基于自适应控制的连铸自动加保护渣机器人系统

Automatic and Self-adaptive Controlled Mold Powder Feeding Robot System

连铸加保护渣模式现有两种:一是人工加渣,劳动强度大,工作环境恶劣,不能实现勤加、少加、均匀加;二是用摇臂式或机器人地面行走式方式加渣,一方面设备占地空间大,作业覆盖半径大,在连铸平台相对狭小的空间里,人员无法正常走动,一旦发生事故,不利于安全生产;另一方面不能与现场设备、信息系统的交互,不能实现智能加渣。基于现状,提出一种带有可调整参数的自适应控制的连铸自动加保护渣机器人系统,实现生产过程自动化。

Two modes for mould powder feeding are available at the present,one is feeding the mould powder by man- power,which is labor-intensive and performed under harsh environment,functions like frequent feeding,less and even feeding can't be achieved;the other is feeding by rocker arm or robots that move on the ground,on one hand,it will cover a large area with large operating radius,which will restrict the workers'freedom to move due to the limited space on the casting platform.It also may pose a threat to safety production in case of accident;on the other hand,it can't communicate with other equipment and information system on site,thus intelligent powder feeding can't be achieved.A parameters-adjustable and self-adaptive controlled automatic powder feeding robot system is presented in order to achieve the process automation.