Multi-axis movement device and automatic slag removal equipment

Abstract

The utility model relates to the field of automatic equipment related to smelting, in particular to a multi-axis movement device and automatic slag removal equipment. The multi-axis movement device comprises a movable carrier which is arranged on a preset first track so as to move along the first track in a reciprocating mode; a plurality of corresponding second rails are arranged on the supporting face of the movable carrier, and the multiple movement assemblies are slidably connected to the second rails correspondingly; the slag removing guns are connected to the corresponding moving assemblies respectively and extend in the y direction; the first track and the second track extend in the x direction and the y direction respectively. The movement assembly can make the slag removal gun have the lifting freedom degree and the rotation freedom degree in the z direction. A balancing weight is arranged at the end, deviating from the extending direction of the slag removing gun, of the movable carrier. The multi-axis movement device can cover a larger working area through reciprocating movement of the movable carrier on the first track and sliding of the movement assembly on the second track, and compared with a traditional mechanical arm, large-stroke operation can be achieved.

Description

Technical Field

[0001] This application relates to the field of automated equipment related to smelting, and specifically to a multi-axis motion device and an automatic slag removal device. Background Technology

[0002] In the metallurgical and non-ferrous metal processing industry, the smelting process is a crucial link. During the smelting process, a large amount of slag is generated. If this slag is not treated in a timely and effective manner, it will not only affect the smelting efficiency. The smelting of metals such as magnesium-zinc alloys is an exception, because their aluminum slag is relatively fine. Therefore, one strategy for automating slag smelting equipment is to pre-compress the aluminum slag into blocks before cleaning. Moreover, the on-site process usually involves continuous large-volume furnaces, which means that the equipment needs a large stroke.

[0003] However, traditional robotic arm technology faces many challenges. Due to the limitations of its structural characteristics, its stroke is often limited and cannot cover the entire smelting area, thus failing to meet the needs of automated slag processing. Furthermore, in the development of long-stroke motion devices, aluminum slag cleaning usually utilizes extended long slag-cleaning guns, which have a large mass. When the slag-cleaning gun moves to a distant position, the center of gravity of the overall structure changes, making the entire device difficult to stabilize. Therefore, how to design a device that balances stability and long stroke through reasonable layout is a technical problem that urgently needs to be solved in this field. Summary of the Invention

[0004] To solve the above technical problems, this application provides a multi-axis motion device and an automatic slag removal device.

[0005] To solve the above-mentioned technical problems, the present invention provides a multi-axis motion device, comprising: a mobile carrier disposed on a preset first track to be able to reciprocate along the first track; a plurality of motion components, wherein a plurality of corresponding second tracks are disposed on the support surface of the mobile carrier, and the plurality of motion components are slidably connected to the second tracks respectively; a plurality of cleaning guns, respectively connected to the corresponding motion components and extending along the y-direction; wherein the first track and the second track extend along the x-direction and the y-direction respectively; the motion components enable the cleaning guns to have a lifting and rotating degree of freedom in the z-direction; and a counterweight is disposed at the end of the mobile carrier opposite to the extending direction of the cleaning guns.

[0006] In a further embodiment of this application, the counterweight includes an assembly block and a mounting bracket. The assembly blocks are multiple and are respectively disposed on both sides of the mobile vehicle along the x-direction. The mounting bracket includes a first mounting block and a second mounting block. The first mounting block is engaged between the assembly blocks, and the second mounting block is connected to the middle of the first mounting block and extends in the vertical direction.

[0007] In a further embodiment of this application, the motion component includes a lifting mechanism, which includes a support plate, a lifting plate, a guide column, and a lifting drive unit. The support plate is slidably connected to the second track, the guide column is disposed on the support plate, the lifting plate is slidably connected to the guide column and supports the cleaning gun, and the lifting drive unit drives the lifting plate to move up and down along the guide column.

[0008] In a further embodiment of this application, the slag removal gun includes an outer rod, an inner rod, a rotary drive unit, and a push plate; the inner rod is embedded in the outer rod and is rotatable relative to the outer rod; the push plate is disposed at the end of the inner rod away from the outer rod; the rotary drive unit is connected to the end of the outer rod so as to drive the inner rod to rotate.

[0009] In a further embodiment of this application, the motion assembly further includes a pitch mechanism, which includes a hinge frame, a drive mounting frame, and a pitch drive unit. The hinge frame is fixed to the lifting plate, and the cleaning gun is hinged to both sides of the hinge frame. The drive mounting frame is connected to the hinge frame and is used to accommodate the pitch drive unit. The output shaft of the pitch drive unit is hinged to the upper side of the cleaning gun to drive the cleaning gun to rotate in the vertical plane.

[0010] In a further embodiment of this application, the multi-axis motion device also includes a data acquisition mechanism, which includes a radar scanning unit and an image acquisition unit; the radar scanning unit is connected to the top of the second mounting block away from the first mounting block; and the image acquisition unit is connected to the lifting plate.

[0011] In a further embodiment of this application, the multi-axis motion device further includes several baffle mechanisms; the baffle mechanisms are disposed at one end of the moving vehicle away from the counterweight and extend vertically; and a placement groove adapted to the slag removal gun is provided on the top of the baffle mechanisms.

[0012] In a further embodiment of this application, the mobile vehicle is provided with several through slots, the lifting drive unit is located at the bottom of the mobile vehicle, and its output shaft passes through the slots and the support plate and is connected to the lifting plate so that the lifting plate moves up and down along the guide column.

[0013] Based on this scheme, the lifting drive unit is installed at the bottom of the mobile vehicle, placing it at a low position relative to the center of gravity of the entire device. This helps to improve the stability and anti-overturning capability of the device. The output shaft of the lifting drive unit passes through a slot on the mobile vehicle and continues to extend upward, passing through the support plate and finally connecting to the lifting plate. This connection method ensures that the lifting drive unit can directly drive the lifting plate to move up and down along the guide column. The guide column, as a guiding component for the lifting movement, plays a role in maintaining the stability of the lifting plate's movement trajectory, preventing it from deviating or swaying, and also plays a role in reasonable structural arrangement, achieving structural compactness.

[0014] In a further embodiment of this application, several moving components and slag removal guns are arranged in parallel, and the number is 2 to 5.

[0015] A second aspect of this application also provides an automatic slag removal device, comprising: a multi-axis motion device as described above; multiple layers of slag passages, with the slag passages on each layer arranged horizontally; a controller electrically connected to a moving carrier, motion components, and a slag removal gun; and each interconnected motion component can be independently controlled.

[0016] The multi-axis motion device provided in this application has at least the following advantages:

[0017] Multi-axis motion devices, through the reciprocating movement of a mobile carrier on a first track and the sliding of motion components on a second track, can cover a larger working area, enabling large-stroke operations compared to traditional robotic arms. Furthermore, the multi-degree-of-freedom design of the multi-axis motion device (at least four axes, including displacement and rotational degrees of freedom in the x, y, and z directions) allows for flexible adjustment of position and posture in complex working environments, and the use of counterweights enables large-stroke operations while maintaining stability. Further, the counterweights include assembly blocks and mounting brackets. Multiple assembly blocks are respectively arranged along the x-axis on both sides of the mobile carrier. The mounting brackets include a first mounting block and a second mounting block. The first mounting block is engaged between the assembly blocks, and the second mounting block is connected to the middle of the first mounting block and extends vertically. Attached Figure Description

[0018] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings:

[0019] Figure 1 This is a top view of the multi-axis motion device provided in the embodiments of this application;

[0020] Figure 2 This is an axonometric schematic diagram of the multi-axis motion device provided in the embodiments of this application;

[0021] Figure 3 This is a front view of the multi-axis motion device provided in the embodiments of this application;

[0022] Figure 4 This is a partial structural schematic diagram of the multi-axis motion device provided in the embodiments of this application;

[0023] Figure 5 This is a partial structural diagram of the automatic slag removal equipment provided in the embodiments of this application.

[0024] Explanation of reference numerals in the attached figures:

[0025] 100. Multi-axis motion device;

[0026] 10. Mobile vehicles;

[0027] 21. Counterweight;

[0028] 211. Assembly block; 212. Mounting bracket; 2121. First mounting block; 2122. Second mounting block;

[0029] 20. Motion components;

[0030] 22. Lifting mechanism; 221. Support plate; 222. Lifting plate; 223. Guide column; 224. Lifting drive unit;

[0031] 23. Pitch mechanism; 231. Articulated frame; 232. Drive mounting frame; 233. Pitch drive unit;

[0032] 30. Slag removal gun;

[0033] 31. Outer rod; 32. Inner rod; 33. Rotary drive unit; 34. Push plate;

[0034] 40. Acquisition mechanism; 41. Radar scanning unit; 42. Image acquisition unit;

[0035] 50. Baffle mechanism; 51. Placement slot;

[0036] 200. Automatic slag removal equipment;

[0037] 201. Slag passage;

[0038] 202. Controller. Detailed Implementation

[0039] Unless otherwise specified, the terms “second direction,” “first direction,” “third direction,” “inner,” and “outer” used in the following descriptions, indicating orientation or positional relationships, are understood to be based on the orientation or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] Furthermore, features specified with "first" or "second" for descriptive purposes only should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Features specified with "first" or "second" may explicitly or implicitly include at least one of the specified features. The description of "multiple" generally means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this application, unless otherwise explicitly specified and limited, terms such as "installation," "connection," "joining," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can be a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] In the description of this specification, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0043] See Figures 1 to 4 The present invention provides a multi-axis motion device 100, including a mobile carrier 10, motion components 20, and a cleaning gun 30; the mobile carrier 10 is disposed on a preset first track a so as to be able to reciprocate along the first track a; a plurality of motion components 20 are provided on the support surface of the mobile carrier 10 with a plurality of corresponding second tracks b, and the plurality of motion components 20 are slidably connected to the second tracks b respectively; a plurality of cleaning guns 30 are respectively connected to the corresponding motion components 20 and extend along the y direction.

[0044] The first track a and the second track b extend along the x and y directions, respectively; the motion component 20 enables the cleaning gun 30 to have a lifting and rotating degree of freedom in the z direction; a counterweight 21 is provided at the end of the moving vehicle 10 away from the extending direction of the cleaning gun 30.

[0045] It is understood that the mobile vehicle 10 is the basic mobile platform of the entire device. It moves back and forth along the preset first track a (extending along the x direction in the example); so that the entire device can be positioned within a wide range to cover a wider working area. Its travel L1 in the x direction is 2m to 15m.

[0046] On the support surface of the mobile vehicle 10, a number of second tracks b are provided, which (extend along the y direction) provide another sliding path for the motion component 20; its unidirectional stroke L2 in the y direction is 2m to 4m.

[0047] Each motion component 20 is connected to a cleaning gun 30, which can slide freely on the second track b to achieve displacement adjustment in the y-axis. In addition, the motion component 20 also has vertical and rotational degrees of freedom in the z-axis, that is, the cleaning gun 30 can not only move up and down to approach or move away from the working surface, but also rotate to adjust, forming at least four-axis motion to adapt to the cleaning needs of different angles and positions.

[0048] Understandably, the slag-cleaning gun 30 is the actuating component of the multi-axis motion device 100, used for pushing or scraping slag. Since the slag-cleaning gun 30 has a high mass, based on the overall concept of this utility model embodiment, the counterweight 21 is installed at the end of the moving carrier 10 away from the extension direction of the slag-cleaning gun 30, mainly used to balance the center of gravity of the entire device and prevent overturning or instability during movement or operation.

[0049] In summary, the multi-axis motion device, through the reciprocating movement of the mobile carrier on the first track and the sliding of the motion components on the second track, can cover a larger working area and achieve large-stroke operations compared to traditional robotic arms. Furthermore, the multi-degree-of-freedom design of the multi-axis motion device (at least four axes, including displacement and rotational degrees of freedom in the x, y, and z directions) allows it to flexibly adjust its position and posture in complex working environments, and the counterweight 21 enables large-stroke operations while maintaining stability.

[0050] Furthermore, the counterweight 21 includes an assembly block 211 and a mounting bracket 212. There are multiple assembly blocks 211, which are respectively arranged on both sides of the mobile carrier 10 along the x-direction. The mounting bracket 212 includes a first mounting block 2121 and a second mounting block 2122. The first mounting block 2121 is engaged between the assembly blocks 211, and the second mounting block 2122 is connected to the middle of the first mounting block 2121 and extends in the vertical direction.

[0051] By designing multiple mounting blocks 211 and distributing them along the x-axis on both sides of the mobile carrier 10, the weight of the counterweight can be effectively distributed, avoiding stability problems that may result from the weight being concentrated in one point. This distributed design makes the entire device more stable during movement or operation, reducing the risk of overturning due to a shift in the center of gravity. The second mounting block 2122 is connected to the middle of the first mounting block 2121 and extends vertically, providing vertical support for the counterweight. This design makes the center of gravity of the counterweight more stable and also provides additional mounting options.

[0052] The motion component 20 includes a lifting mechanism 22, which includes a support plate 221, a lifting plate 222, a guide column 223, and a lifting drive unit 224. The support plate 221 is slidably connected to the second track b, the guide column 223 is disposed on the support plate 221, and the lifting plate 222 is slidably connected to the guide column 223 and supports the slag cleaning gun 30. The lifting plate 222 is driven by the lifting drive unit 224 to move up and down along the guide column 223.

[0053] The support plate 221 is designed to slide on the second track b, allowing the entire lifting mechanism 22 to move horizontally along a specific path. The guide column 223 is vertically mounted on the support plate and serves as the guiding element for the lifting movement of the lifting plate 222; it ensures the smooth vertical movement of the lifting plate 222, preventing offset or tilting, thereby guaranteeing the precise positioning of the slag cleaning gun 30. The lifting plate 222 is the component that directly supports the slag cleaning gun 30 and can slide up and down along the guide column, allowing the slag cleaning gun to be adjusted in height as needed to adapt to slag cleaning tasks at different heights. The lifting drive unit 224 is responsible for driving the lifting plate 222 to move up and down along the guide column 223; the lifting drive unit 224 can be a power device such as a motor, cylinder, or hydraulic cylinder, configured according to the specific site conditions.

[0054] First, the lifting drive unit 224 is activated, and the power is transmitted to the lifting plate through the mechanical transmission device, so that it moves up and down along the guide column 223. As the lifting plate 222 rises and falls, the slag cleaning gun 30 also moves up and down. After reaching the designated working height, the drive support plate 221 moves along the second track b to the designated position, inserts the slag cleaning gun 30 into the channel to be cleaned, and makes the slag cleaning gun 30 start to perform the cleaning task; remove the slag in the target area.

[0055] The cleaning gun 30 includes an outer rod 31, an inner rod 32, a rotary drive unit 33, and a push plate 34; the inner rod 32 is embedded in the outer rod 31 and can rotate relative to the outer rod 31; the push plate 34 is disposed at the end of the inner rod 32 away from the outer rod 31; the rotary drive unit 33 is connected to the end of the outer rod 31 so as to drive the inner rod 32 to rotate.

[0056] The outer rod 31 supports components such as the inner rod 32 and the rotary drive unit 33. The outer rod 31 connects the lifting mechanism 22 and the cleaning gun 30. The inner rod 32 is designed to rotate inside the outer rod 31, allowing the cleaning gun 30 to rotate when performing cleaning tasks. One end of the inner rod is connected to the push plate 34, and the other end is connected to the rotary drive unit 33 in some way to receive driving force and achieve rotation. When the inner rod 32 rotates, the push plate 34 will also rotate to a preset angle, thereby cleaning the inner wall at different angles in the channel.

[0057] The motion assembly 20 also includes a pitch mechanism 23, which includes a hinge frame 231, a drive mounting frame 232, and a pitch drive unit 233. The hinge frame 231 is fixed to the lifting plate 222, and the cleaning gun 30 is hinged to both sides of the hinge frame 231. The drive mounting frame 232 is connected to the hinge frame 231 and is used to accommodate the pitch drive unit 233. The output shaft of the pitch drive unit 233 is hinged to the upper side of the cleaning gun 30 to drive the cleaning gun 30 to rotate in the yz vertical plane.

[0058] When the pitch mechanism 23 is working, the pitch drive unit 233 starts and drives the output shaft to rotate, which in turn drives the cleaning gun 30, which is hinged to the output shaft, to rotate in the yz vertical plane. Since the cleaning gun 30 is connected to the hinge frame 231 by a hinge, it can perform stable pitch motion around the hinge point.

[0059] The multi-axis motion device also includes a data acquisition mechanism 40, which includes a radar scanning unit 41 and an image acquisition unit 42. The radar scanning unit 41 is connected to the top of the second mounting block 2122, which is opposite to the top of the first mounting block 2121. The image acquisition unit 42 is connected to the lifting plate 222. The radar scanning unit is mounted on the top of the second mounting block 2122, which is opposite to the top of the first mounting block 2121. This layout is conducive to large-area scanning, covering more working areas to locate the slag passage. The image acquisition unit 42 is connected to the lifting plate 222 and moves with the lifting plate, enabling it to capture images of the target object at close range to determine the position of the slag in the passage.

[0060] The multi-axis motion device also includes several baffle mechanisms 50; the baffle mechanism 50 is located at one end of the moving carrier 10 away from the counterweight 21 and extends vertically; and a placement slot 51 adapted to the cleaning gun 30 is provided on the top of the baffle mechanism 50.

[0061] The baffle mechanism 50 serves two purposes: firstly, it isolates dust, reducing its impact on the drive unit; secondly, it constrains the movement trajectory of the motion component 20 on the second track b. The physical barrier function of the baffle mechanism 50 prevents the motion component 20 from deviating from its predetermined trajectory due to inertia, vibration, or external interference, thereby improving the stability and accuracy of the entire motion device. Furthermore, the cleaning gun 30, as the core component of the cleaning operation, is relatively long and structurally complex, thus requiring proper support and fixation when not in operation. The placement slot 51 at the top of the baffle mechanism 50 is adapted to the cleaning gun 30, providing it with a stable support point. When the cleaning gun 30 is not in operation, it is raised and lowered to be placed in the placement slot 51, preventing damage or deformation caused by prolonged tilting or suspension.

[0062] The mobile carrier 10 has several through slots. The lifting drive unit 224 is located at the bottom of the mobile carrier 10, and its output shaft passes through the slots and the support plate 221 and is connected to the lifting plate 222 so that the lifting plate 222 moves up and down along the guide column 223.

[0063] The lifting drive unit 224 is installed at the bottom of the mobile carrier 10, placing it at a low center of gravity of the entire device. This helps to improve the stability and anti-overturning ability of the device. The output shaft of the lifting drive unit 224 passes through a slot on the mobile carrier 10 and continues to extend upward, passing through the support plate 221 and finally connecting to the lifting plate 222. This connection method ensures that the lifting drive unit 224 can directly drive the lifting plate 222 to move up and down along the guide post 223. The guide post 223, as a guiding component for the lifting movement, plays a role in maintaining the stability of the movement trajectory of the lifting plate 222, preventing it from deviating or swaying, and also plays a role in reasonable structural arrangement to achieve structural compactness.

[0064] Several moving components 20 and cleaning guns 30 are arranged in parallel, with a quantity of 2 to 5. Arranging multiple moving components 20 and cleaning guns 30 in parallel can significantly improve the efficiency of the cleaning operation. This parallel operation method greatly reduces the total time required for cleaning and improves operational efficiency.

[0065] Please continue reading Figure 5 This utility model embodiment also provides an automatic slag removal device 200, including the multi-axis motion device 100, multi-layer slag passage 201, and controller 202 as described above; the slag passage 201 on each layer is arranged horizontally; the controller 202 is electrically connected to the moving carrier 10, the motion component 20, and the slag removal gun 30; and each interconnected motion component 20 can be independently controlled.

[0066] Each motion component 20 can be controlled independently, simultaneously driving the corresponding slag-cleaning gun 30 to clean different through holes; each layer of slag-cleaning channels 201 is arranged horizontally, which maximizes the use of space and facilitates the simultaneous slag-cleaning tasks of multiple slag-cleaning channels 201, improving cleaning efficiency.

[0067] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0068] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings; however, the present invention is not limited thereto. Within the scope of the inventive concept, various simple modifications can be made to the technical solutions of the present invention, including combinations of various specific technical features in any suitable manner. To avoid unnecessary repetition, the present invention will not describe the various possible combinations separately. However, these simple modifications and combinations should also be considered as the content disclosed in the present invention and are all within the protection scope of the present invention.

[0069] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-axis motion device, characterized in that, include: A mobile vehicle (10) is mounted on a preset first track (a) so that it can move back and forth along the first track (a); A plurality of motion components (20) are provided on the support surface of the mobile vehicle (10) with a plurality of corresponding second tracks (b), and the plurality of motion components (20) are slidably connected to the second tracks (b); Several cleaning guns (30) are respectively connected to the corresponding motion components (20) and extend along the y direction; The first track (a) and the second track (b) extend along the x and y directions, respectively; the motion component (20) enables the slag removal gun (30) to have a lifting and rotational degree of freedom in the z direction; a counterweight (21) is provided at the end of the moving vehicle (10) opposite to the extension direction of the slag removal gun (30).

2. The multi-axis motion device according to claim 1, characterized in that, The counterweight (21) includes an assembly block (211) and a mounting bracket (212). There are multiple assembly blocks (211) and they are respectively arranged on both sides of the mobile vehicle (10) along the x-direction. The mounting bracket (212) includes a first mounting block (2121) and a second mounting block (2122). The first mounting block (2121) is locked between the assembly blocks (211), and the second mounting block (2122) is connected to the middle of the first mounting block (2121) and extends in the vertical direction.

3. The multi-axis motion device according to claim 2, characterized in that, The motion component (20) includes a lifting mechanism (22), which includes a support plate (221), a lifting plate (222), a guide column (223), and a lifting drive unit (224). The support plate (221) is slidably connected to the second track (b), the guide post (223) is disposed on the support plate (221), the lifting plate (222) is slidably connected to the guide post (223) and supports the slag cleaning gun (30), and the lifting plate (222) is driven by the lifting drive unit (224) to lift along the guide post (223).

4. The multi-axis motion device according to claim 1, characterized in that, The slag removal gun (30) includes an outer rod (31), an inner rod (32), a rotary drive unit (33), and a push plate (34); The inner rod (32) is embedded in the outer rod (31) and is rotatable relative to the outer rod (31); the push plate (34) is disposed at the end of the inner rod (32) away from the outer rod (31); the rotary drive unit (33) is connected to the end of the outer rod (31) so as to drive the inner rod (32) to rotate.

5. The multi-axis motion device according to claim 3, characterized in that, The motion component (20) further includes a pitch mechanism (23), which includes a hinge frame (231), a drive mounting frame (232), and a pitch drive unit (233); The hinge frame (231) is fixed on the lifting plate (222), and the slag removal gun (30) is hinged to both sides of the hinge frame (231); The drive mounting bracket (232) is connected to the hinge bracket (231) and is used to accommodate the pitch drive unit (233). The output shaft of the pitch drive unit (233) is hinged to the upper side of the cleaning gun (30) to drive the cleaning gun (30) to rotate in the vertical plane.

6. The multi-axis motion device according to claim 3, characterized in that, The multi-axis motion device also includes a data acquisition mechanism (40), which includes a radar scanning unit (41) and an image acquisition unit (42). The radar scanning unit (41) is connected to the top of the second mounting block (2122) opposite to the first mounting block (2121); The image acquisition unit (42) is connected to the lifting plate (222).

7. The multi-axis motion device according to claim 2, characterized in that, The multi-axis motion device also includes several baffle mechanisms (50); the baffle mechanisms (50) are disposed at one end of the moving vehicle (10) away from the counterweight (21) and extend vertically; Furthermore, a placement groove (51) adapted to the slag removal gun (30) is provided on the top of the baffle mechanism (50).

8. The multi-axis motion device according to claim 3, characterized in that, The mobile vehicle (10) is provided with several through slots. The lifting drive unit (224) is located at the bottom of the mobile vehicle (10), and its output shaft passes through the slots and the support plate (221) and is connected to the lifting plate (222) so that the lifting plate (222) moves up and down along the guide column (223).

9. The multi-axis motion device according to any one of claims 1 to 8, characterized in that, Several of the aforementioned motion components (20) and the aforementioned slag removal gun (30) are arranged in parallel, and the number of them is 2 to 5.

10. An automatic slag removal device, characterized in that, include: The multi-axis motion device as described in any one of claims 1 to 9 above; Multi-layer slag passage, with the slag passages on each layer arranged horizontally; The controller is electrically connected to the mobile vehicle (10), the motion component (20), and the slag removal gun (30); Furthermore, each interconnected motion component (20) can be controlled independently.

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