Analysis of Execution Mechanism of Scorpion Like Temperature Measuring Robot for Coke Oven

Yaxiong Ren; Qiang Gao; Haodong Zhang; Jiaolong Xue; Hongwei Yan

doi:10.16578/j.issn.1004.2539.2022.02.027

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Analysis of Execution Mechanism of Scorpion Like Temperature Measuring Robot for Coke Oven

Development·Application | 更新时间：2022-09-25

- Analysis of Execution Mechanism of Scorpion Like Temperature Measuring Robot for Coke Oven
- Journal of Mechanical Transmission Vol. 46, Issue 2, Pages: 165-170(2022)
- 作者机构：
  
  1.中北大学机械工程学院，山西太原 030051
- 作者简介：
- 基金信息：
- DOI：10.16578/j.issn.1004.2539.2022.02.027
  CLC：
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任亚雄,高强,张昊冬等.焦炉仿蝎测温机器人执行机构分析[J].机械传动,2022,46(02):165-170.

Ren Yaxiong,Gao Qiang,Zhang Haodong,et al.Analysis of Execution Mechanism of Scorpion Like Temperature Measuring Robot for Coke Oven[J].Journal of Mechanical Transmission,2022,46(02):165-170.
任亚雄,高强,张昊冬等.焦炉仿蝎测温机器人执行机构分析[J].机械传动,2022,46(02):165-170. DOI： 10.16578/j.issn.1004.2539.2022.02.027.

Ren Yaxiong,Gao Qiang,Zhang Haodong,et al.Analysis of Execution Mechanism of Scorpion Like Temperature Measuring Robot for Coke Oven[J].Journal of Mechanical Transmission,2022,46(02):165-170. DOI： 10.16578/j.issn.1004.2539.2022.02.027.

摘要

针对焦炉炉顶环境恶劣，人工测温精度低，设计了一种用于焦炉测温的仿蝎机器人，该机器人由行走机构和执行机构两部分组成。对测温机器人整体结构建模，对机械臂进行运动学方程求解和仿真分析，并对其运动轨迹进行了规划；对炉盖提放机构进行工作空间分析，求得末端机械手可达的空间范围；制作机器人物理样机，对机器人测温机械臂进行了定位验证，误差在2 mm范围内；对提放盖机构进行工作空间验证，可达到蒙特卡洛法求得的工作空间，为后续实际测温奠定了基础。

Abstract

Aiming at the bad environment of coke oven top and low accuracy of manual temperature measurement， a scorpion like robot for coke oven temperature measurement is designed. The robot is composed of walking mechanism and actuator. The overall structure of the temperature measuring robot is modeled， the kinematics equation of the manipulator is solved and simulated and its motion trajectory is planned. The workspace of the furnace cover lifting mechanism is analyzed to obtain the reachable space range of the end manipulator. The robot physical prototype is made to verify the positioning of the robot temperature measuring manipulator， and the error is within 2 mm. The workspace verification of the cover lifting mechanism can realize the workspace obtained by Monte Carlo， which lays a foundation for actual temperature measurement.

关键词

焦炉测温运动学空间轨迹工作空间

Keywords

Coke oven temperature measurementKinematicsSpatial trajectoryWorking space

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