冶金炉快速热修机器人主轴定向控制电路的设计与研究

DESIGN AND RESEARCH ON ELECTRIC CIRCUIT CONTROLLING DIRECTION OF THE MAIN AXLE OF FAST-HOT PATCHING ROBOT FOR SMELTING FURNACE

冶金炉快速热修机器人是一种对转炉、闪速炉等进行炉外局部快速热修补作业的机器人,在不停炉的情况下,由机器人代替人完成切割外壳钢板、拆卸已蚀损的耐火衬、预制堵补耐火衬模块以及炉外壳钢板复原焊接工作,实现快速热修补。而在该机器人系统中,主轴定向控制电路对保证机器人系统正常工作起着至关重要的作用。本文在分析冶金炉热修补工艺过程的基础上,设计了机器人主轴定向控制电路。应用证明,该电路能准确的完成预定功能。

Fast - hot patching for smelting furnace is a robot which can fast patch the convertor and flash furnace of copper - smelting to the partial areas from outer surface to inner wall. As the furnace operating, this robot can cut steel shell on the outer surface of furnace and remove the refractory bricks, patch up the open hole with new refractory material and so on. In this system, the electric circuit controlling direction of the main axle plays a key role in ensuring the system .working smoothly. Based on the analysis of the hot patching craft for smelting furnace, this paper designs electric circuit controlling direction of the main axle of robot. It is proved after being put into practice that this electric circuit can fulfill the above mentioned functions very well.