CN113733115A - Heterogeneous redundant robot for high-temperature furnace slag leveling and slag leveling method - Google Patents

Abstract

The application provides a heterogeneous redundant robot for high-temperature furnace slag leveling and a slag leveling method. In the robot, a ground rail is laid along a first direction; the first direction is the extending direction of a connecting line between the center of the high-temperature furnace and a material pushing port of the high-temperature furnace; the six-shaft mechanical arm is slidably mounted on the ground rail and can move on the ground rail along a first direction; the rake support is located between ground rail and high temperature furnace, and the rake support includes: the sliding rail is arranged along the second direction, and the sliding assembly is matched with the sliding rail and can move back and forth on the sliding rail along the second direction; wherein the second direction is a direction perpendicular to the first direction on the horizontal plane; the rake head of the rake extends into the working cavity of the high-temperature furnace, and the rod part of the rake is movably connected with the sliding component and can move along the second direction under the driving of the sliding component; the tail part of the rake is connected with the execution tail end of the six-axis mechanical arm, and the coal cinder in the working cavity of the high-temperature furnace can be raked under the driving of the six-axis mechanical arm.

Description

Heterogeneous redundant robot and slag leveling method for high temperature furnace slag leveling

technical field

The present application relates to the field of metallurgical technology, and in particular, to a heterogeneous redundant robot and a slag leveling method for high-temperature furnace slag leveling.

Background technique

For the metallurgical industry, high-temperature coal furnaces are often used for the smelting of steel, iron and other metals to fully combust the coal, and the combustion of high-temperature coal furnaces will produce a large amount of cinder, which needs to be leveled in time to ensure that the coal furnace is fully burnt. normal work. At present, coal slag leveling is mostly carried out manually. The combustion of industrial coal furnaces requires workers to continuously perform feeding, pushing and slag leveling operations. Extremely poor, workers are exposed to high temperature for a long time, and are attacked by dust, sometimes directly corroded by toxic gases and chemical materials, causing great harm to their health.

Therefore, it is necessary to provide an improved technical solution for the deficiencies of the above-mentioned prior art.

SUMMARY OF THE INVENTION

The purpose of the present application is to provide a heterogeneous redundant robot and a slag leveling method for high-temperature furnace slag leveling, so as to solve or alleviate the above-mentioned problems in the prior art.

In order to achieve the above purpose, the application provides the following technical solutions:

The present application provides a heterogeneous redundant robot for slag leveling in a high-temperature furnace, comprising: a ground rail, a six-axis robotic arm, a slag leveling rake and a rake bracket, wherein the ground rail is laid along a first direction; wherein, the The first direction is the extension direction of the line connecting the center of the high-temperature furnace and the feed opening of the high-temperature furnace; the six-axis robotic arm is slidably installed on the ground rail, and can move along the Move in the first direction; the rake bracket is located between the ground rail and the high-temperature furnace, the rake bracket includes: a sliding rail and a sliding assembly, the sliding rail is arranged along the second direction, and the sliding assembly It is adapted to the sliding rail and can move back and forth along the second direction on the sliding rail; wherein, the second direction is a direction perpendicular to the first direction on the horizontal plane; the rake of the rake The head extends into the working cavity of the high-temperature furnace, the rod part of the rake is movably connected with the sliding assembly, and can move along the second direction under the driving of the sliding assembly; the tail of the rake It is connected with the execution end of the six-axis mechanical arm, and can rake the cinder in the working chamber of the high-temperature furnace under the driving of the six-axis mechanical arm.

Preferably, the sliding assembly includes a sliding base and a fixing frame, the sliding base is slidably installed on the sliding rail, the fixing frame is fixedly connected to the sliding base, and the height of the fixing frame is The height is the same as the height of the ejection opening, so that the fixed frame faces the ejection opening.

Preferably, the fixing frame is provided with a through hole along the first direction, so that the rake tail is connected to the execution end of the six-axis robotic arm after passing through the through hole; correspondingly, the rake tail The rod is movably connected with the through hole.

Preferably, the center of the reciprocating movement of the fixed frame along the second direction is located in the first direction.

Preferably, the inner sidewall of the through hole is covered with a flexible wear-resistant body.

An embodiment of the present application further provides a method for leveling slag in a high-temperature furnace. The heterogeneous redundant robot described in any of the above embodiments is used to rak the slag in the working chamber of the high-temperature furnace. The method for leveling slag in a high-temperature furnace include:

Establish a constraint model when the redundant heterogeneous robot works, wherein the constraint model is:

in,

L represents the length of the rake bar of the rake of the redundant heterogeneous robot; G ₀ represents the load-bearing capacity of the six-axis robotic arm of the redundant heterogeneous robot; p represents the derivative of the ratio of the inner bar length of the rake bar of the redundant heterogeneous robot ; j represents the diameter of the rake bar; α represents the central angle of the working chamber _of the high-temperature furnace; θ ₁ represents the central angle of the ejection opening of the working chamber; The distance from the center of the high-temperature furnace; _d2 represents the distance between the rake bracket of the high-temperature furnace and the feed opening; _d3 represents the moving distance of the sliding component in the rake bracket of the high-temperature furnace on the sliding rail; r ₁ represents the inner radius of the high temperature furnace; r ₂ represents the outer radius of the high temperature furnace;

X _max represents the farthest distance of the six-axis robot arm from the center of the high-temperature furnace; Y _max represents the farthest distance of the movement of the sliding assembly on the slide rail; Y _min =-Y _max ;

x _b represents the distance from the intersection of the rake bar and the pushing port to the center of the six-axis mechanical arm when the sliding assembly moves to the farthest distance on the sliding rail, y _b the sliding The distance from the intersection of the rake bar and the push port to the center line when the moving assembly moves to the farthest distance on the slide rail, and the center line is the center of the six-axis robotic arm and the high temperature the connection to the center of the furnace;

Based on a multi-objective optimization algorithm, according to the constraint model, the structural parameters of the redundant heterogeneous robot are calculated, wherein the structural parameters include: the load-bearing G ₀ of the six-axis robotic arm, the length of the inner rod of the rake bar. The derivative p of the ratio, the diameter j of the rake bar, the length L of the rake bar, the distance d ₁ between the center of the six-axis robot arm and the center of the high-temperature furnace, the distance between the rake bracket of the high-temperature furnace The distance d ₂ of the pushing port, the moving distance d ₃ of the sliding component in the rake bracket of the high temperature furnace on the slide rail, the farthest distance X of the six-axis robot arm from the center of the high temperature furnace _max , the farthest distance Y _max of the movement of the sliding component on the sliding rail;

Based on the genetic algorithm, according to the structural parameters of the redundant heterogeneous robot, the motion trajectory of the redundant heterogeneous robot is generated, so that the cinder is leveled by the redundant heterogeneous robot according to the motion trajectory.

Preferably, based on a genetic algorithm, the motion trajectory of the redundant heterogeneous robot is generated according to the structural parameters of the redundant heterogeneous robot, so that the redundant heterogeneous robot can rak the cinder according to the motion trajectory, including: : According to the structural parameters of the redundant heterogeneous robot and the trajectory coordinates of the starting point of the preset working path of the drag head, obtain the trajectory coordinates of the starting point of the working path of the sliding assembly and the working path of the execution end The trajectory coordinates of the starting point of the rake head; according to the trajectory coordinates of the starting point of the working path of the execution end, the working parameters of the execution end, the trajectory coordinates of the preset working path of the drag head and the structure of the redundant robot parameters, based on the genetic algorithm, obtain the trajectory coordinates of the working path of the sliding component and the trajectory coordinates of the working path of the execution end, and generate the motion trajectory of the redundant heterogeneous robot, so that the redundant heterogeneous robot can be used by the redundant heterogeneous robot according to the The motion trajectory is used to rak the cinder; wherein, the working parameters include the maximum speed and the maximum acceleration of the execution end.

Preferably, according to the structural parameters of the redundant heterogeneous robot and the trajectory coordinates of the starting point of the preset working path of the drag head, the trajectory coordinates of the starting point of the working path of the sliding assembly and the execution The trajectory coordinates of the starting point of the working path at the end include: generating the starting point of the working path of the sliding assembly according to the trajectory coordinates of the starting point of the preset working path of the drag head and the structural parameters of the redundant heterogeneous robot. The trajectory coordinates of the starting point; the trajectory coordinates of the starting point of the working path of the execution end are generated according to the trajectory coordinates of the starting point of the working path of the sliding component and the structural parameters of the redundant heterogeneous robot.

Preferably, according to the trajectory coordinates of the starting point of the working path of the execution end, the working parameters of the execution end, the trajectory coordinates of the preset working path of the drag head, and the structural parameters of the redundant robot, Based on the genetic algorithm, acquiring the trajectory coordinates of the working path of the sliding component and the trajectory coordinates of the working path of the execution end includes: according to the trajectory coordinates of the starting point of the working path of the execution end and the six-axis machine The working parameters of the execution end of the arm are obtained, and the trajectory coordinate set of the next working position of the working path of the execution end of the six-axis robotic arm is obtained; The trajectory coordinate set and the trajectory coordinates of the next working position of the working path of the sliding component are obtained, and the trajectory coordinate set of the next working position of the working path of the sliding component of the six-axis robot arm is obtained; based on the preset adaptation a degree function, obtaining the trajectory coordinates of the next working position of the working path of the sliding assembly of the six-axis mechanical arm according to the set of trajectory coordinates of the next working position of the working path of the sliding assembly of the six-axis mechanical arm; According to the trajectory coordinates of the next working position of the working path of the sliding component of the six-axis robotic arm and the structural parameters of the redundant heterogeneous robot, the next working position of the working path of the execution end of the six-axis robotic arm is obtained track coordinates.

Preferably, the method for leveling slag in a high temperature furnace further comprises: verifying the structural parameters of the redundant heterogeneous robot based on the established positive kinematic model of the redundant heterogeneous robot.

Compared with the closest prior art, the technical solutions of the embodiments of the present application have the following beneficial effects:

In the technical solutions provided by the embodiments of the present application, on the one hand, the rake head of the rake is deeply inserted into the working cavity of the high-temperature furnace, and the rod part of the rake is movably connected with the sliding component of the rake bracket, and can be driven along the second sliding component by the sliding component. The direction moves back and forth; the tail of the rake is connected to the execution end of the six-axis mechanical arm located on the ground rail, which provides power for the work of the rake and rakes the cinder in the working chamber of the high-temperature furnace; the six-axis mechanical arm can go back and forth on the ground rail Move and adjust the distance from the base of the six-axis robotic arm to the center of the high-temperature furnace. The six-axis robotic arm itself has multiple degrees of freedom to adjust the posture of the tail of the rake; the rake bracket provides support for the rake bar, and the support point of the rake bar is adjusted through the sliding component Therefore, through the coordination and cooperation of multiple degrees of freedom, the working range of the rake in the working chamber of the high temperature furnace can be effectively improved, so as to meet the working requirements of cinder raking in the working chamber of the high temperature furnace, and perfectly replace the manual realization of the high temperature furnace. Slag leveling frees personnel from the environment of high temperature, dust, corrosion and harmful gases, and protects personnel health.

On the other hand, based on the multi-objective optimization algorithm, the structural parameters of the redundant heterogeneous robot are calculated according to the constraint model when the redundant heterogeneous robot is established; further, based on the genetic algorithm, the motion of the redundant heterogeneous robot is generated according to the structural parameters of the redundant heterogeneous robot. The cinder is raked and leveled by the redundant heterogeneous robot according to the motion trajectory. In this way, the redundant heterogeneous robot system is used to replace the manual work of pushing material and slag leveling, and through the constraints of the redundant heterogeneous robots, the mechanism parameters are obtained through optimization; The genetic algorithm is based on the global optimization, and adopts a step point population adaptive trajectory optimization method based on the speed smoothness as the main goal. According to the position and speed of each trajectory point of the gripper of the six-axis robot, the adaptive generation In the initial population, the genetic algorithm is used to select the best, and the overall stability of the global acceleration is discarded, so as to solve the problems such as the sudden change of speed and acceleration in the turning point of the traditional genetic algorithm, improve the optimization efficiency of special trajectories such as the turning point, and prevent the jump of speed and acceleration. The trajectory of the gripper of the robotic arm is continuous and smooth, the speed is stable, and there is no large acceleration jump.

Description of drawings

The accompanying drawings that form a part of the present application are used to provide further understanding of the present application, and the schematic embodiments and descriptions of the present application are used to explain the present application and do not constitute improper limitations on the present application. in:

1 is a schematic diagram of the principle of a heterogeneous redundant robot for high-temperature furnace slag leveling provided according to an embodiment of the present application;

2 is a schematic structural diagram of a redundant heterogeneous robot for high-temperature furnace slag leveling provided according to an embodiment of the present application;

3 is a schematic flowchart of a high-temperature furnace slag leveling method provided according to some embodiments of the present application;

FIG. 4 is a schematic diagram of a single station of redundant heterogeneous robots in a high-temperature furnace slag leveling method provided according to some embodiments of the present application;

Fig. 5 is the single-station schematic diagram when the rake pushing stroke is the farthest under the single-station shown in Fig. 4;

6 is a schematic diagram of a single station when the sliding assembly provided according to some embodiments of the present application is furthest on the sliding rail;

FIG. 7 is a schematic flowchart of step S103 provided according to some embodiments of the present application;

8 is an initial schematic diagram of a step-optimized population provided according to some embodiments of the present application;

FIG. 9 is a schematic diagram of a coordinate fitness function of a rake support point trajectory provided according to some embodiments of the present application.

Description of reference numbers:

100, six-axis robotic arm; 200, rake; 300, rake bracket; 400, high temperature furnace; 500, ground rail;

301, slide rail; 302, slide assembly; 312, slide base; 322, fixed frame;

401. Working cavity; 402- Pushing port.

Detailed ways

The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. The various examples are provided by way of explanation of the application and do not limit the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For example, features illustrated or described as part of one embodiment can be used on another embodiment to yield yet another embodiment. Therefore, it is intended that this application cover such modifications and variations as come within the scope of the appended claims and their equivalents.

In the description of this application, the terms "portrait", "horizontal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", " The orientations or positional relationships indicated by "top" and "bottom" are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the application rather than requiring the application to be constructed and operated in a specific orientation, and therefore cannot be understood as LIMITATIONS ON THIS APPLICATION. The terms "connected", "connected" and "arranged" used in this application should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be directly connected or indirectly connected through intermediate components; it can be It is a wired electrical connection, a radio connection, or a wireless communication signal connection. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

FIG. 1 is a schematic diagram of the principle of a heterogeneous redundant robot for high-temperature furnace slag leveling provided according to an embodiment of the present application; FIG. 2 is a redundant heterogeneous robot for high-temperature furnace slag leveling provided according to an embodiment of the present application As shown in Figure 1 and Figure 2, the heterogeneous redundant robot for high temperature furnace slag leveling includes: ground rail 500, six-axis robotic arm 100, slag leveling rake 200 and rake bracket 300; as shown The rail 500 is laid along the first direction; wherein, the first direction is the extension direction of the line connecting the center of the high temperature furnace 400 and the feed opening 402 of the high temperature furnace 400; the six-axis robotic arm 100 is slidably installed on the ground rail 500, and can The rail 500 moves in the first direction; the rake bracket 300 is located between the ground rail 500 and the high-temperature furnace 400, and the rake bracket 300 includes: a sliding rail 301 and a sliding assembly 302, the sliding rail 301 is arranged along the second direction, and the sliding assembly 302 It is adapted to the slide rail 301 and can move back and forth along the second direction on the slide rail 301; wherein, the second direction is a direction perpendicular to the first direction on the horizontal plane; Inside, the rod part of the rake 200 is movably connected with the sliding assembly 302, and can move in the second direction under the driving of the sliding assembly 302; Driven by the arm 100, the cinder in the working chamber 401 of the high temperature furnace 400 is raked flat.

In the embodiment of the present application, the ground rails 500 are double-row ground rails 500, which are laid along the extending direction of the line connecting the center of the high-temperature furnace 400 to the feeding port 402 (the center of the feeding port 402), and are symmetrically arranged with the center of the high-temperature furnace 400 and the pushing port 402. On both sides of the extension line connecting the feed port 402; the six-axis robotic arm 100 is slidably installed on the ground rail 500, and can move back and forth on the ground rail 500 to adjust the distance between the six-axis robotic arm 100 and the high-temperature furnace 400. The center of the base of the robotic arm 100 is located on the line connecting the center of the high temperature furnace 400 to the center of the ejector port 402 .

The rake bracket 300 is also arranged on the extension line connecting the center of the high temperature furnace 400 to the center line of the feed opening 402, and the movement direction of the sliding assembly 302 is perpendicular to the extension line connecting the center of the high temperature furnace 400 to the center line of the feed opening 402, And the center of the reciprocating motion of the sliding component 302 is located on the extension line connecting the center of the high temperature furnace 400 to the center of the feeding port 402 , that is, the extension line of the sliding component 302 connecting the center of the high temperature furnace 400 to the center of the feeding port 402 is Axis of symmetry, reciprocating movement on both sides of it. Here, the moving direction of the six-axis robotic arm 100 is defined as the first direction, and the moving direction of the sliding component 302 is defined as the second direction.

The rake head of the rake 200 protrudes into the working cavity 401 from the feeding port 402, and is used for raking the coal fed from the feeding port of the high temperature furnace 400 according to the preset working path; the rod part of the rake 200 is movable with the sliding assembly 302 It is connected and can move in the second direction under the driving of the sliding component 302. Specifically, the sliding component 302 forms a support for the rod portion of the rake 200; , which moves with the movement of the gripper.

In some optional embodiments, the sliding assembly 302 includes a sliding base 312 and a fixing frame 322 , the sliding base 312 is slidably installed on the sliding rail 301 , the fixing frame 322 is fixedly connected to the sliding base 312 , and the fixed frame 322 is The height is the same as the height of the ejection opening 402 , so that the fixing frame 322 faces the ejection opening 402 . Further, the fixing frame 322 is provided with a through hole along the first direction, so that the rake tail is connected to the execution end of the six-axis robot arm 100 after passing through the through hole. Correspondingly, the rake rod is movably connected to the through hole.

In the embodiment of the present application, the lower surface of the sliding rail 301 is fixed by a plurality of height-adjustable legs to adjust the height of the sliding rail 301; the cooperation between the sliding base 312 and the sliding rail 301 can adopt a dovetail Various sliding and matching modes such as groove type, rectangle type, and triangle type are used to realize the movement of the sliding base 312 on the slide rail 301 ; the upper surface of the sliding base 312 is fixedly connected to the fixed frame 322 . Here, the fixing frame 322 can be formed by bending a profile. In the present application, the fixing frame 322 is formed by welding a plurality of round pipes, wherein the fixing frame 322 includes a door-shaped frame and a rake bar connecting part, and the door-shaped frame is made of A round tube is bent, the lower end of the door frame is fixedly connected to the upper surface of the sliding base 312, the connecting part of the rake rod is a shovel-shaped structure, and the upper end of the shovel-shaped structure is fixedly connected to the upper end of the door-shaped frame. That is, the rake bar connecting part of the rake bar connecting part is connected to the door frame to form a through hole along the first direction, and the rake tail passes through the center of the rake bar connecting part and is connected to the gripper.

In the embodiment of the present application, during the slag leveling process, the rake 200 needs to move continuously, and the rod part of the rake 200 and the connecting part of the rake rod have constant mutual movement during the slag leveling process, so as to better adjust the rake 200 The rod part of the rake rod is protected, and the connecting part of the rake rod is covered with a flexible wear-resistant body, that is, the inner side wall of the through hole is covered with a flexible wear-resistant body, such as rubber, sponge, etc., thereby effectively reducing the 200 rods of the rake. The mutual friction between the connecting part and the connecting part of the rake rod improves the service life of the rod part of the rake 200 .

In the embodiment of the present application, in order to reduce the load of the gripper when driving the rake 200 to move, the center of the reciprocating movement of the fixing frame 322 in the second direction can be set in the first direction, that is, the sliding assembly 302 is adjusted on the slide rail 301 When the gripper drives the rake 200 to clean the slag, the attitude adjustment range is the smallest, and the working range of the rake head in the working cavity 401 is the largest, which effectively improves the Work efficiency of heterogeneous redundant robots.

In the embodiment of the present application, the rake head of the rake 200 penetrates into the working cavity 401 of the high temperature furnace 400, and the rod of the rake 200 is movably connected with the sliding assembly 302 of the rake bracket 300, and can be driven along the first Reciprocating movement in two directions; the tail of the rake 200 is connected to the execution end of the six-axis robotic arm 100 located on the ground rail 500 to provide power for the work of the rake 200 to rake the cinder in the working chamber 401 of the high-temperature furnace 400; The arm 100 can move back and forth on the ground rail 500 to adjust the distance from the base of the six-axis robotic arm 100 to the center of the high-temperature furnace 400. The six-axis robotic arm 100 itself has multiple degrees of freedom to adjust the posture of the rear of the rake 200; the rake bracket 300 is a rake The rod provides support, and the position of the rake rod support point is adjusted by the slide assembly 302 .

The six-axis robotic arm 100 and the ground rail 500 are used to simulate the human hand holding the rake tail of the rake 200. The rake 200 passes through the through hole of the rake bracket 300. When the gripper moves the rake tail, the rake teeth on the front rake head can be controlled up and down. , move left and right to achieve the purpose of pushing materials; when encountering a large stroke feed, the six-axis mechanical arm 100 can move forward along the ground rail 500, and the rake bracket 300 can move left and right. The direction and any position reach the inside of the working chamber 401 .

In this way, the movement of the six-axis robotic arm 100 on the ground rail 500 in the first direction, the multiple degrees of freedom of the six-axis robotic arm 100 itself, and the movement of the rod of the rake 200 driven by the sliding component 302 in the second direction together constitute Redundant system of heterogeneous redundant robots. The redundant heterogeneous robot system is used to replace the manual work of pushing material and leveling slag, and utilizes the coordination and cooperation of multiple degrees of freedom to effectively improve the working range of the rake 200 in the working chamber 401 of the high-temperature furnace 400 to meet the requirements of the cinder in the working chamber 401 of the high-temperature furnace 400. The work requirements of raking and leveling can perfectly replace the manual slag leveling of the high-temperature furnace 400, liberate the personnel from the environment of high temperature, dust, corrosion and harmful gases, and protect the health of the personnel.

It should be noted that the high temperature furnace 400 has a plurality of working chambers 401 arranged in parallel along the circumferential direction, each working chamber 401 is provided with a corresponding material pushing port 402, and a set of heterogeneous redundant robots is correspondingly arranged to perform the slag leveling operation Alternatively, an annular track is laid along the circumferential direction of the high temperature furnace 400 , so that the heterogeneous redundant robot can move on the annular track to perform slag leveling operations on the plurality of working chambers 401 of the high temperature furnace 400 . In this way, the utilization efficiency of the heterogeneous redundant robot is effectively improved, and the unmanned operation in the environment of high temperature, dust, corrosion and harmful gas is realized.

Fig. 3 is a schematic flow chart of a high-temperature furnace slag leveling method provided according to some embodiments of the present application; as shown in Fig. 3 , the high-temperature furnace slag leveling method adopts the heterogeneous redundant robot of any of the above-mentioned embodiments to clean the high-temperature furnace The coal slag in the working chamber 401 of 400 is raked and leveled; the high-temperature furnace slag leveling method includes:

Step S101, establishing a constraint model when the redundant heterogeneous robot works;

In the embodiment of the present application, after the high temperature furnace 400 is filled with raw materials, the rake 200 is used for raking, and the raw materials are pushed to the side of the motor as soon as possible to prevent the occurrence of fire and sparks. On the one hand, the process of direct pushing should be smooth, and the raw material should be pushed to the inner side of the working chamber 401 as much as possible; on the other hand, when the rake 200 is pushed obliquely, the raw material should be as close to the motor as possible.

4 is a schematic diagram of a single station of redundant heterogeneous robots in a method for leveling slag in a high-temperature furnace provided according to some embodiments of the present application; ;

As shown in Fig. 4 and Fig. 5 ; the inner radius of the high temperature furnace 400 is r ₁ , the outer radius is r ₂ , the central angle of the working chamber 401 is α, and the central angle of the pushing port 402 of the working chamber 401 is θ ₁ , the distance between the center of the six-axis robot arm 100 and the center of the high temperature furnace 400 is d ₁ , the distance between the rake bracket 300 of the high temperature furnace 400 and the feed opening 402 is d ₂ , and the sliding component in the rake bracket 300 of the high temperature furnace 400 The moving distance of 302 on the slide rail 301 is d ₃ , the length of the rake bar of the rake 200 of the redundant heterogeneous robot is L, and the movement range of the six-axis robotic arm 100 in the first direction is [X _min , X _max ], X _max Indicates the farthest distance between the six-axis robotic arm 100 and the center of the high-temperature furnace 400, and sets X _min =0; the movement range of the sliding component 302 in the second direction is [Y _min , Y _max ], where Y _mim =- Y _max , Y _max represents the farthest distance of the movement of the sliding assembly 302 on the sliding rail 301 .

When the pushing stroke of the rake 200 is the farthest, and the gripper of the robotic arm bears the greatest force, the position of the rake 200 is shown in FIG. 5 . At this time, the load-bearing capacity of the six-axis robotic arm 100 of the redundant heterogeneous robot is defined as G ₀ , and the redundant The derivative of the ratio of the inner rod length of the rake rod (the length from the contact point between the rake rod and the rake bracket to the gripper) of the rake rod of the Yu Heterogeneous Robot is p, and the diameter of the rake rod is defined as j. Yes, the constraint of the rod length of the rake rod is shown in the following formula (2-1), and the formula (2-1) is as follows:

Through the central angle θ ₁ of the feed opening 402 of the high temperature furnace 400 and the central angle α of the working chamber 401 of the high temperature furnace 400 , there are the distance d ₂ between the rake support 300 of the high temperature furnace 400 and the feed opening 402 , and the rake support of the high temperature furnace 400 The relationship between the moving distance d ₃ of the sliding component 302 on the sliding rail 301 in 300 and the derivative p of the ratio of the inner rod length of the rake rod of the redundant heterogeneous robot is shown in the following formula (2-2), the formula (2-2) as follows:

In order to ensure that when the rake head runs to the farthest distance, the movement range [Y _min , Y _max ] of the sliding assembly 302 in the second direction needs to satisfy the requirement that the rake bar can push material through any position of the material pushing port 402 , and the material is pushed by the high temperature furnace 400 . The relationship between the distance d ₂ between the rake bracket 300 and the feed opening 402 and the moving distance d ₃ of the sliding component 302 in the rake bracket 300 of the high temperature furnace 400 on the sliding rail 301 is shown in the following formula (2-3), the formula (2-3) as follows:

When the rake 200 runs to the farthest distance, the maximum stroke of the six-axis robotic arm 100 is shown in the following formula (2-4), and the formula (2-4) is as follows:

In order to simplify the calculation, the minimum stroke X _min of the six-axis manipulator 100 is set to be 0. At this time, the rake 200 needs to be in the working cavity. It can be known that the distance d ₁ between the center of the six-axis manipulator 100 and the center of the high-temperature furnace 400 is :

6 is a schematic diagram of a single station when the sliding assembly 302 is the farthest on the sliding rail 301 according to some embodiments of the present application; as shown in FIG. 6 , when the sliding assembly 302 is the farthest on the sliding rail 301, the rake The intersection point of the rod and the bottom of the ejection port 402 is point B, and the coordinates of point B are (x _b , y _b ), and x _b represents the farthest distance of the sliding assembly 302 on the slide rail 301 when the rake bar and the ejection port are moved The distance from the intersection of 402 to the center of the six-axis robotic arm 100, and the distance from the intersection of the _rake bar and the push port 402 to the center line when the sliding component 302 moves to the farthest distance on the slide rail 301, the center line is The line connecting the center of the six-axis robot arm 100 and the center of the high temperature furnace 400 .

The left end point of the rake 200 is the point where the gripper is at the maximum stroke X _max in the first direction and the minimum stroke Y _min in the second direction. It can be known that at this time, the rake head is located at point A in the working chamber 401, and the coordinates of point A are as follows: As shown in formula (2-6), formula (2-6) is as follows:

in,

Then the relationship between the rod length L and X _max and Y _min is shown in formula (2-8), and formula (2-8) is as follows:

Thus, the constraint model of the redundant heterogeneous robot can be obtained as:

Among them, formulas (2-1), (2-2), (2-4), (2-5), (2-8) are the equality constraints between the parameters of redundant heterogeneous robots, formula (2-3) ) are the inequality constraints between the parameters.

Step S102: Calculate the structural parameters of the redundant heterogeneous robot based on the multi-objective optimization algorithm and the constraint model, wherein the structural parameters include: the load-bearing G ₀ of the six-axis robotic arm 100 , the derivative p of the ratio of the length of the inner rod of the rake rod, The diameter j of the rake bar, the length L of the rake bar, the distance d ₁ between the center of the six-axis robot arm 100 and the center of the high temperature furnace 400 , the distance d ₂ between the rake bracket 300 of the high temperature furnace 400 and the feed opening 402 , the high temperature furnace 400 The moving distance d ₃ of the sliding component 302 in the rake bracket 300 on the sliding rail 301 , the farthest distance X _max of the six-axis robot arm 100 from the center of the high temperature furnace 400 , the movement of the sliding component 302 on the sliding rail 301 The farthest distance Y _max ;

In the embodiment of the present application, the load bearing of the gripper of the six-axis robot arm 100 cannot exceed the limit during the slag leveling process. Therefore, the rake bar should be as short as possible; The slag leveling operation is performed without exceeding the motion range of the mechanical arm, so the length L of the rake bar should be the smallest on the premise of meeting the force requirements, and the moving distance _d3 of the sliding component 302 on the sliding rail 301 should be the smallest.

In a specific application scenario, the inner radius of the high temperature furnace 400 is r ₁ =1.625m, the outer radius is r ₂ =3.25m, the central angle of the working chamber 401 is α=60°, and the pushing material of the working chamber 401 is The central angle of the mouth 402 is θ ₁ =30°; based on the multi-objective optimization algorithm, the optimization function fgoalattain is called, and according to the constraint model, the obtained structural parameters of the redundant heterogeneous robot are shown in Table 1. Table 1 is as follows:

Table 1

In the embodiment of the present application, the motion path of the redundant heterogeneous robot is planned, with the high temperature furnace 400 feeding port 402 as the constraint, and the shortest motion stroke and the stable movement speed of the six-axis robotic arm 100 gripper as the goal to optimize, wherein, The shortest movement stroke includes the movement stroke of the support point (sliding assembly 302 ) of the rake 200 and the movement stroke of the gripper of the six-axis robotic arm 100 .

In some optional embodiments, the high temperature furnace 400 slag leveling method further includes: verifying the structural parameters of the redundant heterogeneous robot based on the established positive kinematics model of the redundant heterogeneous robot.

In the embodiment of the present application, for other redundant systems except the six-axis manipulator arm 100 of the redundant heterogeneous robot, due to the linkage between the rake 200 and the sliding assembly 302, it is difficult for the redundant heterogeneous robot to be calibrated by the DH parameter method. Therefore, The entire redundant system is regarded as a two-dimensional space under the same Z-axis plane, and the posture information of each redundant degree of freedom joint is not considered, and the forward kinematics equation of the entire redundant system is established. According to the track coordinates (x ₀ , y ₀ ) of the gripper and the track coordinates (x ₁ , y ₁ ) of the support point of the rake bar, the coordinates (x, y) of the rake head can be known, namely:

Through the forward kinematic model of the redundant heterogeneous robot, according to the structural parameters of the redundant heterogeneous robot, the working range of the rake head of the redundant heterogeneous robot is simulated, and then the simulated working range of the rake head is compared with the working space of the high temperature furnace 400 where the actual rake head is located. Determine whether the simulated working range of the drag head can reach the range in the working space of the high temperature furnace 400 where the actual drag head is located. If it can be reached, it means that the structural parameters of the redundant heterogeneous robot meet the actual requirements.

Step S103 , based on the genetic algorithm and according to the structural parameters of the redundant heterogeneous robot, generate the motion trajectory of the redundant heterogeneous robot, so that the redundant heterogeneous robot can rak the cinder according to the motion trajectory.

In the embodiment of the present application, based on the genetic algorithm, the fitness function is used to continuously iteratively calculate the motion path of the redundant heterogeneous robot, so as to realize the planning of the motion path of the redundant heterogeneous robot, but the traditional genetic algorithm is based on global optimization, It is impossible to effectively avoid the problem of local speed and acceleration jumps. For this reason, in this application, kinematics analysis is performed for the redundant system of redundant heterogeneous robots, based on an improved genetic algorithm, global optimization is discarded, and a stepping point population adaptive trajectory optimization method based on speed smoothness as the main goal is adopted , according to the position and speed of each trajectory point of the gripper of the six-axis robot, the initial population is adaptively generated, and the improved genetic algorithm is used to select the best, abandon the overall stability of the global acceleration, and solve the speed of the traditional genetic algorithm at the turning point. It improves the optimization efficiency of special trajectories such as turning points, prevents jumps in speed and acceleration, and makes the trajectory of the gripper continuous and smooth, the speed is stable, and there is no large acceleration jump.

FIG. 7 is a schematic flowchart of step S103 provided according to some embodiments of the present application; as shown in FIG. 7 , based on the genetic algorithm, the motion trajectory of the redundant heterogeneous robot is generated according to the structural parameters of the redundant heterogeneous robot, so that the redundant heterogeneous robot can be The robot rakes the cinder according to the motion trajectory, including:

Step S113, according to the structural parameters of the redundant heterogeneous robot and the track coordinates of the starting point of the preset working path of the drag head, obtain the track coordinates of the starting point of the working path of the sliding assembly 302 and the track of the starting point of the working path of the execution end coordinate;

Specifically, according to the trajectory coordinates of the starting point of the preset working path of the drag head and the structural parameters of the redundant heterogeneous robot, the trajectory coordinates of the starting point of the working path of the sliding assembly 302 are generated; according to the starting point of the working path of the sliding assembly 302 The trajectory coordinates of the starting point and the structural parameters of the redundant heterogeneous robot are used to generate the trajectory coordinates of the starting point of the working path of the execution end.

In the embodiment of the present application, after the raw materials in the high-temperature furnace 400 enter the working chamber 401 from the feeding port, they are accumulated in the working chamber 401, and the rake 200 needs to push the accumulated raw materials to other positions of the working chamber 401 to rake flat. raw material. Here, after the preset working path of the drag head in the working chamber 401 is determined, the coordinates of each track point corresponding to the working path can be determined. After the trajectory coordinates of the starting point of the working path of the rake head are determined, the coordinates of the starting point of the working path of the unique sliding component 302 in the second direction can be determined according to the structural parameters of the redundant heterogeneous robot (that is, the coordinates of the supporting point of the rake bar). Then, according to the unique coordinates of the starting point of the working path of the sliding component 302 and the structural parameters of the redundant heterogeneous robot, the unique coordinates of the starting point of the working path of the gripper can be determined.

Step S123, according to the trajectory coordinates of the starting point of the working path of the execution end, the working parameters of the execution end, the trajectory coordinates of the preset working path of the drag head, and the structural parameters of the redundant robot, based on the genetic algorithm, obtain the sliding component 302. The trajectory coordinates of the working path and the trajectory coordinates of the working path at the execution end are used to generate the motion trajectory of the redundant heterogeneous robot, so that the redundant heterogeneous robot can rak the cinder according to the motion trajectory; wherein, the working parameters include the maximum speed and the maximum acceleration of the execution end. .

Specifically, first, according to the trajectory coordinates of the starting point of the working path of the execution end and the working parameters of the execution end of the six-axis manipulator 100 , the track coordinates of the next working position of the working path of the execution end of the six-axis manipulator 100 are obtained. Then, according to the set of trajectory coordinates of the next working position of the working path of the execution end of the six-axis robot arm 100 and the trajectory coordinates of the next working position of the working path of the sliding assembly 302, the working path of the sliding assembly 302 is obtained. Then, based on the preset fitness function, according to the trajectory coordinate set of the next working position of the working path of the sliding component 302, obtain the next work of the working path of the sliding component 302 The trajectory coordinates of the position; finally, according to the trajectory coordinates of the next working position of the working path of the sliding component 302 and the structural parameters of the redundant heterogeneous robot, the trajectory of the next working position of the working path of the execution end of the six-axis robotic arm 100 is obtained coordinate.

In the embodiment of the present application, after the initial coordinates of the working path of the gripper are obtained, the set of trajectory coordinates of the next working position of the working path of the gripper is obtained according to the working parameters of the gripper, that is, the maximum speed and the maximum acceleration of the gripper , and then the set of trajectory coordinates of the next working position of the gripper working path and the trajectory coordinates of the next working position in the preset working path of the rake head are used to determine the upper and lower working path of the rake bar support point (slip component 302 ). The set of trajectory coordinates of the working position; then, the set of trajectory coordinates of the next working position on the working path of the rake rod support point is calculated and optimized by the fitness function, and the trajectory coordinates of the next working position on the working path of the rake rod support point are calculated and optimized. The trajectory coordinates of the next working position on the working path of the optimal rake bar support point are determined from the set of .

When the trajectory coordinates of the next working position on the working path of the rake bar support point are determined, since the trajectory coordinates of the next working position in the preset working path of the rake head are known, combined with the structural parameters of the redundant robot, it is possible to start from the gripper. In the set of trajectory coordinates of the next work position of the working path, the optimal trajectory coordinate of the next work position of the gripper working path is determined. With this loop iteration, the trajectory coordinates of the working path of the sliding component 302 and the trajectory coordinates of the working path of the execution end can be determined, and the motion trajectory of the redundant heterogeneous robot can be generated, so that the redundant heterogeneous robot can rake and level the cinder according to the motion trajectory. .

In the embodiments of the present application, the trajectory coordinates of the gripper working path are optimized by adopting the step point population adaptive trajectory optimization method based on the speed smoothness as the main objective. FIG. 8 is an initial schematic diagram of a step-by-step optimization population provided according to some embodiments of the present application; as shown in FIG. 8 , it is known that the movement speed of the gripper at the current moment (current working position) is V ₀ , and the maximum acceleration of the gripper is limited to be A _max , the maximum speed of the gripper movement is V _max , taking the trajectory coordinates of the current working position of the gripper working path as the center of the circle, and making two concentric circles with V _l and V _h as the radii, where,

V _l =V ₀ -A _max

V _h =max(V ₀ +A _max , V _max )

In the concentric ring, according to the length L of the rake bar, the set of trajectory coordinates of the next working position of the gripper working path can be determined, and the initial population of the genetic algorithm is generated in the set, and after the iteration of the genetic algorithm, the obtained The optimal trajectory point of the next working position of the working path of the gripper is taken as the next center point of the circle, and the track of the working path of the gripper can be obtained by cycling in turn.

FIG. 9 is a schematic diagram of the coordinate fitness function of the trajectory of the support point of the rake bar provided according to some embodiments of the present application; as shown in FIG. 9 , for the trajectory planning of the redundant system of the heterogeneous redundant robot, due to the limitation of the ejector port 402 , there may be situations where the rake head cannot be reached. Therefore, in the technical solution of the present application, the restriction of the trajectory coordinates relative to the size of the ejection port 402 is added to the fitness function, and under the condition of the same or similar speed fitness, the gripper closer to the opening line of the ejection port is selected. coordinate.

In the embodiment of the present application, the fitness function is shown in the following formula (2-9), and the formula (2-9) is as follows:

Among them, f ₁ is the hand speed fitness function, f ₂ is the hand acceleration fitness function, f ₃ is the position fitness function of the rake bar support point, α ₁ , α ₂ , α ₃ are the hand speed fitness functions respectively f ₁ , the weight of the gripper acceleration fitness function f ₂ and the position fitness function f ₃ of the support point of the rake bar;

The expression of f ₁ is shown in the following formula (2-10), and the formula (2-10) is as follows:

The expression of f ₂ is shown in the following formula (2-11), and the formula (2-11) is as follows:

The expression of _f3 is shown in the following formula (2-12), and the formula (2-12) is as follows:

In the embodiment of the present application, the slag leveling in the high-temperature furnace 400 requires the rake 200 to have a stable speed in the working chamber 401, and the slag leveling and pushing work is performed along a fixed route. In order to ensure a constant speed of the rake 200 in the working chamber 401, an appropriate The supporting point of the rake 200 (slip component 302 ) makes the gripper trajectory of the six-axis robotic arm 100 smooth, and keeps the speed and acceleration stable, preventing sudden changes from generating large joint torque and potential safety hazards.

In the embodiment of the present application, the mechanism parameters of the redundant heterogeneous robot are obtained through optimization through each constraint relationship; then, kinematics analysis is performed for the redundant system, based on the improved genetic algorithm, global optimization is discarded, and a system based on The step point population adaptive trajectory optimization method with speed smoothness as the main goal, according to the position and speed of each trajectory point of the gripper of the six-axis robot, the initial population is adaptively generated, the genetic algorithm is used to select the best, and the global acceleration is discarded. The overall stability of the robot can solve the problems of sudden changes in speed and acceleration at turning points in traditional genetic algorithms, improve the optimization efficiency of special trajectories such as turning points, prevent jumps in speed and acceleration, and make the trajectory of the gripper of the robot arm smooth and stable. , and there is no large acceleration jump.

The above descriptions are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (10)

1. A heterogeneous redundant robot for high temperature furnace slagging, comprising: a ground rail, a six-shaft mechanical arm, a slag leveling rake and a rake bracket,

the ground rail is laid along a first direction; the first direction is the extending direction of a connecting line between the center of the high-temperature furnace and a material pushing port of the high-temperature furnace;

the six-axis mechanical arm is slidably mounted on the ground rail and can move on the ground rail along the first direction;

the rake support is located between the ground rail and the high temperature furnace, the rake support comprising: the sliding rail is arranged along a second direction, and the sliding assembly is matched with the sliding rail and can move back and forth on the sliding rail along the second direction; wherein the second direction is a direction perpendicular to the first direction on a horizontal plane;

the head of the rake extends into the working cavity of the high-temperature furnace, and the rod part of the rake is movably connected with the sliding component and can move along the second direction under the driving of the sliding component; the tail part of the rake is connected with the execution tail end of the six-axis mechanical arm, so that the coal cinder in the working cavity of the high-temperature furnace can be raked under the driving of the six-axis mechanical arm.

2. The heterogeneous redundant robot for high-temperature furnace slag leveling according to claim 1, wherein the sliding assembly comprises a sliding base and a fixing frame, the sliding base is slidably mounted on the sliding rail, the fixing frame is fixedly connected to the sliding base, and the height of the fixing frame is equal to that of the material pushing port, so that the fixing frame is opposite to the material pushing port.

3. The heterogeneous redundant robot for high-temperature furnace slagging according to claim 2, characterized in that the fixing frame is provided with a through hole along the first direction, so that the harrow tail passes through the through hole and then is connected with the execution tail end of the six-axis mechanical arm; correspondingly, the harrow bar is movably connected with the through hole.

4. The heterogeneous redundant robot for high temperature furnace slagging according to claim 2, characterized in that the center of the reciprocal movement of the fixed frame in the second direction is located in the first direction.

5. The heterogeneous redundant robot for high-temperature furnace slagging according to any one of claims 1 to 4, characterized in that the inner side wall of the through hole is coated with a flexible wear-resistant body.

6. A high-temperature furnace slag leveling method is characterized in that the heterogeneous redundant robot of any one of claims 1-5 is used for leveling the coal slag in the working cavity of the high-temperature furnace, and the high-temperature furnace slag leveling method comprises the following steps:

establishing a constraint model of the redundant heterogeneous robot during working, wherein the constraint model is as follows:

wherein,

l represents a length of a rake bar of a rake of the redundant heterogeneous robot; g₀Representing a weight bearing of a six-axis robotic arm of the redundant heterogeneous robot; p represents the derivative of the proportion of the inner side bar length of the rake bar of the redundant heterogeneous robot; j represents the diameter of the rake shaft; a represents a central angle of a working chamber of the high-temperature furnace; theta₁A central angle representing a feed pushing port of the working cavity; d₁Representing the distance between the center of the six-axis mechanical arm and the center of the high-temperature furnace; d₂Representing the distance between a rake bracket of the high-temperature furnace and the material pushing port; d₃Representing the moving distance of a sliding component in the rake support on a sliding rail; r is₁Represents the inner circle radius of the high-temperature furnace; r is₂Represents the outer circle radius of the high-temperature furnace;

X_maxrepresenting the farthest distance of the six-axis mechanical arm from the center of the high-temperature furnace; y is_maxRepresents the farthest distance moved by the sliding component on the sliding rail; y is_min＝-Y_max；

x_bRepresents the distance from the intersection point of the rake rod and the material pushing port to the center of the six-axis mechanical arm when the sliding assembly moves to the farthest distance on the sliding rail, y_bRepresenting the point of intersection of the rake lever and the material pushing opening to the center line when the sliding assembly moves to the farthest distance on the sliding railThe distance is that the central line is a connecting line of the centers of the six-axis mechanical arm and the high-temperature furnace;

calculating structural parameters of the redundant heterogeneous robot according to the constraint model based on a multi-objective optimization algorithm, wherein the structural parameters comprise: bearing G of six arms₀A derivative p of the proportion of the length of the inner side rod of the rake rod, the diameter j of the rake rod, the length L of the rake rod, and the distance d between the center of the six-axis mechanical arm and the center of the high-temperature furnace₁The distance d between the rake support of the high-temperature furnace and the material pushing port₂The moving distance d of a sliding component in a rake support of the high-temperature furnace on a sliding rail₃The farthest distance X between the six-axis mechanical arm and the center of the high-temperature furnace_maxThe maximum distance Y of the movement of the sliding component on the sliding rail_max；

And based on a genetic algorithm, generating a motion trail of the redundant heterogeneous robot according to the structural parameters of the redundant heterogeneous robot, so that the redundant heterogeneous robot harrows the coal cinder according to the motion trail.

7. The high-temperature furnace slagging method according to claim 6, wherein the generating of the motion trail of the redundant heterogeneous robot according to the structural parameters of the redundant heterogeneous robot based on the genetic algorithm to rake the cinder by the redundant heterogeneous robot according to the motion trail comprises:

obtaining a track coordinate of the starting point of the working path of the sliding component and a track coordinate of the starting point of the working path of the execution tail end according to the structural parameters of the redundant heterogeneous robot and the track coordinate of the starting point of the preset working path of the drag head;

acquiring the track coordinate of the working path of the sliding component and the track coordinate of the working path of the execution tail end based on a genetic algorithm according to the track coordinate of the starting point of the working path of the execution tail end, the working parameter of the execution tail end, the track coordinate of the preset working path of the rake head and the structural parameter of the redundant robot, generating the motion track of the redundant heterogeneous robot, and raking the coal cinder by the redundant heterogeneous robot according to the motion track;

wherein the operating parameters include a maximum velocity and a maximum acceleration of the performing tip.

8. The high temperature furnace slagging method according to claim 7, wherein the obtaining of the track coordinate of the start point of the working path of the sliding assembly and the track coordinate of the start point of the working path of the execution end according to the structural parameters of the redundant heterogeneous robot and the track coordinate of the start point of the preset working path of the drag head comprises:

generating a track coordinate of the starting point of the working path of the sliding component according to the track coordinate of the starting point of the preset working path of the drag head and the structural parameters of the redundant heterogeneous robot;

and generating the track coordinate of the starting point of the working path of the execution tail end according to the track coordinate of the starting point of the working path of the sliding assembly and the structural parameters of the redundant heterogeneous robot.

9. The high temperature furnace slagging method according to claim 7, wherein the obtaining of the trajectory coordinates of the working path of the skid component and the trajectory coordinates of the working path of the execution end based on a genetic algorithm according to the trajectory coordinates of the starting point of the working path of the execution end, the working parameters of the execution end, the trajectory coordinates of the preset working path of the drag head and the structural parameters of the redundant robot comprises:

obtaining a track coordinate set of a next working position of the working path of the execution tail end of the six-axis mechanical arm according to the track coordinate of the starting point of the working path of the execution tail end and the working parameters of the execution tail end of the six-axis mechanical arm;

obtaining a track coordinate set of a next working position of a working path of the sliding assembly of the six-axis mechanical arm according to the track coordinate set of the next working position of the working path of the execution tail end of the six-axis mechanical arm and the track coordinate of the next working position of the working path of the sliding assembly;

based on a preset fitness function, acquiring a track coordinate of a next working position of a working path of a sliding assembly of the six-axis mechanical arm according to a track coordinate set of the next working position of the working path of the sliding assembly of the six-axis mechanical arm;

and obtaining the track coordinate of the next working position of the working path of the execution tail end of the six-axis mechanical arm according to the track coordinate of the next working position of the working path of the sliding assembly of the six-axis mechanical arm and the structural parameters of the redundant heterogeneous robot.

10. The high-temperature furnace slagging method according to any one of claims 6 to 9, further comprising:

and verifying the structural parameters of the redundant heterogeneous robot based on the established positive kinematic model of the redundant heterogeneous robot.

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