Structural Design And Kinematics Characteristics Analysis Of Temperature Measurement Robot On Coke Oven

With the ''Made in China 2025'' strategy proposed,China's manufacturing investment grows rapidly.As the main raw material of metallurgy,chemical industry and other related industries,the output of coke also increases year by year.Intelligent and unmanned coking has become a new direction of domestic coking enterprises.In the coking process,flue temperature is a significant index in coke oven heating process.It is closely related to coking process control,thermal energy management and energy saving and emission reduction.Accurate and timely temperature measurement is the key to coke making in coke oven.Coke oven temperature measurement has always been a routine work in coking production.At present,this work still depends on manual work.The temperature of the top of coke oven is higher and the bad environment is threatening the safety and health of workers.With the improvement of living standards,workers have higher requirements for working environment.It is necessary to equip coke oven with reliable temperature detection products.Robot technology is gradually mature,how to use robots to replace manual temperature measurement in coke oven is the focus of this paper.In this paper,the working environment of coke oven temperature measurement field is investigated.Mobile Cartesian coordinate robot is the main structure of temperature measuring robot,which doesn't stop while working.The design scheme of coke oven temperature measuring robot with both rapidity and reliability is completed.The rationality and reliability of the overall structure design of the robot is ensured.Firstly,the key parts of the temperature measuring robot are designed and calculated.With ANSYS Workbench finite element software,the stress and deformation of key parts are obtained by finite element analysis.The modal analysis of the structure of the temperature measuring robot is carried out,and the rationality and reliability of the structure design of the robot are verified.Secondly,the kinematics equation is established by D-H parameter method,and the motion of the end-effector of the robot is deduced theoretically.In ADAMS,the kinematics simulation of the temperature measuring robot is carried out,and the velocity,acceleration and displacement curves of the end effector are obtained.Finally,the control components of the temperature measuring robot are selected and connected,and the physical prototype is tested.The temperature measurement process of the robot is experimented and the position accuracy of the end effector is tested.The experimental results show that the prototype of the robot can meet the design requirements of temperature measurement without stopping,and the motion of the robot is reasonable.The above work provides ideas and directions for the design and improvement of temperature measuring robot.