炉前多功能机械手遥控系统研究  

Research on remote control system of multifunctional manipulator in front of furnace

作　　者：林瑶瑶 吴炫睿 刘宁[3] 徐伟[1] LIN Yaoyao;WU Xuanrui;LIU Ning;XU Wei(China ENFI Engineering Corporation,Beijing 100038,China;School of Mechanical Engineering and Automation,Northeastern University,Shenyang 110819,China;School of Mechanical and Power Engineering,Henan Polytechnic University,Jiaozuo 454000,China)

机构地区：[1]中国恩菲工程技术有限公司,北京100038 [2]东北大学机械工程与自动化学院,辽宁沈阳110819 [3]河南理工大学机械与动力工程学院,河南焦作454000

出　　处：《有色设备》2024年第2期19-23,共5页Nonferrous Metallurgical Equipment

基　　金：国家重点研发计划“循环经济关键技术与装备”(2022YFC3901500)。

摘　　要：针对传统工业冶炼炉耐火砖拆卸作业自动化水平低、危险性高等问题,为炉前多功能机械手研发了一套智能远程遥控系统。采用Lora无线通信技术作为遥控器与拆砖机通信的无线协议,研发了无线收发模块,实现了远距离遥控,抗干扰能力强。配置了18650锂电池,并设计供电电路为遥控器硬件系统供电,供电电压3.6 V,可长期稳定输出。以ARM架构的STM32F103RCT芯片作为遥控器的主控制器,搭建了简洁高效的芯片外围电路,以及指令信号监测和滤波等辅助电路。使用分段算法,将直接摇杆指令转换为既符合低速精确定位,又符合快速响应要求的实际指令信号。该遥控系统已经应用到实际工程项目中,对提高工业冶炼炉耐火砖拆卸自动化水平具有重要意义。Aiming at the problems of low automation level and high risk of firebrick disassembly in traditional industrial smelting furnace,a set of intelligent remote-control system was developed for multifunctional manipulator in front of furnace.Using Lora wireless communication technology as the wireless protocol for the communication between the remote control and the brick remover,the wireless transceiver module is developed,which realizes the remote control and has strong anti-interference ability.Equipped with 18650 lithium battery,and designed the power supply circuit for the remote-control hardware system power supply voltage 3.6 V,can be long-term stable output.STM32F103RCT chip of ARM architecture is used as the main controller of the remote control,and simple and efficient peripheral circuit of the chip,auxiliary circuit such as instruction signal monitoring and filtering are built.By means of segmental algorithm,the direct rocker instruction is transformed into actual instruction signal which meets the requirements of low speed accurate positioning and fast response.The remote control system has been applied to practical projects and is of great significance to improve the automatic level of firebrick disassembly in industrial smelting furnace.

关 键 词：STM32F103RCT 机械手 遥控器 LoRa 耐火砖 冶炼炉 拆卸 

分 类 号：TF35[冶金工程—冶金机械及自动化]