烧结机台车栏板间隙密封的机械手系统设计  

Design of the Manipulator System for the Gap Sealing of the Sintering Machine Trolley

作　　者：王睿训 邢建国[1] WANG Ruixun;XING Jianguo(College of Mechanical and Electrical Engineering,Qingdao University,Qingdao 266071,China)

机构地区：[1]青岛大学机电工程学院,山东青岛266071

出　　处：《青岛大学学报（工程技术版）》2021年第4期73-78,共6页Journal of Qingdao University(Engineering & Technology Edition)

摘　　要：针对烧结造块炼铁工艺中存在的烧结台车栏板间漏风问题,本文主要对悬挂式双机械手操作的烧结机台车栏板间隙密封系统进行设计。以某钢厂烧结生产线为研究背景,运用三维建模软件,对机械手结构、机械手驱动方案及机械手的传动方案进行设计。选用三菱FX3U及FX2N-20GM两轴插补模块,通过程序扩展,实现三菱FX3U与FX2N-20GM同时对4个步进电机的顺序控制,并给出了该系统硬件电路设计。同时,利用实验室步进电机及滚珠丝杠滑台,建立机械手模拟装置,用于开关模拟输入信号,进行实际生产状况的模拟实验。实验结果表明,控制程序正确可行,控制系统达到应用要求。该研究有效降低了烧结台车栏板间漏风问题,节约电力能源,产生可观的经济效益。Aiming at the problem of air leakage between the sintering trolley rails in the sintering lump ironmaking process,this paper mainly designs the gap sealing system of the sintering trolley rails operated by a suspended dual-manipulator.It takes a steel plant sintering production line as the research background,and uses three-dimensional modeling software to design the manipulator structure,manipulator drive scheme and manipulator transmission scheme.It choose Mitsubishi FX3U and FX2N-20GM two-axis interpolation module,through program expansion,realizes the sequence control of Mitsubishi FX3U and FX2N-20GM to 4 stepping motors at the same time,and gives the hardware circuit design of the system.At the same time,the laboratory stepper motor and ball screw slide are used to establish a manipulator simulation device for switching analog input signals and performing simulation experiments on actual production conditions.The experimental results show that the control program is correct and feasible,and the control system meets the application requirements.The research effectively reduces the air leakage between the sintering trolley bars,saves electricity and energy,and produces considerable direct economic benefits.

关 键 词：烧结机漏风 悬挂式机械手 FX3U FX2N-20GM 运动平台 

分 类 号：TP241.2[自动化与计算机技术—检测技术与自动化装置] TF802.67[自动化与计算机技术—控制科学与工程]