视觉引导与工业机器人驱动的钢包长水口装卸技术  

Assemble and disassemble control technology for ladle long nozzle based onvisual guidance and industrial robot drive

作　　者：高静 米进周[1] 霍跃钦[1] 高琦[1] 乔玉聪 毛家怡 GAO Jing;MI Jinzhou;HUO Yueqin;GAO Qi;QIAO Yucong;MAO Jiayi(China National Heavy Machinery Research Institute Co.,Ltd.,Xi’an 710018,China)

机构地区：[1]中国重型机械研究院股份公司,陕西西安710018

出　　处：《重型机械》2024年第3期17-23,共7页Heavy Machinery

摘　　要：为了解决连铸高温、高噪声环境下钢包水口人工装卸劳动强度大、安全风险高、连铸钢包对接水口准确率低与效率低等问题,设计了以3D高精度视觉引导技术为检测系统,PLC设备为控制平台,六轴工业机器人为柔性驱动源的连铸钢包长水口装卸控制方案。该方案通过以太网通信将视觉系统检测到的位置信息经PLC控制传送至机器人系统,并按工艺要求驱动机器人完成自动化动作流程,实现连铸钢包长水口装卸流程动作的精确智慧控制。经测试结果证明,该技术实现了从机器人取工装开始到放回工装,整个安装或拆卸长水口时间≤80 s,装卸命中率>99%,满足了工艺要求和指标。此系统不仅使操作人员从重体力劳动和恶劣工作环境中解放出来,而且提高了装卸水口的准确性和稳定性,极大地提升了生产效率,保证了铸坯质量。To solve the problems of high labor intensity,high safety risks,low accuracy and efficiency of manual installation and disassembly of ladle nozzles in high temperature and high noise environments during continuous casting,a control scheme for the installation and disassembly of ladle long nozzles was designed using 3D high-precision visual guidance technology as the detection system,PLC equipment as the control platform,and six axis industrial robots as flexible driving sources.This scheme uses Ethernet communication to transmit the position information detected by the visual system to the robot system through PLC control,and drives the robot to complete the automated action process according to the process requirements,which achieves precise and intelligent control of the loading and unloading process of the ladle long nozzle.The test results proved that this technology achieves a total installation or disassembly time of≤80 s from the robot taking the fixture to putting it back,with hit rate of>99%,meeting the process requirements and indicators.This system this system not only frees operators from heavy physical labor and harsh working environments,but also improves the accuracy and stability of loading and unloading nozzles,greatly improves production efficiency and ensures the quality of the casting billet.

关 键 词：工业机器人 3D视觉引导技术 智慧连铸制造 

分 类 号：TF777.1[冶金工程—钢铁冶金]