor 28 fixedly connected to the top of the molten iron ladle support frame 16. The output end of the transmission motor 28 is fixedly connected to a transmission screw 29. A first U-shaped connecting block 30 is connected to the surface of the transmission screw 29. A second U-shaped connecting block 31 is fixedly installed on one side of the molten iron ladle body 19. A connecting rod 32 is provided at the connection between the first U-shaped connecting block 30 and the second U-shaped connecting block 31, and the two are hinged through the connecting rod 32. It can be replaced by the tilting motor 25, coupling 23 and reducer 24 mentioned above. By starting the transmission motor 28, the transmission screw 29 is driven to rotate. When the transmission screw 29 rotates, it will drive the first U-shaped connecting block 30, causing the first U-shaped connecting block 30 to move towards the side closer to the transmission motor 28. At the same time, the first U-shaped connecting block 30 will pull the second U-shaped connecting block 31 and the molten iron ladle body 19 around the bearing seat 27 through the connecting rod 32.

[0047] The structure used in this application can be additionally fitted with protective measures that are common knowledge in the field of this technology under different usage environments, including but not limited to the following methods, such as protective covers for equipment protection, dustproof nets for equipment dust prevention, and sealing components or waterproof coatings for equipment waterproofing, which are commonly used by those skilled in the art.

[0048] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), mounting arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application). For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0049] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0050] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0051] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0053] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom slag removal device for centrifugal casting molten iron ladles, characterized in that: The system includes a workstation scheduling system, which includes a mobile trolley chassis (1), with four sets of omnidirectional wheels (2) connected to the bottom of the mobile trolley chassis (1), a vehicle-mounted support platform (6) fixedly installed on the top of the trolley chassis (1), a multi-degree-of-freedom robotic arm execution system on the top of the vehicle-mounted support platform (6), and a molten iron ladle attitude coordination system on one side of the trolley chassis (1). The ladle posture coordination system includes a ladle support base (18), a ladle support frame (16), and a ladle tilting drive device (17). The top of the ladle support base (18) is fixedly connected to the bottom of the ladle support frame. A lifting frame (26) is fixedly connected to the top of the ladle support frame (16). A ladle body (19) is provided inside the ladle support frame (16). A slag discharge pipe (22) is fixedly connected to the bottom of the ladle body (19). A ladle tilting drive device (17) is provided on one side of the ladle support frame (16). The multi-degree-of-freedom robotic arm execution system includes a robotic arm base (3) fixedly connected to the top of the vehicle-mounted support platform (6). A robotic arm upper arm hinge seat (20) is provided on the top of the robotic arm base (3), and a robotic arm upper arm (4) is hinged to the upper arm hinge seat. A hydraulic cylinder a (7) for controlling the adjustment of the robotic arm upper arm (4) is hinged inside the robotic arm upper arm hinge seat (20). A lower arm hinge seat (11) is provided on one side of the robotic arm upper arm (4), and a robotic arm lower arm a (9) is hinged to the lower arm hinge seat (11). A hydraulic cylinder b (8) for controlling the adjustment of the robotic arm lower arm a (9) is hinged to one side of the robotic arm upper arm (4). A mechanical arm forearm a (9) is hinged to one side of a mechanical arm forearm b (5). A hydraulic cylinder a (10) for controlling the adjustment of the mechanical arm forearm b (5) is hinged to the bottom of the mechanical arm forearm a (9). A hydraulic cylinder c (13) is hinged to one end of the mechanical arm forearm b (5). A slag-scraping rotary motor (14) is hinged to the output end of the hydraulic cylinder c (13). A hydraulic cylinder b (12) for controlling the adjustment of the slag-scraping rotary motor (14) is hinged to the top of the mechanical arm forearm b (5). Buffer spring assemblies (21) are fixedly installed on both sides of the slag-scraping rotary motor (14). A slag-scraping head (15) is fixedly installed at the output end of the slag-scraping rotary motor (14). The molten iron ladle tilting drive device (17) includes a tilting motor (25) fixedly installed on one side of the support frame. The output end of the tilting motor (25) is provided with a coupling (23), and a reducer (24) is fixedly connected through the coupling (23). One end of the reducer (24) penetrates into the interior of the molten iron ladle support frame (16) and is fixedly connected to one side of the molten iron ladle body (19). A bearing seat (27) is provided at the connection between the molten iron ladle body (19) and the molten iron ladle support frame (16), and the molten iron ladle body (19) is rotatably connected through the bearing seat (27).

2. The centrifugal casting ladle multi-degree-of-freedom slag removal device according to claim 1, characterized in that: The robotic arm base (3) is fixed to the vehicle-mounted support platform (6) by fastening connectors, which can ensure the stability of the multi-degree-of-freedom robotic arm execution system.

3. The centrifugal casting ladle multi-degree-of-freedom slag removal device according to claim 2, characterized in that: The multi-degree-of-freedom robotic arm execution system has at least two degrees of freedom, wherein the "pitch" degree of freedom is used to adjust the up and down angle of the end slag-removing head (15), and the "rotation" degree of freedom is used to adjust the direction of the end slag-removing head (15) to ensure that it adapts to the complex inner wall surface of the molten iron ladle body (19).

4. A multi-degree-of-freedom slag removal device for centrifugal casting molten iron ladle according to claim 3, characterized in that: The ladle attitude coordination system achieves the tilting of the ladle body (19) by the tilting motor (25), and the tilting angle is adjustable.

5. A multi-degree-of-freedom slag removal device for centrifugal casting molten iron ladle according to claim 4, characterized in that: The tilt angle of the molten iron ladle body (19) is preferably 10° to 15°.

6. A multi-degree-of-freedom slag removal device for centrifugal casting molten iron ladle according to claim 5, characterized in that: The end slag removal head (15) works in coordination with the slag removal rotary motor (14) and the molten iron ladle tilting drive device (17), and can clean the slag along a three-dimensional trajectory on the complex curved surface of the inner wall of the molten iron ladle body (19).

7. A multi-degree-of-freedom slag removal process for centrifugal casting molten iron ladles, based on the multi-degree-of-freedom slag removal equipment for centrifugal casting molten iron ladles according to any one of claims 1-6, characterized in that: Includes the following steps: S1: Start the mobile load-bearing and workstation scheduling system, drive the omnidirectional walking wheels (2) to accurately position the mobile trolley chassis (1) to the target molten iron ladle workstation; S2: The positioning module calibrates the relative position of the equipment and the ladle body (19) to ensure the accuracy of the equipment positioning; the control robot arm execution system adjusts the upper arm (4) and lower arm of the robot arm to move the end slag removal head (15) to the liquid surface above the ladle body (19) and ensures the accuracy of the initial position of the end slag removal head (15); S2: Start the ladle attitude coordination system and control the ladle tilting drive device (17) to tilt the ladle body (19) by 10° to 15° so that the slag gathers in the working area; adjust the attitude of the end slag scraper head (15) so that it fits the curved surface of the inner wall of the ladle body (19), and drive the end slag scraper head (15) to rotate by starting the slag scraper rotary motor (14) to scrape off and collect the slag; S4: Control the robotic arm system to continue driving the end slag removal head (15) to move at a constant speed along the inner curved surface of the ladle body (19) to remove and collect all slag; S5: After the slag removal is completed, control the robotic arm to reset along the original path to ensure safe operation of the equipment; start the mobile load-bearing and workstation scheduling system to transfer the equipment to the next workstation, repeat the above steps to achieve continuous and efficient slag removal operation.

8. The multi-degree-of-freedom slag removal process for centrifugal casting molten iron ladle according to claim 1, characterized in that: The contact pressure between the end slag removal head (15) and the inner wall of the molten iron ladle body (19) is adjusted in real time by the buffer spring assembly (21) to avoid damage to the equipment or the molten iron ladle body (19) due to excessive pressure.

9. The multi-degree-of-freedom slag removal process for centrifugal casting molten iron ladle according to claim 7, characterized in that: The multi-degree-of-freedom robotic arm execution system and the ladle posture coordination system monitor the thickness and state of the slag layer inside the ladle body (19) in real time during the slag removal process, and automatically adjust the movement path and scraping force of the end slag removal head (15) to adapt to different slag layer states.

10. A multi-degree-of-freedom slag removal process for centrifugal casting molten iron ladle according to claim 7, characterized in that: The workstation scheduling system has multi-workstation adaptability and can automatically switch between multiple molten iron ladle body (19) workstations to ensure the rhythm of continuous production.

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