Application of casting manipulator in front of furnace
Manipulator is a complex system with uncertainties such as parameter perturbation,external disturbance and unmodeled dynamics.Therefore,the modeling model of the manipulator also has uncertainties.For different tasks,it is necessary to plan the motion trajectory of the manipulator joint space,so as to cascade to form the end pose
Manipulators are complex systems with multiple inputs,multiple outputs,high nonlinearity and strong coupling.Because of its special operation flexibility,it has been assembled in industry.Safety and explosion protection are widely used.
Manipulators have a wide range of uses,and generally only point control is required.That is to say,there is no strict motion track requirement for the parts to be moved,as long as the position and posture of the starting point and the end point are accurate.For example,the loader and unloader used on the machine tool,the workpiece stacking mechanical arm,and the supporting machinery for the injection molding machine.
The casting manipulator in front of the furnace can replace the heavy labor of human beings to realize the mechanization and automation of production,and can operate in harmful environments to protect personal safety.Therefore,it is used in machinery manufacturing,metallurgy,casting,mining and other working conditions.
The casting manipulator in front of the furnace is mainly aimed at the casting industry,replacing manual work to complete the pouring of molten iron,which not only reduces the potential safety hazards in the work,but also greatly improves the work efficiency.
At present,molten iron is poured by workers carrying heavy iron kettles,receiving molten iron from the high-frequency electric furnace,and then moving three or four hundred kilograms of molten iron to the pouring site.Two or more people can operate,and the work efficiency cannot be improved.The temperature of molten iron is 150O°C higher,and the working temperature is also above 50°C.During the operation,workers need to keep balance at all times,and be careful of the splash of molten iron at all times.There is a great potential safety hazard for the personal safety of workers.
The installation forms of the casting manipulator in front of the furnace are divided into fixed type and mobile type.After the fixed type is used as the foundation in the fixed site of the factory,the casting manipulator in front of the furnace is fixed on the foundation;The mobile type adopts steel structure counterweight base,and there are fork mounting points on the upper plane of the counterweight,which can be moved with a forklift when moving.
The working capacity of the casting manipulator in front of the furnace is divided into 50KG,10OKG and 150KG
The working range of the casting manipulator in front of the furnace is 360 degrees,and the manipulator can rotate at any angle manually.The casting manipulator in front of the furnace is divided into two control modes:hydraulic control and pneumatic control.
The working radius of the casting manipulator in front of the furnace is divided into 2 meters,3 meters,4 meters,etc.It can be customized according to the actual work needs of users.The lifting adjustment height of the whole casting manipulator in front of the furnace is within 0.5-1.5m.
The installation forms of the casting manipulator in front of the furnace are divided into fixed type and mobile type.After the fixed type is used as the foundation in the fixed site of the factory,the casting manipulator in front of the furnace is fixed on the foundation;The mobile type adopts steel structure counterweight base,and there are fork mounting points on the upper plane of the counterweight,which can be moved with a forklift when moving.
The adjustable fork bar is used at the front fork iron kettle of the casting manipulator in front of the furnace,and the spacing can be adjusted arbitrarily according to the size of the iron kettle.The lifting adjustment height of the whole casting manipulator in front of the furnace is within 0.5-1.5m.
