Development Of New Type Slag Removal And Salvaged Robot Systerm For High Temperature Environment

In the critical stage of metallurgical equipment to upgrade, It is urgently needed that the advanced automation equipment to solve the key process areas of labor intensity, poor conditions, low productivity, in the metallurgical production line,and research about the Key Technology of metallurgical automation equipment in special environments such as high temperature.This thesis design dross removing equipment and solve some Key Technology to designs metallurgical robot under the conditions of high temperature, large span, narrow space, after surved the actual situation to removed zinc dross, in the galvanizing line. The main contents included that structure scheme and optimization, insulation protection scheme, automation control system scheme.Firstly, adopted technical route of function design, from the selection of the robot body structure, select the cylindrical coordinate robot body structure, in the condition of guaranteeing the effective thermal insulation, to advanced functional design of slag removal, using a variety of methods, comprehensively designed two practical mechanical structure scheme.Secondly, the of the static model of a connection part, combined theoretical analysis and finite element simulation, to analyzed the position of rope traction and the type of connecting part, to optimized the three lid skeleton structures. selected the most excellent structure and to advanced modal analysis, to ensured that the system resonance does not occur.Thirdly, using heat transfer theory, to establishmented the heat transfer model of the robot system, to advanced detailed theoretical steady-state thermal analysis, for the most serious influence of the heat, the solution of the insulation thickness, ventilation and temperature distribution function of the relevant parameters optimization, combined with the finite element analysis.Finally, detailed design of the system, temperature control system, PLC as controller, PID control algorithms and wireless sensor technology to establish a closed-loop temperature control system, the relevant parts selection, to ensure stable and reliable system, designed motion control system, servo control, a detailed selection and design from hardware to software.