Research On Tracking Measurement Of Conveying Chain Velocity And Data Optimization Processing In Slag Removal Process Of Aluminum Ingot Casting

Aluminum is an important metal material,and aluminum ingot is its main form of preservation,transportation and trading.Aluminum ingot is cast by liquid aluminum in continuous casting machine.During the casting process,impurities such as oxide film formed by liquid aluminum contact with air float on the surface of aluminum ingot,affecting the quality of aluminum ingot.It is necessary to remove the scum on the surface of aluminum ingot during the casting process.At present,it mainly relies on manual dredging to remove the scum on the surface of liquid aluminum.The environmental temperature of dredging slags is high,and there are safety risks,and the efficiency of manual dredging slags is low,which can not meet the demand of high energy production.Therefore,the research and development of industrial robots instead of manual dregs fishing operation,to improve production efficiency,reduce labor intensity,reduce safety risks,has important practical significance.Industrial robots generally work in the pre-set speed and track,and in the process of aluminum ingot casting production in order to ensure that the flow of aluminum liquid and aluminum ingot weight match,casting mold running speed should be changed at any time,which requires the robot can not work according to the pre-set speed when dregs,the need to real-time measurement and tracking of the aluminum ingot conveyor chain running speed.And timely feedback to the robot according to the real-time speed of the aluminum ingots conveyor chain to avoid the collision between the robot and the aluminum ingots conveyor chain.How to accurately and timely measure the real-time running speed of aluminum ingots conveyor chain;The main content of this paper is how to reduce the interference of vibration of measurement system,and how to reduce the polygon effect of aluminum ingot transmission chain drive and the influence of crawling on the tracking speed.Firstly,the operating parameters of aluminum ingot conveyor chain in existing applications are analyzed.According to the speed measuring mechanism of encoder,the existing speed measuring device is improved,and the improved speed is enlarged to apply more speed measuring methods.Then the influence of polygon effect and crawling phenomenon of chain drive on the tracking speed of aluminum ingot was analyzed.Proteus software is used to design the interference circuit and simulate the vibration interference pulse.Through the experiment and simulation,it is shown that the speed without anti-interference treatment has a large gap with the actual preset speed,and the overall speed is larger than the preset speed.The speed after antijamming treatment has no obvious difference with the preset speed,and it is greatly improved compared with the unprocessed speed.This anti-jamming speed measurement method has obvious role in the real-time speed measurement and tracking of the conveyor chain.In order to solve the polygon effect and crawling phenomenon of conveyor chain drive on the tracking speed.In this paper,the driving wheel and speed measuring sprocket are used to establish the transport chain motion model,and the output speed is taken as the measured speed.The motion data was imported into MATLAB software,and the Gaussian fuzzy processing method was adopted for optimization.After optimization,the fluctuation degree of the overall data was reduced,but the linear velocity and crawling data changed significantly after the first optimization.After comparing and analyzing the reasons,the whole measurement cycle was segmented according to the order of magnitude on the basis of the first optimization,and noise reduction fitting was carried out respectively after the segmentation.In this way,the linear velocity and crawling data after the second optimization have a relatively obvious flattening effect.With the speed of secondary optimization as the tracking speed of the slag robot,the displacement difference between the claw and the casting mold is always less than 10 mm,which can avoid the collision between the slag robot and the casting mold.