Design And Research On The Structure Of Plasma Cutting Robot For Removing Slag From Slabs

The efficiency of removing slab burrs has been a research hotspot in the production process of slab continuous casting.Because of the unsatisfactory deburring effect of traditional deburring equipment in the actual production process,this article studies the method of removing the blank burrs using the industrial robot with plasma cutting equipment,and design the special industrial robot suitable for the continuous casting working conditions which relying on laboratory research project using industrial robot and plasma arc cutting as the implement measure.The study laid the foundation for the removal of slab burrs in the context of complex conditions in engineering applications.Firstly,the basic parameters of robot are initially determined according to the continuous casting conditions and task requirements,and its structure is initially designed including the joint transmission and the selection calculation of motors and reducers.The parts design and assembly in Solid Works to make its structure and the range of operating space meet by the expected design requirements.For the preliminary design of the three-dimensional model linkage,the positive kinematics equation was deduced based on the linkage D-H parameter table,and the inverse kinematics was solved.The establishment of a three-dimensional robot model using Robotics Toolbox in MATLAB validates the correctness of forward and inverse kinematics solutions.The Monte Carlo method based on random variables is used to obtain the point cloud image and the cross-section diagram of the working space,and the diagram of working space solved by the graphical method is compared,thus verifying that the scope of manipulator workspace satisfies the task requirements.Second,the Cartesian space and several method of joint space path planning are introduced.Selecting the burr-cutting path of the plasma robot as the research object,and performing by the segment processing.The simulation planning of joint space and Cartesian space for different segmental trajectories are used by the MATLAB toolbox.The manipulator moves in accordance with a predetermined trajectory,and the curves of displacement,velocity,and acceleration of joints in the process are analyzed.Finally,the general method of solving the dynamic equation of the manipulator by the Lagrange method is analyzed,and the dynamic equation of the manipulator is solved.The three-dimensional model of the robotic arm established in Solid Works was imported into ADAMS,and the parameters of the trajectory planning joint angle in MATLAB were used as the driving function to the dynamic simulation analysis of the robotic arm.The speed,acceleration and torque curve diagrams of each joint were analyzed to the further verification of the mechanism.The rationality of the body structure provides a basis for the robot's structural design and optimization.