Based On Hybrid Six Of Connecting Rod Vice Gun Probe Automatic Converter Loading And Unloading Mechanism Research

Modern converter steelmaking in practical production, the gun is important vice production equipment. The sublance system influence the normal operation of the biggest and the most common connection cycle fault, the serious influence of production in the the main causes of the fault, the high accuracy of vice gun institutions, for the converter production is of great significance.Hybrid linkage mechanism, controlled by conventional fixed speed motor servo motor, much of linkage mechanism, the conventional fixed speed motor provides the main power system, controllable servo motor provide systematic auxiliary power and the adjustment function, the two power through the is more than a linkage mechanism is realized, and the movement of the mixed expected output. Five linkage mechanism with a regulation pole of the formation of the hybrid six link mechanism, and the organization not only increases the adjustable machinery connecting rod part also has controlled servo motor, so that the entire system has two flexible link, the agency in the realization of the expected movement premise, flexible, simple structure, application scope. This paper put forward the application of hybrid six linkage mechanism realize vice gun operation. First, the optimized selection hybrid six linkage mechanism type, for hybrid six linkage mechanism analysis of the kinematic characteristics, application loop vector method to establish the mathematical model, kinematics and inverse kinematic from six linkage mechanism of the kinematics analysis. To achieve the expected based on motor output track, optimization of the hybrid six linkage mechanism parameters. Meanwhile, through the conventional motor is equivalent to the ideal model for dc, a dynamic model of the motor; From the Angle of dynamic hybrid six linkage mechanism for the dynamic analysis, and by establishing a mathematical model to Lagrange hybrid six linkage mechanism is analyzed and calculated; For hybrid six linkage mechanism and considering the nature of the sport interference, friction, system parameters change and uncertain factors established dynamic equation, calculated the characteristics of movement, thus easy to design control scheme. According to the hybrid six linkage mechanism with nonlinear and strong coupling and time-varying etc, choose the sliding mode variable structure control as the control strategy, and based on filtering sliding model variable structure control method further restrain chattering problem. Finally, through the simulation demonstrate the design of the hybrid six linkage mechanism of feasibility and validity.