仿蝎式焦炉测温机器人结构设计及腿部运动学分析

针对焦炉炉顶环境恶劣、人工测温精度和效率低的情况,设计了一种仿蝎式机器人用于焦炉测温,并对机器人腿部行走机构进行了设计分析。首先,参照蝎子的仿生结构对焦炉测温机器人整体结构进行建模和腿部的设计,并对其进行应力分析,确保其在测温过程安全稳定运行;其次,建立机器人运动结构Denavit-Hartenberg(D-H)坐标系,对其腿部进行了正逆运动学分析;最后,利用Matlab软件对腿部进行笛卡儿空间轨迹规划,并运用Adams软件对腿部关节进行了步态仿真,表明腿部轨迹规划和步态仿真的运动曲线趋近相同且运行平稳。试验结果表明,测温机器人运动的实际误差保持在2 mm之内且运行平稳。这为后续焦炉测温机器人整体系统的开发奠定了重要的基础。

多臂协同复合机器人的改进PID柔顺控制系统设计

针对多臂协同复合机器人在焦炉顶炉口执行多臂协同测温作业时的稳定性,本文设计一种基于改进粒子群优化(IPSO)算法的PID柔顺控制系统。对于焦炉顶炉口测温,首先设计了多臂协同复合机器人来实现移动过程中的焦炉顶炉口测温作业;其次搭建机械腿与PID控制模型;并运用于PID控制器参数整定,与Z-N法进行比较,改进粒子群的PID柔顺控制模型调节时间缩短26 s,超调量更小;最后,通过Simulink与Adams联合仿真得到复合机器人的各运动参数曲线。结果显示,多臂协同复合机器人在前进2000 mm过程中,机身只有0.45 mm的偏移,整体运动速度最大可达100 mm/s,膝关节最大关节角速度稳定在48(°)/s和54(°)/s,在机器人稳定运行范围内。结果表明多臂协同复合机器人稳定运动,能够很好地实现焦炉顶炉口测温作业。

Properties of sodium silicate bonded sand hardened by microwave heating

The sodium silicate bonded sand hardened by microwave heating has many advantages,such as low sodium silicate adding quantity,fast hardening speed,high room temperature strength,good collapsibility and certain surface stability.However,it has big moisture absorbability in the air,which would lead to the compression strength and the surface stability of the sand molds being sharply reduced.In this study,the moisture absorbability of the sodium silicate bonded sand hardened by microwave heating in different humidity conditions and the effect factors were investigated.Meanwhile,the reasons for the big moisture absorbability of the sand were analyzed.Some measures to overcome the problems of high moisture absorbability,bad surface stability and sharply reducing strength in the air were discussed.The results of this study establish the foundation of green and clean foundry technology based on the microwave heating hardening sodium silicate sand process.

圆形钢烟道结构优化设计分析

采用通用有限元软件ANSYS对火电厂除尘器与引风机之间的烟道进行优化,对烟道有无补偿器2种方案进行内力分析并对比其支座反力,为减小烟道支撑荷载、降低烟道支撑工程量、减小烟道自身的投资费用提供可靠、准确的数据支持.