阅读说明：本技术 一种铸钢件冒口机器人自动火焰切割系统 (Automatic flame cutting system of cast steel riser robot ) 是由 李琴 施立勇 胡文广 郑德明 杨钧 杨德生 沈阳晨 于 2019-11-04 设计创作，主要内容包括：本发明公开了一种铸钢件冒口机器人自动火焰切割系统,包括六轴机器人和切割炬,切割炬固定在六轴机器人上,通过六轴机器人代替人工,有效的提高了切口表面的平整度,同时,减少了人工的投入。在程序正确的前提下,机器人控制不会产生误切割。可远程控制冒口切割,改善操作环境。人员远离切割部位,容易实现安全和防护要求。切割炬上还连接有气压调节装置,气压调节装置用于调节进入切割炬内气压的流速,选择较大的流速,提高表面平整度和减少切口宽度,提高了钢材的利用率,节约了成本。还包括车载平台,车载平台用于移动和升降六轴机器人,极大程度上增大了机器人的加工范围,不必一个工位上配置多个六轴机器人进行加工,降低了成本。(The invention discloses an automatic flame cutting system of a steel casting riser robot, which comprises a six-axis robot and a cutting torch, wherein the cutting torch is fixed on the six-axis robot, and the six-axis robot replaces manpower, so that the flatness of the surface of a cut is effectively improved, and meanwhile, the manpower input is reduced. On the premise of correct program, the robot control can not generate error cutting. But remote control rising head cutting improves operating environment. The personnel are far away from the cutting part, and the safety and protection requirements are easy to realize. Still be connected with air pressure adjusting device on the cutting torch, air pressure adjusting device is used for adjusting the velocity of flow that gets into the cutting torch internal gas pressure, selects great velocity of flow, improves the surface smoothness and reduces the incision width, has improved the utilization ratio of steel, has practiced thrift the cost. The six-axis robot machining system further comprises a vehicle-mounted platform, the vehicle-mounted platform is used for moving and lifting the six-axis robot, the machining range of the robot is enlarged to the greatest extent, a plurality of six-axis robots do not need to be arranged on one station for machining, and cost is reduced.)

1. The automatic flame cutting system of the robot for the riser of the steel casting is characterized by comprising a vehicle-mounted platform (1), a six-axis robot (2), a cutting torch (3) and the vehicle-mounted platform; (1) the six-axis robot (2) is fixed on the cutting torch (3), and the cutting torch (3) is fixed on the six-axis robot (2);

the vehicle-mounted platform (1) comprises a bottom plate (8), a lifting mechanism (9) and a top plate (10), wherein the lifting mechanism (9) is arranged between the bottom plate (8) and the top plate (10), the lifting mechanism (9) is used for lifting the top plate (10), and two ends of the bottom plate (8) are respectively provided with a movable wheel (11);

the six-axis robot (2) comprises a fixing device (4), a fixing base (14), a first axis seat (5), a second axis seat (12), a large arm (6), a third axis seat (15), a small arm (13) and a rotary fixing seat (7), wherein the fixing base (14) is fixed at the top of the top plate (10), the fixing base (14) is connected with the first axis seat (5) in a rotating mode, the second axis seat (12) is fixed at the top of the first axis seat (5), the large arm (6) is connected with the second axis seat (12) in the rotating mode, one end, far away from the second axis seat (12), of the large arm (6) is connected with the third axis seat (15) in a rotating mode, the small arm (13) is fixed on the third axis seat (15), one end, far away from the third axis seat (15), of the small arm (13) is connected with the rotary fixing seat (7) in a rotating mode, the fixing device (4) is fixed on the rotary fixing seat (7), and the cutting torch (3) is installed on the fixing device (4);

and the top plate (10) is also fixedly provided with an air pressure adjusting device (16), the air pressure adjusting device (16) is connected with the cutting torch (3), and the air pressure adjusting device (16) is used for adjusting the flow rate of air pressure flowing into the cutting torch (3).

2. The automatic flame cutting system for the feeder head robot of the steel casting according to claim 1, wherein the lifting mechanism (9) comprises an X-shaped scissor mechanism (17) and a hydraulic cylinder (18), one end of the top of the X-shaped scissor mechanism (17) is hinged to the top plate (10), the other end of the top is slidably connected to the top plate (10), one end of the bottom of the X-shaped scissor mechanism (17) is hinged to the bottom plate (8), the other end of the bottom is slidably connected to the bottom plate (8), the extending end of the hydraulic cylinder (18) is hinged to the bottom of the X-shaped scissor mechanism (17), and the bottom of the hydraulic cylinder (18) is hinged to the bottom plate (8).

3. The robotic automatic flame cutting system for steel castings risers according to claim 2, characterized in that the X-shaped scissor mechanism (17) comprises a lifting rod a (19) and a lifting rod b (20), the lifting rod a (19) and the lifting rod b (20) are connected into an X-shape by a pin.

4. The automatic flame cutting system of the cast steel riser robot as claimed in claim 3, wherein a sliding guide seat a (21) is fixed on the top plate (10), a sliding guide seat b (22) is fixed on the bottom plate (8), sliding grooves are formed in the sliding guide seat a (21) and the sliding guide seat b (22), a bearing a is fixed at one end of the lifting rod a (19), the bearing a is slidably arranged in the sliding groove of the sliding guide seat a (21), a bearing b is fixed at one end of the lifting rod b (20), and the bearing b is slidably arranged in the sliding groove of the sliding guide seat b (22).

5. The automatic flame cutting system for the cast steel feeder robot as claimed in claim 1, wherein the cutting torch (3) comprises a handle (23), a main body (24) and a cutting torch head (25), the handle (23) and the cutting torch head (25) are respectively connected to two ends of the main body (24), an oxygen port (26) and a propane port (27) are arranged at one end of the handle (23) far away from the main body (24), and the oxygen port (26) and the propane port (27) are both communicated with the air pressure regulating device (16).

6. The automatic flame cutting system of the robot for the riser of the steel casting according to claim 5, wherein the air pressure adjusting device (16) comprises an air pressure pump (28), an air pipe a and an air pipe b, the air pressure pump (28) comprises an oxygen pump and a propane pump, the oxygen pump is connected with the oxygen port (26) through the air pipe a, the propane pump is connected with the propane port (27) through the air pipe b, and a two-way electromagnetic valve (29) and a speed regulating valve (30) are arranged on each of the air pipe a and the air pipe b.

7. The robotic automatic flame cutting system of a steel casting riser of claim 1, it is characterized in that the fixing device (4) comprises a connecting rod (31), a fixing seat (32) and two fixing rings (33), the connecting rod (31) is fixed on the rotary fixed seat (7), the fixed seat (32) is fixed on the connecting rod (31), the two fixed rings (33) are symmetrically fixed on the fixed seat (32), the cutting torch (3) is fixedly arranged in the fixing ring (33) in a penetrating way, the fixing ring (33) consists of a fixing ring a and a fixing ring b, the fixing ring a and the fixing ring b are both semicircular rings, the fixing ring b is fixed on the fixing seat (32), one side of the fixing ring a is movably connected with the fixing ring b, the other side is fixed by a bolt, the inner walls of the fixing ring a and the fixing ring b are uniformly distributed with a plurality of elastic nails (34) on the circumference.

Technical Field

The invention relates to the field of riser cutting, in particular to a robot automatic flame cutting system for a steel riser.

Background

The casting head is the 'redundant' part of metal which is inevitably generated in the casting process, and after the metal casting forming process is completed, the casting head is the part which needs to be removed firstly. The prior art mainly adopts manual flame cutting to cut a large riser of a steel casting, a cutting torch is firstly used for preheating a cutting opening to the melting point of metal, then high-pressure oxygen flow is blown to burn the metal in oxygen to generate metal oxide, the metal oxide is blown away by high-speed oxygen flow, the cutting torch is manually moved slowly to form a cut, and the burning of the metal forms a cut surface along with the movement of the cutting torch to cut the riser. The disadvantages are that: the notch surface is not sufficiently flat. During cutting, error cutting can be generated due to manual operation level, and the casting is subjected to repair welding at the later stage and even is scrapped. Due to improper control of cutting speed and temperature, the castings are prone to cracking during cutting. When cutting, because the burning of metal produces a large amount of smoke and dust and heat, the manual operation environment is abominable.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a robot automatic flame cutting system for a riser of a steel casting, which replaces the prior art that the flatness of the surface of a cut is effectively controlled by manual cutting. On the premise of correct program, the robot control can not generate error cutting. The cutting speed and temperature are controlled according to a special process, and the generation of cracks during cutting can be effectively avoided. But remote control rising head cutting improves operating environment. The personnel are far away from the cutting part, and the safety and protection requirements are met.

The purpose of the invention is realized by the following technical scheme: a robot automatic flame cutting system for a riser of a steel casting comprises a vehicle-mounted platform, a six-axis robot and a cutting torch, wherein the six-axis robot is fixed on the vehicle-mounted platform, and the cutting torch is fixed on the six-axis robot;

the vehicle-mounted platform comprises a bottom plate, a lifting mechanism and a top plate, wherein the lifting mechanism is arranged between the bottom plate and the top plate and used for lifting the top plate, and moving wheels are arranged at two ends of the bottom plate;

the six-axis robot comprises a fixing device, a fixing base, a first axis seat, a second axis seat, a large arm, a third axis seat, a small arm and a rotary fixing seat, wherein the fixing base is fixed at the top of the top plate, the first axis seat is rotatably connected onto the fixing base, the second axis seat is fixed at the top of the first axis seat, the large arm is rotatably connected onto the second axis seat, one end, far away from the second axis seat, of the large arm is rotatably connected with the third axis seat, the small arm is fixed onto the third axis seat, one end, far away from the third axis seat, of the small arm is rotatably connected with the rotary fixing seat, the fixing device is fixed onto the rotary fixing seat, and the cutting torch is installed on the fixing device;

and the top plate is also fixedly provided with an air pressure adjusting device, the air pressure adjusting device is connected with the cutting torch, and the air pressure adjusting device is used for adjusting the flow rate of air pressure flowing into the cutting torch.

Furthermore, the lifting mechanism comprises an X-shaped scissor mechanism and a hydraulic cylinder, one end of the top of the X-shaped scissor mechanism is hinged to the top plate, the other end of the top of the X-shaped scissor mechanism is connected with the top plate in a sliding mode, one end of the bottom of the X-shaped scissor mechanism is hinged to the bottom plate, the other end of the bottom of the X-shaped scissor mechanism is connected with the bottom plate in a sliding mode, the extending end of the hydraulic cylinder is hinged to the bottom of the X-shaped scissor mechanism, and the bottom of the hydraulic cylinder is hinged to the.

Furthermore, the X-shaped scissor mechanism comprises a lifting rod a and a lifting rod b, and the lifting rod a and the lifting rod b are connected into an X shape through a pin shaft.

Further, be fixed with sliding guide seat a on the roof, be fixed with sliding guide seat b on the bottom plate, the spout has all been seted up on sliding guide seat a and the sliding guide seat b, lifter a's one end is fixed with bearing a, bearing a slidable sets up in sliding guide seat a's the spout, lifter b's one end is fixed with bearing b, bearing b slidable sets up in sliding guide seat b's the spout.

Further, the cutting torch comprises a handle, a main body and a cutting torch head, wherein two ends of the main body are respectively connected with the handle and the cutting torch head, one end of the handle, which is far away from the main body, is provided with an oxygen port and a propane port, and the oxygen port and the propane port are both communicated with the air pressure adjusting device.

Further, the air pressure adjusting device comprises an air pressure pump, an air pipe a and an air pipe b, the air pressure pump comprises an oxygen pump and a propane pump, the oxygen pump is connected with the oxygen port through the air pipe a, the propane pump is connected with the propane port through the air pipe b, and the air pipe a and the air pipe b are both provided with a two-way electromagnetic valve and a speed adjusting valve.

Further, fixing device includes connecting rod, fixing base and two solid fixed rings, the connecting rod is fixed on the rotatory fixing base, be fixed with on the connecting rod the fixing base, two gu the fixed ring symmetry is fixed on the fixing base, the cutting torch is fixed to be worn to establish in the fixed ring, gu fixed ring comprises solid fixed ring an and solid fixed ring b, gu fixed ring an and solid fixed ring b are the semicircle ring, gu fixed ring b fixes on the fixing base, gu fixed ring an one side with gu fixed ring b swing joint, the opposite side passes through the bolt fastening, gu fixed ring an and solid fixed ring b inner wall all are the circumference equipartition and have a plurality of elastic nails.

The invention has the beneficial effects that:

1. the utility model provides a steel casting rising head robot automatic flame cutting system, includes six robots and cutting torch, and the cutting torch is fixed on six robots, replaces artifically through six robots, and the artificial input that has significantly reduced has reduceed the cost of labor, has reduced operator's intensity of labour. Meanwhile, the flatness of the notch surface is improved. On the premise of correct program, the robot control can not generate error cutting. But remote control rising head cutting improves operating environment. The personnel are far away from the cutting part, and the safety and protection requirements are easily realized.

2. Still be connected with atmospheric pressure adjusting device on the cutting torch, atmospheric pressure adjusting device is used for adjusting the velocity of flow that gets into the cutting torch internal gas pressure, makes the velocity of flow of cutting torch adjustable, under the prerequisite that does not cause the damage to the steel casting, the increase atmospheric pressure velocity of flow, the velocity of flow increase can improve surface smoothness and reduce the incision width, has avoided later stage repair welding to cause scrapping of steel casting, has improved the utilization ratio of steel casting, the cost is reduced.

3. The utility model provides a steel casting rising head robot automatic flame cutting system, still includes vehicle-mounted platform, and vehicle-mounted platform is used for removing and goes up and down six robots, has increased six robots's processing scope in the very big degree, needn't dispose a plurality of six robots on the station and process, the cost is reduced.

Drawings

FIG. 1 is a schematic diagram of the working process of a robot automatic flame cutting system for a riser of a steel casting according to the present invention;

FIG. 2 is a schematic structural diagram of a six-axis robot in an automatic flame cutting system for a feeder head robot of a steel casting according to the present invention;

FIG. 3 is a schematic structural view of a vehicle-mounted platform in the automatic flame cutting system for the feeder head robot of the steel casting according to the invention;

FIG. 4 is a schematic structural diagram of an X-shaped scissor mechanism in the automatic flame cutting system of the steel casting riser robot according to the invention;

FIG. 5 is a schematic structural diagram of a cutting torch in the automatic flame cutting system for the feeder head of the steel casting according to the invention;

FIG. 6 is a schematic structural view of a fixing device in a robot automatic flame cutting system for a riser of a steel casting according to the present invention;

FIG. 7 is a schematic structural diagram of a pneumatic pressure adjusting device in a robot automatic flame cutting system for a steel casting riser according to the present invention;

in the figure, 1-vehicle platform, 2-six-axis robot, 3-cutting torch, 4-fixing device, 5-first axis seat, 6-big arm, 7-rotary fixed seat, 8-bottom plate, 9-lifting mechanism, 10-top plate, 11-moving wheel, 12-second axis seat, 13-small arm, 14-fixed base, 15-third axis seat, 16-air pressure adjusting device, 17-X-shaped scissor mechanism, 18-hydraulic cylinder, 19-lifting rod a, 20-lifting rod b, 21-sliding guide rail seat a, 22-sliding guide rail seat b, 23-handle, 24-main body, 25-cutting torch head, 26-oxygen port, 27-propane port, 28-air pressure pump and 29-two-way electromagnetic valve, 30-speed regulating valve, 31-connecting rod, 32-fixing seat, 33-fixing ring and 34-elastic nail.

Detailed Description

The technical solutions of the present invention are further described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the following.

As shown in fig. 1 to 7, the automatic flame cutting system of the steel casting riser robot comprises a vehicle-mounted platform 1, a six-axis robot 2 and a cutting torch 3, wherein the six-axis robot 2 is fixed on the vehicle-mounted platform 1, and the cutting torch 3 is fixed on the six-axis robot 2;

the vehicle-mounted platform 1 comprises a bottom plate 8, a lifting mechanism 9 and a top plate 10, wherein the lifting mechanism 9 is arranged between the bottom plate 8 and the top plate 10, the lifting mechanism 9 is used for lifting the top plate 10, and two ends of the bottom plate 8 are provided with moving wheels 11;

as shown in fig. 2, the six-axis robot 2 includes a fixing device 4, a fixing base 14, a first axis seat 5, a second axis seat 12, a large arm 6, a third axis seat 15, a small arm 13 and a rotating fixing seat 7, wherein the fixing base 14 is fixed on the top of a top plate 10, the first axis seat 5 is rotatably connected to the fixing base 14, the second axis seat 12 is fixed on the top of the first axis seat 5, the large arm 6 is rotatably connected to the second axis seat 12, the third axis seat 15 is rotatably connected to one end of the large arm 6 far away from the second axis seat 12, the small arm 13 is fixed on the third axis seat 15, the rotating fixing seat 7 is rotatably connected to one end of the small arm 13 far away from the third axis seat 15, the fixing device 4 is fixed on the rotating fixing seat 7, and the cutting torch 3;

also fixed to the top plate 10 is a gas pressure regulator 16, the gas pressure regulator 16 being connected to the torch 3, the gas pressure regulator 16 being adapted to regulate the flow rate of gas pressure into the torch 3.

The six-axis robot 2 replaces the manual work to cut the dead head of the steel casting, so that the manual investment is greatly reduced, the labor cost is reduced, and the labor intensity of an operator is reduced. Meanwhile, the flatness of the notch surface is improved. On the premise of correct program, the robot control can not generate error cutting. But remote control rising head cutting improves operating environment. The personnel are far away from the cutting part, and the safety and protection requirements are easily realized. Also connected to the torch is a gas pressure regulator 16. the gas pressure regulator 16 is used to regulate the flow rate of gas pressure into the torch 3. When cutting is carried out by using a large air pressure flow velocity, the flatness and the cut width of the cutting surface of the steel casting can be effectively improved, the steel casting is made of different materials, the adaptive cutting flow velocity is different, and if the bearing flow velocity is exceeded, cracks can be generated during cutting. Therefore, during specific implementation, a larger air pressure flow rate is selected as much as possible according to the flow rate range of the steel casting material, the surface flatness is effectively improved, the notch width is reduced, the rejection of the steel casting caused by later repair welding is avoided, the utilization rate of the steel casting is improved, and the cost is reduced.

When the six-axis robot is specifically implemented, the first axis seat 5, the large arm 6, the small arm 13 and the rotary fixing seat 7 are all driven by a motor, the motion trail of the six-axis robot is compiled and guided into the six-axis robot by a computer, meanwhile, the motion trail of the vehicle-mounted platform 1 can also be compiled and guided into the six-axis robot by the computer, and the specific implementation process of the six-axis robot 2 is as follows: the first axle bed 5 of motor drive rotates on unable adjustment base 14, makes six robots 2 realize deflecting on a large scale, and the motor drives big arm 6 and forearm 13 and rotates for change six robots 2's machining height and processing angle, and the motor drives the rotation of rotatory fixing base 7, because be fixed with cutting torch 3 on the rotatory fixing base 7, consequently rotatory fixing base 7 rotates and directly drives cutting torch 3 and deflects, realizes the processing to the cast steel riser minizone. The processing is more accurate and faster.

When a steel casting riser is actually machined, the machining range of the six-axis robot 2 is limited, when the size of the steel casting is large or a station is long, the machining range of the six-axis robot 2 is exceeded, and at the moment, a plurality of six-axis robots 2 need to be configured to simultaneously machine the steel casting, so that the cost is increased, meanwhile, different machining accuracy of the robots have certain deviation, so that the cutting accuracy of the riser on one steel casting is different, in order to solve the problem, the vehicle-mounted platform 1 is designed, the vehicle-mounted platform 1 is used for moving and lifting the six-axis robots 2, the machining range of the six-axis robots 2 is greatly increased, a plurality of six-axis robots 2 do not need to be configured on one station for machining, and the cost is reduced. The specific design is as follows:

as shown in fig. 3 and 4, the lifting mechanism 9 comprises an X-shaped scissor mechanism 17 and a hydraulic cylinder 18, wherein one end of the top of the X-shaped scissor mechanism 17 is hinged to the top plate 10, the other end of the top is slidably connected to the top plate 10, one end of the bottom of the X-shaped scissor mechanism 17 is hinged to the bottom plate 8, the other end of the bottom is slidably connected to the bottom plate 8, the extending end of the hydraulic cylinder 18 is hinged to the bottom of the X-shaped scissor mechanism 17, and the bottom of the hydraulic cylinder 18 is hinged to the bottom plate 8;

the X-shaped scissor mechanism 17 comprises a lifting rod a19 and a lifting rod b20, the lifting rod a19 and the lifting rod b20 are connected into an X shape through a pin shaft, a sliding guide rail seat a21 is fixed on the top plate 10, a sliding guide rail seat b22 is fixed on the bottom plate 8, sliding grooves are formed in the sliding guide rail seat a21 and the sliding guide rail seat b22, a bearing a is fixed at one end of the lifting rod a19, the bearing a is slidably arranged in the sliding groove of the sliding guide rail seat a21, a bearing b is fixed at one end of the lifting rod b20, and the bearing b is slidably arranged in the sliding groove of the sliding guide rail seat b 22.

The work engineering of the vehicle-mounted platform 1 is as follows: when the hydraulic cylinder 18 is extended, the bearing a slides in the slide rail seat a21, and the bearing b slides in the slide rail seat b22X, the X-shaped scissor mechanism 17 contracts to raise the top plate 10 to raise the six-axis robot 2, and when the hydraulic cylinder 18 is shortened, the X-shaped scissor mechanism 17 opens to lower the top plate 10 to lower the six-axis robot 2. Be provided with on the roof 8 and remove wheel 11, realize the removal to six robots 2, greatly increased six robots 2's processing range.

As shown in fig. 5, the cutting torch 3 comprises a handle 23, a main body 24 and a cutting torch head 25, wherein the handle 23 and the cutting torch head 25 are respectively connected to two ends of the main body 24, an oxygen port 26 and a propane port 27 are arranged at one end of the handle 23 far away from the main body 24, and both the oxygen port 26 and the propane port 27 are communicated with the air pressure regulating device 16;

as shown in fig. 7, the air pressure adjusting device 16 includes an air pressure pump 28, an air pipe a and an air pipe b, the air pressure pump 28 is composed of an oxygen pump and a propane pump, the oxygen pump is connected with the oxygen port 26 through the air pipe a, the propane pump is connected with the propane port 27 through the air pipe b, and the air pipe a and the air pipe b are both provided with a two-way electromagnetic valve 29 and a speed regulating valve 30.

The working process of the air pressure adjusting device 16 is as follows: two-way electromagnetic valves 29 on an air pipe a and an air pipe b are opened, oxygen and propane in a pneumatic pump 28 enter a cutting torch 3, ignition is carried out, flame is sprayed out to cut a dead head of the steel casting, a speed regulating valve 30 on the air pipe a and the air pipe b is regulated, the flow rate of the oxygen and the propane entering the cutting torch 3 is changed, the content ratio of the oxygen and the propane can be regulated, meanwhile, the size of the flame can also be regulated, a larger air pressure flow rate is selected as much as possible according to the flow rate range of the steel casting material, the surface flatness is effectively improved, the notch width is effectively reduced, scrapping of the steel casting caused by later repair welding is avoided, the utilization rate of the steel casting is improved, and the cost is reduced.

In the prior art, the cutting torch is not firmly fixed, certain deflection is easy to occur during cutting, the cutting precision is influenced, and a steel casting is easy to be damaged in serious cases, so the invention makes the following improvements:

as shown in fig. 6, fixing device 4 includes connecting rod 31, fixing base 32 and two solid fixed rings 33, connecting rod 31 is fixed on rotatory fixing base 7, be fixed with fixing base 32 on the connecting rod 31, two solid fixed ring 33 symmetries are fixed on fixing base 32, cutting torch 3 is fixed to wear to establish in solid fixed ring 33, gu fixed ring 33 comprises solid fixed ring an and solid fixed ring b, gu fixed ring an and solid fixed ring b are the semicircle ring, gu fixed ring b fixes on fixing base 32, gu fixed ring a's one side and solid fixed ring b swing joint, the opposite side is through the bolt fastening, gu fixed ring an and solid fixed ring b inner wall all are the circumference equipartition and have.

Wear to establish in solid fixed ring 33 with cutting torch 3, through the bolt-up, two solid fixed ring 33 simultaneous actions, the effectual deflection of avoiding cutting torch 3, the equipartition has a plurality of elastic nails 34 in the solid fixed ring 33 simultaneously, and the effectual damage that causes the certain degree to cutting torch 3 when avoiding fastening.

The invention also provides a detection method of the automatic flame cutting system of the steel casting riser robot, which comprises the following steps:

step 1: cleaning the dead head position of the steel casting;

step 2: placing the steel casting on a station, enabling a gas cutting angle to be smaller than 45 degrees by using a supporting piece, and then adhering a positioning mark on a cutting part;

and step 3: the six-axis robot 2 is moved to a station by using the vehicle-mounted platform 1;

and 4, step 4: automatically selecting a corresponding cutting process in a process library according to different materials, riser shapes and sizes of castings;

and 5: planning a cutting path, and importing a program with the cutting path into the six-axis robot;

step 6: igniting and orderly cutting by the special cutting torch according to the process;

and 7: after cutting, one workpiece is moved to the next workpiece, and the gas cutting program is repeatedly called to carry out cutting operation;

and 8: and (4) carrying out quality detection on the cut workpiece by a worker or a detection machine.

The foregoing is illustrative of the preferred embodiments of this invention, and it is to be understood that the invention is not limited to the precise form disclosed herein and that various other combinations, modifications, and environments may be resorted to, falling within the scope of the concept as disclosed herein, either as described above or as apparent to those skilled in the relevant art. And that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.