Non-linear displacement compensation device and method for stokehold robot

Abstract

The invention provides a non-linear displacement compensation device and method for a stokehole robot, and relates to the technical field of manipulators for stokehole operation of submerged arc furnaces in a high-temperature smelting scene. The device comprises a variable-rigidity flexible connecting mechanism, a variable-rigidity flexible connecting mechanism, a variable-rigidity flexible connecting mechanism and a variable-rigidity flexible connecting mechanism, the furnace eye recognition mechanism is used for recognizing furnace eye coordinates and generating initial joint angle parameters; the deformation monitoring mechanism is used for monitoring the real-time deformation quantity of the connecting rod mechanism; and the control mechanism is used for predicting the future deformation quantity of the connecting rod mechanism based on the initial joint angle parameter and the real-time deformation quantity and actively adjusting the rigidity of the variable-rigidity flexible connecting mechanism. The method applies the device. Through the arrangement of the non-linear displacement compensation device for the stokehole robot, it is ensured that the stokehole robot can block the furnace eye at the best time, and the requirement for the experience of operators is lowered.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators for furnace-front operations of an ore-arc furnace in a high-temperature smelting scenario, and in particular to a nonlinear displacement compensation device and method for a furnace-front robot. Background Art

[0002] The existing furnace-front robot is used to open and block furnace holes in furnace-front operations. Its joints use a rigid link mechanism to achieve opening and closing rotation (the two links are connected by a rotating shaft). The traditional rigid link mechanism has the following defects in furnace-front operations: 1. Since a rigid linkage mechanism is used to achieve opening and closing rotation, the low-frequency vibration of the furnace-front robot is coupled with the high-frequency vibration of the mechanical transmission, which causes the positioning jitter of the end. The amplitude of the positioning jitter is uncertain, resulting in a nonlinear relationship between the displacement amplification coefficient of the end when the furnace-front robot moves or the joints rotate at different opening and closing angles. That is, the nonlinear displacement distortion of the end (such as the nonlinear deformation of the furnace brazing rod up to 2m when the furnace-front robot blocks the furnace eye, with a maximum deviation of 18.7%), makes the traditional feedforward control unable to operate normally or fail, resulting in the operator needing to make a lot of corrections and errors when operating the equipment, and missing the best time to block the furnace eye.

[0003] 2. A lot of corrections are required when operating the equipment, which requires a high level of operator proficiency and relies on the operator's experience, and the operator's training cost is high.

[0004] Reference patent document: Publication No. CN114559468A Summary of the invention

[0005] In view of the above situation, the present invention provides a nonlinear displacement compensation device and method for a furnace-front robot, aiming to solve the defects pointed out in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solutions: In a first aspect, the present invention provides a nonlinear displacement compensation device for a furnace-front robot, comprising: A variable stiffness flexible connection mechanism is installed at the joint of the robot in front of the furnace; A furnace eye recognition mechanism, used to recognize the furnace eye coordinates and generate initial joint angle parameters; A deformation monitoring mechanism, used to monitor the real-time deformation of the connecting rod mechanism; The control mechanism predicts the future deformation amount of the connecting rod mechanism based on the initial joint angle parameters and the real-time deformation amount, and actively adjusts the stiffness of the variable stiffness flexible connection mechanism.

[0007] In some embodiments of the present invention, the variable stiffness flexible connection mechanism includes a spring assembly, and the spring assembly includes a spring and an adjustable damper used in conjunction with each other.

[0008] In some embodiments of the present invention, there are two groups of spring assemblies, and the stiffness coefficients of the springs in the two groups of spring assemblies are different.

[0009] In some embodiments of the present invention, the stiffness coefficients of the springs in the two groups of spring assemblies are k1=300N / mm and k2=900N / mm respectively.

[0010] In some embodiments of the present invention, the adjustable damper is a magnetorheological fluid damper.

[0011] In some embodiments of the present invention, the furnace eye recognition mechanism uses a binocular camera combined with thermal radiation correction to identify the furnace eye coordinates.

[0012] In some embodiments of the present invention, the control mechanism includes a nonlinear compensation algorithm to ensure global asymptotic stability in the presence of parameter uncertainties and external disturbances.

[0013] In some embodiments of the present invention, the control mechanism predicts the future deformation amount of the linkage mechanism based on the initial joint angle parameters, the real-time deformation amount, and a thermal-mechanical coupling model.

[0014] In some embodiments of the present invention, the nonlinear displacement compensation device of the furnace-front robot also includes a digital twin training module, which generates a predicted motion trajectory of the connecting rod mechanism based on the future deformation of the connecting rod mechanism predicted by the control mechanism, and displays it through AR glasses.

[0015] In a second aspect, the present invention provides a method for compensating a furnace-front robot for nonlinear displacement, comprising: Identify the furnace eye coordinates and generate initial joint angle parameters; Real-time monitoring of the end vibration energy E of the linkage mechanism of the furnace robot; If E>5J, first switch the spring assembly, select a spring assembly with a larger spring stiffness coefficient, and then gradually increase the damping force of the spring assembly.

[0016] The embodiments of the present invention have at least the following advantages or beneficial effects: 1. The present application adds a variable stiffness flexible connection mechanism at the rotation axis of the joint of the furnace-front robot, and realizes dynamic compensation of deformation for the connecting rod mechanism corresponding to the joint.

[0017] 2. The present application can realize dynamic deformation compensation and active deformation compensation during the operation in front of the furnace, rather than detecting, correcting and rectifying errors after an error occurs.

[0018] 3. The setting of the nonlinear displacement compensation device of the furnace-front robot ensures that the furnace-front robot can seal the furnace eye at the best time, reducing the requirement for operator experience.

[0019] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be apparent from the description, or may be learned by practicing the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a structural schematic diagram of Example 5; Figure 2 is a schematic diagram of the structure of the connection assembly in Example 6; Figure 3 is a schematic diagram of the structure of the connection assembly in Example 7; Figure 4 for Figure 3 A partial enlarged view of position A in the middle; Figure 5 for Figure 3 A partial enlarged view of position B in the middle.

[0022] icon: 11-rotating shaft, 12-first connecting rod, 13-second connecting rod, 21-spring, 22-adjustable damper, 31-supporting member, 32-turntable, 33-first permanent magnet, 34-first electromagnet, 41-bottom plate, 42-support plate, 43-vertical rod, 44-sliding sleeve, 441-extension part, 45-second permanent magnet, 46-second electromagnet, 51-cooling water jacket, 53-extension pipe, 54-floating block, 55-guide rod, 551-bump. DETAILED DESCRIPTION

[0023] In the following, only some exemplary embodiments are briefly described. As those skilled in the art can realize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the embodiments of the present invention.

[0024] In the description of the embodiments of the present invention, it should be understood that the terms "first" and "second" of the invention are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise clearly and specifically defined.

[0025] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0026] The embodiments of the present invention are described in detail below.

[0027] Example 1

[0028] In a first aspect, the present embodiment provides a nonlinear displacement compensation device for a furnace-front robot, comprising a variable stiffness flexible connection mechanism, a furnace eye recognition mechanism, a deformation monitoring mechanism and a control mechanism.

[0029] The variable stiffness flexible connection mechanism is installed at the rotation axis of the joint of the furnace-front robot, and is used to realize dynamic deformation compensation of the connecting rod mechanism corresponding to the joint.

[0030] The furnace eye recognition mechanism uses a binocular camera combined with thermal radiation correction to identify the furnace eye coordinates and uses an inverse solution module to generate initial joint angle parameters.

[0031] The deformation monitoring mechanism is used to monitor the real-time deformation of the connecting rod mechanism.

[0032] The control mechanism predicts the future deformation of the linkage mechanism based on the initial joint angle parameters and the real-time deformation, and actively adjusts the stiffness of the variable stiffness flexible connection mechanism to achieve active deformation compensation.

[0033] In this embodiment, a variable stiffness flexible connection mechanism is added to the rotating shaft of the joint of the furnace front robot, and the connecting rod mechanism corresponding to the joint realizes dynamic deformation compensation, that is, it absorbs the low-frequency vibration of the connecting rod mechanism and the high-frequency vibration of the mechanical transmission when the furnace front robot moves. In the process of furnace front operation, this embodiment can realize dynamic deformation compensation and active deformation compensation, rather than post-detection, correction and error correction after an error occurs.

[0034] The variable stiffness flexible connection mechanism includes a spring assembly, which includes a spring and an adjustable damper used in combination, and the spring is usually sleeved on the adjustable damper. The low-frequency vibration of the connecting rod mechanism and the high-frequency vibration of the mechanical transmission when the furnace front robot moves are absorbed by the combination of the spring and the adjustable damper.

[0035] There are two groups of spring assemblies, and the stiffness coefficients of the springs in the two groups of spring assemblies are k1=300N / mm and k2=900N / mm respectively.

[0036] The adjustable damper is a magnetorheological fluid damper, the excitation current is adjustable from 0 to 3A, and the damping force adjustment range is 50 to 1500N.

[0037] The nonlinear displacement compensation device of the furnace-front robot also includes a digital twin training module. The digital twin training module generates a predicted motion trajectory of the connecting rod mechanism based on the future deformation of the connecting rod mechanism predicted by the control mechanism, and displays it through AR glasses to achieve human-machine collaborative optimization.

[0038] In summary, the setting of the nonlinear displacement compensation device of the furnace-front robot ensures that the furnace-front robot can seal the furnace eye at the best time, reducing the requirement for operator experience.

[0039] In a second aspect, this embodiment provides a method for compensating a nonlinear displacement of a furnace-front robot, which applies the nonlinear displacement compensation device of the furnace-front robot. The method for compensating a nonlinear displacement of a furnace-front robot comprises the following steps: Step S1, identifying the furnace eye coordinates through the furnace eye identification mechanism and generating initial joint angle parameters using the inverse solution module.

[0040] Step S2: monitor the end vibration energy E of the connecting rod mechanism of the furnace robot in real time.

[0041] Step S3, if E>5J, the control mechanism first switches the spring assembly based on the predicted future deformation of the connecting rod mechanism, selects a spring assembly with a larger spring stiffness coefficient (the spring assembly with the smallest spring stiffness coefficient is initially connected to the connecting mechanism), and then gradually increases the excitation current of the spring assembly (step 0.2A / 100ms) to an appropriate size.

[0042] When it is monitored that E>5J, first select a suitable spring assembly (large-range displacement compensation), and then adjust the excitation current (small-range displacement compensation) to gradually enhance the damping force of the spring assembly; that is, the future deformation of the connecting rod mechanism is predicted based on the initial joint angle parameters and the real-time deformation through the aforementioned control mechanism, and the stiffness of the variable-stiffness flexible connection mechanism is actively adjusted, and a two-stage control strategy is adopted to achieve active deformation compensation (precise displacement compensation).

[0043] Example 2

[0044] This embodiment is a further improvement made on the basis of Embodiment 1.

[0045] The control mechanism predicts the future deformation of the linkage mechanism based on the initial joint angle parameters, real-time deformation, and thermal-mechanical coupling model, and actively adjusts the stiffness of the variable-stiffness flexible connection mechanism to achieve active deformation compensation.

[0046] This embodiment uses a thermal-mechanical coupling model to predict the future deformation of the connecting rod mechanism, which takes into account the coupling effect of thermal stress and mechanical vibration in a high temperature environment (>800° C. in a furnace), making the displacement compensation result more accurate.

[0047] The thermal-mechanical coupling model is ΔL=α(T)L0 + β(F), where α(T)L0 is the thermal expansion term, β(F) is the elastic deformation term, and the sum of the thermal expansion term and the elastic deformation term is the total deformation.

[0048] in: ΔL: total shape change (length change); α(T): Temperature-dependent thermal expansion coefficient, α(T)=α⋅ΔT, α is the linear expansion coefficient (constant), ΔT is the temperature change; L0: initial length of the material; β(F): force-related deformation coefficient, β(F)=F / (EA), E is the elastic modulus, A is the cross-sectional area.

[0049] The deformation monitoring mechanism includes a fiber optic strain sensor, which is suitable for high temperature environments and has an accuracy of ±0.1mm.

[0050] Example 3

[0051] This embodiment is a further improvement made on the basis of Embodiment 1 or 2.

[0052] The control mechanism includes a nonlinear compensation algorithm to ensure global asymptotic stability in the presence of parameter uncertainties and external disturbances.

[0053] The control function of the nonlinear compensation algorithm is constructed based on the Lagrange equation, which is: ; Where q is the joint angle vector, M(q) is the positive definite inertia matrix, is the Coriolis matrix, G(q) is the gravity term, is the damping term, T1: control input torque; T2: external disturbance torque 。

[0054] T1 uses a robust adaptive control framework to decompose the control input into nominal control terms, adaptive compensation terms, and robust terms, and designs the control law so that global asymptotic stability can be achieved in the presence of the following disturbances: ①, positive definite inertia matrix M (q), Coriolis matrix There are unknown biases, that is, there is parameter uncertainty; ②There is external disturbance T2.

[0055] Example 4

[0056] The difference between this embodiment and embodiment 1 is that in this embodiment, there are three or more groups of spring assemblies, and the stiffness coefficients of the springs in each group of spring assemblies are increased or decreased in a step-by-step manner.

[0057] When there are three or more spring components, multiple ranges can be set for the real-time deformation magnitude in combination with the differences in the stiffness coefficients of the springs in each spring component, so that a mapping relationship is formed between the stiffness coefficients of the springs in each spring component and the real-time deformation magnitude. When the obtained real-time deformation magnitude falls into the corresponding range, first select the appropriate spring component (large-range displacement compensation), and then adjust the excitation current (small-range displacement compensation). That is, a two-stage control strategy is adopted.

[0058] Example 5

[0059] This embodiment makes further improvements on the basis of Embodiment 1, 2, 3 or 4, and is an implementation method for realizing the switching spring 21 assembly.

[0060] See also Figure 1 The connecting rod mechanism includes a first connecting rod 12 and a second connecting rod 13 connected by a rotating shaft 11, and a spring 21 assembly is close to the rotating shaft 11 and connected to the first connecting rod 12 and the second connecting rod 13.

[0061] One end of the adjustable damper 22 of each spring 21 assembly is connected to the first connecting rod 12, and the other end is connected to the second connecting rod 13 through a clutch, and the spring 21 is sleeved on the adjustable damper 22. The length of the adjustable damper 22 of each spring 21 assembly is consistent.

[0062] When the spring 21 assembly is switched, the corresponding adjustable damper 22 and the second connecting rod 13 are connected via a clutch (not shown in the figure).

[0063] Example 6

[0064] This embodiment makes further improvements on the basis of Embodiment 5.

[0065] See also Figure 1 and 2In this embodiment, the spring 21 assembly is connected to the first connecting rod 12 and the second connecting rod 13 through a connecting assembly, and the connecting assembly includes a support member 31, a rotating disk 32, a first permanent magnet 33 and a first electromagnet 34.

[0066] The support member 31 is connected to the first connecting rod 12 and is located between the first connecting rod 12 and the second connecting rod 13 .

[0067] The turntable 32 is rotatably connected to the support member 31, a plurality of adjustable dampers 22 are circumferentially spaced apart and arranged on the turntable 32, and the spring 21 is sleeved on the adjustable damper 22. The turntable 32 is driven to rotate by a motor.

[0068] The first permanent magnet 33 is mounted on the movable end of the adjustable damper 22 .

[0069] The first electromagnet 34 is mounted on the second connecting rod 13 , and can be attracted to the first permanent magnet 33 after being energized.

[0070] When switching the spring 21 assembly, first rotate the turntable 32 to rotate the corresponding adjustable damper 22 to align with the first electromagnet 34, and then energize the first electromagnet 34 to attract the first electromagnet 34 and the first permanent magnet 33.

[0071] The connection assembly of this embodiment uses rotation to switch the spring 21 and the adjustable damper 22, which is convenient and quick. In addition, the first electromagnet 34 of the adjustable damper 22 of each spring 21 assembly is attracted to the first permanent magnet 33 at the same position. After switching different springs 21 and adjustable dampers 22, the distance between the spring 21 assembly and the rotating shaft 11 is consistent (the force arm is consistent), which is more conducive to setting the parameters of each spring 21 assembly.

[0072] Example 7

[0073] See also Figure 1~Figure 5 , this embodiment is another implementation of the connecting component in Example 6.

[0074] Different from the sixth embodiment, in this embodiment, the connection assembly includes a bottom plate 41 , a support plate 42 , a vertical rod 43 , a sliding sleeve 44 , a second permanent magnet 45 and a second electromagnet 46 .

[0075] The bottom plate 41 is detachably connected to the first connecting rod 12 and is located between the first connecting rod 12 and the second connecting rod 13. One end of the adjustable damper 22 is mounted on the bottom plate 41. A plurality of adjustable dampers 22 are arranged on the bottom plate 41 at intervals, and the spring 21 is sleeved on the adjustable damper 22.

[0076] The support plate 42 is connected to the first connecting rod 12 and is located between the bottom plate 41 and the second connecting rod 13 .

[0077] One end of the vertical rod 43 is fixed on the supporting plate 42 .

[0078] The sliding sleeve 44 is slidably mounted on the vertical rod 43 and is hinged to the second connecting rod 13. The bottom of the sliding sleeve 44 has an extension portion 441.

[0079] The second permanent magnet 45 is mounted on the movable end of the adjustable damper 22 . The movable end of the adjustable damper 22 passes through the support plate 42 . The second permanent magnet 45 is located between the support plate 42 and the extension portion 441 of the sliding sleeve 44 .

[0080] The second electromagnet 46 is disposed on the extension portion 441 of the sliding sleeve 44. When the second electromagnet 46 is energized, it can be attracted to the second permanent magnet 45. The second permanent magnet 45 and the second electromagnet 46 correspond to each other one by one.

[0081] When switching the spring 21 assembly, it is only necessary to attract the corresponding second permanent magnet 45 and the second electromagnet 46 .

[0082] In addition, during the equipment debugging stage before blocking the furnace eye, the opening angle of the second connecting rod 13 of the furnace front robot can be fine-tuned so that the blocking mechanism can be accurately aligned with the furnace eye. After fine-tuning the opening angle of the second connecting rod 13 of the furnace, the position of the bottom plate 41 can be appropriately adjusted so that when the second electromagnet 46 is not energized, the vertical distance between the second electromagnet 46 and the corresponding second permanent magnet 45 remains consistent, so that the initial lengths of the spring 21 and the adjustable damper 22 can remain consistent.

[0083] Furthermore, considering the adverse effects of high temperature environment on the magnetorheological fluid in the adjustable damper 22, the present embodiment provides a cooling assembly for cooling the adjustable damper 22, and the cooling assembly includes a cooling water jacket 51, a fan (not shown in the figure), an extension pipe 53, a float 54 and a guide rod 55.

[0084] The cooling water jacket 51 is coated on the outer shell of the adjustable damper 22. There is cooling water in the cooling water jacket 51. The cooling water jacket 51 corresponds to the adjustable damper 22 one by one, and there are multiple cooling water jackets 51, and the multiple cooling water jackets 51 are connected to each other through conduits.

[0085] The fan is arranged close to the cooling water jacket 51 to enhance the air flow outside the cooling water jacket 51 to improve the heat dissipation and cooling effect.

[0086] One end of the extension pipe 53 is communicated with the upper portion of the cooling water jacket 51 , and the other end thereof extends upward.

[0087] The float 54 is disposed in the extension tube 53 , and the float 54 floats on the water surface in the extension tube 53 by utilizing buoyancy.

[0088] The lower end of the guide rod 55 is connected to the floating block 54, and the upper end slides through the extension tube 53 and then slides and connects with the inside of the vertical rod 43. A protrusion 551 is provided at the upper end of the guide rod 55, and a sliding groove is provided on the side wall of the vertical rod 43. The protrusion 551 slides along the sliding groove and emerges from the vertical rod 43, and the extension part 441 at the bottom of the sliding sleeve 44 can be in intermittent contact with the top of the protrusion 551.

[0089] By providing the cooling water jacket 51 , the heat dissipation effect of the adjustable damper 22 is improved, and the adverse effects of external and internal high temperature environments on the adjustable damper 22 are alleviated.

[0090] Since the temperature of the adjustable damper 22 in use is higher, the multiple cooling water jackets 51 are interconnected through conduits so that the water in each cooling water jacket 51 can transfer heat to each other, thereby improving the heat dissipation and cooling effects.

[0091] Although the present application adopts the spring 21 assembly, objectively there will still be a small relative displacement between the first connecting rod 12 and the second connecting rod 13, that is, the second connecting rod 13 still has a small vibration. Based on this, the extension tube 53, the floating block 54 and the guide rod 55 are designed, and the small vibration on the second connecting rod 13 is transmitted to the floating block 54 by utilizing the intermittent contact between the extension portion 441 at the bottom of the sliding sleeve 44 and the protrusion 551. The floating block 54 acts on the water surface up and down, which can promote the mutual heat transfer effect between the water in each cooling water jacket 51 on the one hand, and further absorb the residual small vibration on the second connecting rod 13 on the other hand, which is more conducive to achieving accurate displacement compensation.

[0092] Finally, it should be noted that the above 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 variations. In the absence of conflicts, the embodiments of the present application and the features in the embodiments may be arbitrarily combined with each other. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A nonlinear displacement compensation device for a furnace robot, characterized in that: include: A variable stiffness flexible connection mechanism is installed at the joint of the robot in front of the furnace; A furnace eye recognition mechanism, used to recognize the furnace eye coordinates and generate initial joint angle parameters; A deformation monitoring mechanism, used to monitor the real-time deformation of the connecting rod mechanism; The control mechanism predicts the future deformation amount of the connecting rod mechanism based on the initial joint angle parameters and the real-time deformation amount, and actively adjusts the stiffness of the variable stiffness flexible connection mechanism.

2. The nonlinear displacement compensation device for a furnace robot according to claim 1, characterized in that: The variable-rigidity flexible connection mechanism comprises a spring assembly, and the spring assembly comprises a spring and an adjustable damper used in conjunction with each other.

3. The nonlinear displacement compensation device for the furnace robot according to claim 2 is characterized in that: There are two groups of spring assemblies, and the stiffness coefficients of the springs in the two groups of spring assemblies are different.

4. The nonlinear displacement compensation device for a furnace robot according to claim 3, characterized in that: The stiffness coefficients of the springs in the two groups of spring assemblies are k1=300N / mm and k2=900N / mm respectively.

5. The nonlinear displacement compensation device for a furnace robot according to claim 2, characterized in that: The adjustable damper is a magnetorheological fluid damper.

6. The nonlinear displacement compensation device for a furnace robot according to claim 1, characterized in that: The furnace eye recognition mechanism uses a binocular camera combined with thermal radiation correction to recognize the furnace eye coordinates.

7. The nonlinear displacement compensation device for a furnace robot according to claim 1, characterized in that: The control mechanism includes a nonlinear compensation algorithm to ensure global asymptotic stability in the presence of parameter uncertainties and external disturbances.

8. The nonlinear displacement compensation device for a furnace robot according to claim 1, characterized in that: It also includes a thermal-mechanical coupling model, and the control mechanism predicts the future deformation amount of the linkage mechanism based on the initial joint angle parameters, the real-time deformation amount, and the thermal-mechanical coupling model.

9. The nonlinear displacement compensation device for a furnace-front robot according to any one of claims 1 to 8, characterized in that: The nonlinear displacement compensation device of the furnace-front robot also includes a digital twin training module. The digital twin training module generates a predicted motion trajectory of the connecting rod mechanism based on the future deformation of the connecting rod mechanism predicted by the control mechanism, and displays it through AR glasses.

10. A method for compensating nonlinear displacement of a furnace robot, characterized in that: include: Identify the furnace eye coordinates and generate initial joint angle parameters; Real-time monitoring of the end vibration energy E of the linkage mechanism of the furnace robot; If E>5J, first switch the spring assembly, select a spring assembly with a larger spring stiffness coefficient, and then gradually increase the damping force of the spring assembly.

Images