Structural Design And Research Of Scorpion Like Coke Oven Automatic Temperature Measurement Robot

With the continuous development of intelligence,more and more industries are moving towards intelligence.At present,the temperature detection of coke oven vertical fire path mainly depends on manual temperature measurement.Manual temperature measurement is affected by workers' proficiency and environmental conditions,which is easy to cause inaccurate measurement data,and people who work in high-temperature environments for a long time pose a threat to their own health.Aiming at the existing problems,this paper studies and designs a hexapod scorpion like automatic temperature measuring robot for coke oven,so that it can complete the temperature detection of coke oven vertical fire path.By analyzing several ways of replacing artificial coke oven temperature measurement at present,and comparing the developed coke oven automatic temperature measurement robot and the robot used in other industries,a cooperative robot with bionic structure is proposed.The robot mainly consists of walking mechanism and actuator.The actuator is divided into scorpion tail temperature measurement manipulator and scorpion clamp furnace cover lifting mechanism.By comparing and analyzing the moving mode,driving mode and lifting and placing cover mode of the robot,the overall scheme of the coke oven automatic temperature measurement robot designed in this paper is determined,and the overall structure of the coke oven automatic temperature measurement robot is designed through Solid Works.The kinematics of the main mechanism of the robot is analyzed,the kinematics model is established by D-H method,the forward and inverse kinematics of the walking mechanism is solved,and the degrees of freedom of the robot under different walking posture are calculated.The kinematics equation of the scorpion tail temperature measuring manipulator is solved and simulated,its motion trajectory is planned,and its workspace is analyzed.The working space of the lifting and placing mechanism of the scorpion like clamp furnace cover is analyzed,and the space range of the end manipulator is obtained.Carry out static analysis on the main parts of the robot through ANSYS Workbench;The heat dissipation of robot battery pack is analyzed.The virtual prototype of the robot is simulated by Adams software,and the centroid change curve of the robot in three legged straight gait and in-situ turning gait is obtained;The motion simulation of the temperature measurement manipulator is performed,and the change curve of each joint parameter in the motion process is obtained.The lifting and placing mechanism of the furnace cover is analyzed,and the change of each joint torque in the movement process is analyzed.According to the previous calculation and analysis,the physical prototype of the scorpion like coke oven automatic temperature measurement robot is manufactured,and the rationality of the scorpion like coke oven automatic temperature measurement robot design is verified by the prototype experiment.