Applied Research And Technical Improvement Of RH Furnace Temperature-measuring And Sampling Robot

With the rapid development and progress of mechanics,automation,computer and artificial intelligence technology,more and more industrial robots have been applied in manufacturing enterprises,including automobile industry,equipment installation,machinery manufacturing,metallurgy technology and so on.This paper takes the industrial robot Type ES165D independently produced by Shougang Motoman as the object,to introduce its applied research and technical improvement in refining Ruhrstahl Heraeus vacuum refining furnace(short for RH furnace)in the steel-making department of ShouGang Group Qian'an Steel Corporation.The main content is as the follows:Introduce a robot temperature sampling system applied to the refining RH furnace,the advanced robot and intelligent control system are used in the system.intelligent grasping head is realized,the automatic identification function of spot temperature measurement,slag breaking and sampling.Through servo motor drive temperature measurement,sampling,slag gun action,the accuracy and stability of measurement accuracy are guaranteed.1.The robot temperature-measuring and sampling system applied in refining RH furnace were deeply analyzed.The system uses advanced conveying robot and intelligent control system to realize automatic identification of intelligent probe grabbing,temperature measurement at fixed points,slag breaking and sampling;drives the motion of measuring temperature,sampling and slag breaking gun through the servo motor,so as to assure the accuracy and stability of measurement.2.In accordance with the structure features of the Shougang Motoman ES165D robot,the AutoCAD structural model and D-H coordinates were constructed in this paper.Combined with robot D-H matrix theory,constructed the robotic arm interface coordinates of ES165D robot was converted to bedplate homogeneous coordinates,so as to establish the robot mathematical model of forward kinematics and inverse kinematics.Furthermore,Matlab was utilized for its simulation.3.The method of space trajectory planning for RH furnace robot is studied.The general three polynomial and three polynomial interpolation with intermediate point are analyzed,and the five-polynomial interpolation method is analyzed.The use of Matlab tools for RH furnace robot six joint displacement curve,speed curve and acceleration curve of the simulation analysis,the optimal planning method in joint space,so as to achieve the RH robot in the process of movement acceleration and stability to ensure smooth operation of servo motor.In the field production process,this paper optimized and improved the system of temperature-measuring and sampling robot,so as to be better applied in real molten steel smelting.