板坯连铸机自动加渣机器人的研制  

Development of Automatic Slag Adding Robot for Slab Continuous Casting Machine

作　　者：涂林 韩志伟[2] 刘景亚 刘继明[2] 陈文昌 TU Lin;HAN Zhiwei;LIU Jingya;LIU Jiming;CHEN Wenchang

机构地区：[1]中冶赛迪信息技术(重庆)有限公司,重庆401122 [2]中冶赛迪工程技术股份有限公司,重庆401122 [3]宝钢湛江钢铁有限公司,广东湛江524072

出　　处：《中国重型装备》2024年第4期49-53,共5页CHINA HEAVY EQUIPMENT

摘　　要：研究了一种板坯连铸机自动加渣机器人系统,首先介绍了自动加渣机器人的系统组成和工作原理,其次通过建立加渣关键点,规划了适应于不同结晶器断面尺寸的机器人加渣轨迹,并对轨迹进行了优化控制,最后将轨迹导入到Matlab软件中进行了验证。结果表明,根据设置不同的断面尺寸,机器人的加渣轨迹可实时调整,无需人工干预。通过宝钢湛江工程现场实际应用表明,相比于其他类型的加渣装置,研究的自动加渣机器人结构合理,加渣均匀,有利于提高连铸生产稳定性,降低工人劳动强度。This article studies an automatic slag adding robot system for slab continuous casting machine.Firstly,the system composition and working principle of the automatic slag adding robot are introduced.Secondly,by establishing key points for slag adding,the robot slag adding trajectory suitable for different mold section sizes is planned,and the trajectory is optimized and controlled.Finally,the trajectory is imported into Matlab software for verification.The results indicate that the slag adding trajectory of the robot can be adjusted in real-time without the need for manual intervention based on different cross-sectional sizes.The practical application of Baosteel Zhanjiang project site shows that compared to other types of slag adding devices,the automatic slag adding robot studied in this article has a reasonable structure,uniform slag addition,which is conducive to improving the stability of continuous casting production and reducing worker labor intensity.

关 键 词：板坯连铸机 自动加渣 机器人 加渣轨迹 

分 类 号：TF777[冶金工程—钢铁冶金]