Research On Large Travel Slag Removal Robot System For High Temperature Environment

At present, due to operational complexity, poor environment, limited space and other reasons, manual processes remains in metallurgical production line, which not only affects product quality and production efficiency, therefore, it’s urgently imperative to research key technologies of metallurgical equipment robots applied in special environment. Based on the analysis of intelligent metallurgical equipment application and key technologies, this thesis designs dross removing equipment on hot galvanizing line by electromechanical integration design methods, including mechanical structure scheme, insulation protection scheme and real-time monitoring system scheme.First, this thesis systematically analyzes the needs and application status of industrial robots in each step of the process of galvanized and other metallurgical production lines. In the light of the characteristic of large stroke, heavy loads, high-temperature environments and special unstructured space, not only design principles on metallurgical intelligence equipment are proposed, but also the production process of galvanizing line and the formation mechanism of zinc slag are researched. Besides, the design requirements and t workflow of the robot was analyzed and designed.Secondly, under the work demands of galvanizing line the slag robot in galvanizing line was integrated, the structure of dross removing equipment was proposed, and several main bodies, servo drive methods are also put forward. The key technologies of mechanical arm and hand was analyzed and design projects of the mechanical arm and hand was also proposed, through analysis and comparison, the final design slag equipment is determined.This thesis creates the mechanical models of Cartesian base frame and the beam, which was analyzed and optimized by Solid Works Simulation and ANSYS Workbench software, the optimized design dimension was obtained combined with device structure design conditions and simulation results. Based on heat transfer theory, the beam temperature field model was established and the beam composite heat transfer model was analyzed. Through COMSOL software, the heat transfer model of the beam is analyzed and the optimized beam thermal protection scheme is given.At last, this thesis gives the design requirements of real-time monitoring system and proposed the scheme, a zinc pot monitoring simulation was built with Basler ace Gig E camera, which verify the feasibility of the scheme. This thesis provides a reference design of slag robot system for high temperature environment and large travel which has an important reference value for the future study of industrial robot for metallurgical process.