Research On Marking Self-aligning Technology Of Aluminum Ingot Continuous Casting Line

With the rapid development of smelting aluminum industry,the automation degree of aluminum ingot casting equipment has gradually become an important standard to measure the quality of intelligent aluminum ingot production.Part of the marking as part of aluminum ingot continuous casting line,carry on the research and development of this part,can improve the production efficiency,shorten the production cycle,and makes the whole aluminum ingot continuous casting line to be more intelligent and efficient progress.This passage through the researching of marking automatic alignment and follow-up system,using the more advanced technology of 3D laser scanning to automatic alignment system,at the same time,with 4 degrees of freedom manipulator as follow-up system with the technology,it is important to realize the automation and intelligentization of the aluminium ingot continuous casting lineFirst of all,combined with the actual working conditions of the marking link,this passage analyzes the problems of the alignment technology in the actual marking process,and gives the applicability of the automatic alignment.Based on the principle of three dimensional laser scanning technology,such as distance measurement,angle measurement and positioning,combined with the characteristics of high speed and high precision,the 3D spatial data of the actual marking position is obtained.Gives a standard plane,using the three point positioning,calculate the position and attitude with the actual working plane and the standard plane,by changing the spatial location and attitude of standard plane to the working plane,making them completely overlap to complete alignment operations.There also analyzes error analysis of this technique.Secondly,after the completion of self aligning for the marking part,with 4 degrees of freedom manipulator as follow-up system,feedback the displacement and rotation for the alignment system,which is equipped with laser marking for quick response,to finish the marking operation.In this passage,the mathematical model of the manipulator is established by using the standard D-H modeling method.Through the analysis of the forward kinematics of the manipulator,the joint angle is solved by using the analytic method,so we derived the closed analytical solution of the inverse kinematics,the shortest path is used as the performance index to find unique solution.Matlab platform using the Robotics Toolbox for the forward and reverse kinematics simulation,through analysis to verify it's feasibility.The five times polynomial is used to analyze the trajectory planning.Finally,based on PLC achieves marking link control,and the hardware system is selected.According to the actual requirements,find out the whole process and the main logic,sketches the design ideas.AndWinCC on the host system interface programming.The system has been tested and verified to be stable and feasible.