Arc Furnace Carbon Oxygen Lance Manipulator And Its Key Technology Research

In today's technological advances,the demand for industrial automation has become increasingly high,the market demand for industrial robots has become quite large,the automated production line also put forward higher requirements,that is to meet the production process requirements,but also must In the metallurgical industry can replace the artificial oxygen blowing to avoid some dangerous factors.Therefore,the need to design a robot,must have a high level of automation,but also enable it to meet the production needs of enterprises.In this paper,the research is to meet the requirements of the metallurgical industry,as well as the production of electric arc furnace oxygen and carbon enrichment process required for automatic carbon oxygen gun manipulator.Electric arc furnace steelmaking with oxygen lance is mainly by the oven door type carbon oxygen consumption of oxygen gun,gun and furnace wall and blow is the main work is by the oven door consumable type carbon oxygen lance to complete.Oven door type carbon oxygen gun generally adopts modular structure,namely by the carbon powder gun and only 1-2 of oxygen gun;Its mechanical structure used in the form of electric cylinder for driving element manipulator,and PLC programming control in order to meet the smelting process of using the different process requirements.This paper first introduces the development of the modern industrial robot,and according to the plan and the actual smelting process requirements,to determine the carbon oxygen gun manipulator's overall plan and structure design.And the manipulator kinematics analysis of Lagrange equation to determine the structure of each movement and three end toner gun and oxygen lance execution device before the spatial position and posture of mutual relations and carbon oxygen gun mechanical hand each joint motion and force the relationship between D—H method and manipulator dynamics analysis.The dynamic simulation of the ‘3D'model is also established to verify the rationality of the design of the manipulator,and the finite element analysis is carried out for some important structural parts.Finally,the control mode and the action sequence of the manipulator are programmed to meet the requirements of the final production.