Nonlinear displacement compensation device and method for furnace-front robot

Abstract

The present application provides a nonlinear displacement compensation device and method for a furnace-front robot, which relates to the technical field of manipulators for furnace-front operations in high-temperature smelting scenarios. The device includes: a variable-rigidity flexible connection mechanism installed at the joints of the furnace-front robot; a furnace eye recognition mechanism for identifying the furnace eye coordinates and generating initial joint angle parameters; a deformation monitoring mechanism for monitoring the real-time deformation of the connecting rod mechanism; and a control mechanism for predicting the future deformation of the connecting rod mechanism based on the initial joint angle parameters and real-time deformation, and actively adjusting the stiffness of the variable-rigidity flexible connection mechanism. This method applies the device. By setting up the nonlinear displacement compensation device for the furnace-front robot, it is ensured that the furnace-front robot can seal the furnace eye at the optimal time, reducing the requirement for operator experience.

Description

Technical Field

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

[0002] Existing furnace-front robots are used to open and close furnace holes during furnace-front operations. Their joints use a rigid linkage mechanism to achieve opening and closing rotation (two links are connected by a rotating shaft). This traditional rigid linkage mechanism has the following drawbacks in furnace-front operations:

[0003] 1. Since a rigid linkage mechanism is used to achieve opening and closing rotation, the low-frequency vibration of the furnace-front robot's movement is coupled with the high-frequency vibration of the mechanical transmission, causing the end-point positioning jitter. The amplitude of the positioning jitter is uncertain, resulting in a nonlinear relationship in the displacement amplification coefficient of the end-point when the furnace-front robot moves or the joints rotate at different opening and closing angles. In other words, the end-point displacement is nonlinearly distorted (for example, when the furnace-front robot is plugging the furnace eye, the nonlinear deformation of the furnace brazing rod is as long as 2 meters, with a maximum deviation of 18.7%). This makes the traditional feedforward control unable to operate normally or even fails, resulting in the operator having to make a lot of corrections and error corrections when operating the equipment, missing the best time to plug the furnace eye.

[0004] 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.

[0005] Reference patent document: Publication No. CN114559468A Summary of the Invention

[0006] 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.

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] In a first aspect, the present invention provides a nonlinear displacement compensation device for a furnace-front robot, comprising:

[0009] A variable stiffness flexible connection mechanism is installed at the joints of the furnace-front robot;

[0010] A furnace eye recognition mechanism is used to identify the furnace eye coordinates and generate initial joint angle parameters;

[0011] A deformation monitoring mechanism, used to monitor the real-time deformation of the connecting rod mechanism;

[0012] The control mechanism predicts the future deformation of the link 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.

[0013] 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.

[0014] In some embodiments of the present invention, there are two groups of spring assemblies, and the springs in the two groups of spring assemblies have different stiffness coefficients.

[0015] 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.

[0016] In some embodiments of the present invention, the adjustable damper is a magnetorheological fluid damper.

[0017] 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.

[0018] 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.

[0019] In some embodiments of the present invention, a control mechanism predicts the future deformation of the linkage mechanism based on the initial joint angle parameters, the real-time deformation, and a thermal-mechanical coupling model.

[0020] 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.

[0021] In a second aspect, the present invention provides a method for compensating nonlinear displacement of a furnace-front robot, comprising:

[0022] Identify the furnace eye coordinates and generate initial joint angle parameters;

[0023] Real-time monitoring of the end vibration energy E of the linkage mechanism of the furnace robot;

[0024] 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.

[0025] The embodiments of the present invention have at least the following advantages or beneficial effects:

[0026] 1. This 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 of the connecting rod mechanism corresponding to the joint.

[0027] 2. This application can realize dynamic deformation compensation and active deformation compensation during the furnace operation, rather than detecting, correcting and rectifying errors after an error occurs.

[0028] 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.

[0029] Other features and advantages of the present invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for the description of the embodiments. 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 creative work.

[0031] Figure 1 This is a schematic structural diagram of Example 5;

[0032] Figure 2 Schematic diagram of the structure of the connection assembly in Example 6;

[0033] Figure 3 Schematic diagram of the structure of the connection assembly in Example 7;

[0034] Figure 4 for Figure 3 A partial enlarged view of position A in the middle;

[0035] Figure 5 for Figure 3 A partial enlarged view of position B in the middle.

[0036] icon:

[0037] 11-rotating shaft, 12-first connecting rod, 13-second connecting rod,

[0038] 21-spring, 22-adjustable damper,

[0039] 31-support member, 32-turntable, 33-first permanent magnet, 34-first electromagnet,

[0040] 41- bottom plate, 42- support plate, 43- vertical rod, 44- sliding sleeve, 441- extension part, 45- second permanent magnet, 46- second electromagnet,

[0041] 51-cooling water jacket, 53-extension pipe, 54-floating block, 55-guide rod, 551-bump. DETAILED DESCRIPTION

[0042] In the following, only certain exemplary embodiments are briefly described. As those skilled in the art would realize, the described embodiments may be modified in various different ways without departing from the spirit or scope of the embodiments of the present invention.

[0043] 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 to indicate or imply relative importance or implicitly indicate the number of the technical features indicated. Therefore, the features 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, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0044] In the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; they may refer to direct connection or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0045] The embodiments of the present invention are described in detail below.

[0046] Example 1

[0047] In a first aspect, this embodiment provides a nonlinear displacement compensation device for a furnace-front robot, comprising a variable-rigidity flexible connection mechanism, a furnace eye recognition mechanism, a deformation monitoring mechanism, and a control mechanism.

[0048] 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.

[0049] The furnace eye recognition mechanism uses a binocular camera combined with thermal radiation correction to identify the furnace eye coordinates and uses the inverse solution module to generate the initial joint angle parameters.

[0050] The deformation monitoring mechanism is used to monitor the real-time deformation of the connecting rod mechanism.

[0051] The control mechanism predicts the future deformation of the linkage mechanism based on the initial joint angle parameters and real-time deformation, and actively adjusts the stiffness of the variable-stiffness flexible connection mechanism to achieve active deformation compensation.

[0052] This embodiment incorporates a variable-stiffness flexible connection mechanism at the pivot point of the furnace-front robot's joints, enabling dynamic deformation compensation for the corresponding linkage mechanism. This absorbs both low-frequency vibrations and high-frequency vibrations of the mechanical transmission that the linkage mechanism experiences during furnace-front robot movement. This embodiment enables dynamic and proactive deformation compensation during furnace-front operations, rather than requiring post-error detection and correction.

[0053] The variable-stiffness flexible connection mechanism includes a spring assembly, which consists of a spring and an adjustable damper. The spring is typically mounted on the adjustable damper. The combination of the spring and the adjustable damper absorbs low-frequency vibrations in the linkage mechanism and high-frequency vibrations in the mechanical transmission when the furnace robot moves.

[0054] There are two groups of spring assemblies. The stiffness coefficients of the springs in the two groups of spring assemblies are k1=300N / mm and k2=900N / mm respectively.

[0055] The adjustable damper is a magnetorheological fluid damper with an adjustable excitation current of 0~3A and a damping force adjustment range of 50~1500N.

[0056] 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.

[0057] 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 optimal time, reducing the requirement for operator experience.

[0058] In a second aspect, this embodiment provides a method for compensating for the nonlinear displacement of a furnace-front robot, which applies the above-mentioned nonlinear displacement compensation device for the furnace-front robot. The method for compensating for the nonlinear displacement of the furnace-front robot includes the following steps:

[0059] Step S1: Identify the furnace eye coordinates through the furnace eye identification mechanism and generate initial joint angle parameters using the inverse solution module.

[0060] Step S2: monitor the end vibration energy E of the connecting rod mechanism of the furnace robot in real time.

[0061] 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 (in steps of 0.2A / 100ms) to an appropriate value.

[0062] When monitoring shows that E>5J, the appropriate spring assembly is first selected (large-range displacement compensation), and then the excitation current is adjusted (small-range displacement compensation) to gradually enhance the damping force of the spring assembly; that is, the future deformation of the linkage is predicted based on the initial joint angle parameters and 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 (to achieve precise displacement compensation).

[0063] Example 2

[0064] This embodiment is a further improvement made on the basis of embodiment 1.

[0065] 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.

[0066] 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 the furnace), making the displacement compensation result more accurate.

[0067] 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.

[0068] in:

[0069] ΔL: total shape change (length change);

[0070] α(T): Temperature-dependent thermal expansion coefficient, α(T)=α⋅ΔT, where α is the linear expansion coefficient (constant) and ΔT is the temperature change;

[0071] L0: initial length of the material;

[0072] β(F): Force-related deformation coefficient, β(F)=F / (EA), E is the elastic modulus, and A is the cross-sectional area.

[0073] The deformation monitoring mechanism includes a fiber optic strain sensor, which is suitable for high temperature environments and has an accuracy of ±0.1mm.

[0074] Example 3

[0075] This embodiment is a further improvement made on the basis of embodiment 1 or 2.

[0076] The control mechanism includes a nonlinear compensation algorithm to ensure global asymptotic stability in the presence of parameter uncertainties and external disturbances.

[0077] The control function of the nonlinear compensation algorithm is constructed based on the Lagrange equation, which is: ;

[0078] 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 。

[0079] T1 uses a robust adaptive control framework to decompose the control input into a nominal control term, an adaptive compensation term, and a robust term, and designs a control law that can achieve global asymptotic stability in the presence of the following disturbances:

[0080] ①, positive definite inertia matrix M (q), Coriolis matrix There are unknown biases, that is, there are parameter uncertainties;

[0081] ② There is external disturbance T2.

[0082] Example 4

[0083] 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 increase or decrease in a step-by-step manner.

[0084] When there are three or more spring assemblies, multiple ranges can be set for the real-time deformation magnitude based on the differences in the stiffness coefficients of the springs in each spring assembly, so that a mapping relationship is formed between the stiffness coefficients of the springs in each spring assembly and the real-time deformation magnitude. When the obtained real-time deformation magnitude falls within the corresponding range, the appropriate spring assembly is first selected (large-range displacement compensation), and then the excitation current is adjusted (small-range displacement compensation). That is, a two-stage control strategy is adopted.

[0085] Example 5

[0086] 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 component.

[0087] 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.

[0088] 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.

[0089] When switching the spring 21 assembly, the corresponding adjustable damper 22 and the second connecting rod 13 are connected through a clutch (not shown in the figure).

[0090] Example 6

[0091] This embodiment makes further improvements based on embodiment 5.

[0092] See also Figure 1 and 2 In 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 turntable 32, a first permanent magnet 33 and a first electromagnet 34.

[0093] The support member 31 is connected to the first link 12 and is located between the first link 12 and the second link 13 .

[0094] The turntable 32 is rotatably connected to the support member 31. A plurality of adjustable dampers 22 are circumferentially spaced apart on the turntable 32. The spring 21 is sleeved on the adjustable damper 22. The turntable 32 is driven to rotate by a motor.

[0095] The first permanent magnet 33 is mounted on the movable end of the adjustable damper 22 .

[0096] The first electromagnet 34 is mounted on the second connecting rod 13 , and can be attracted to the first permanent magnet 33 when energized.

[0097] 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.

[0098] The connection assembly of this embodiment utilizes rotation to switch between the spring 21 and the adjustable damper 22, providing a convenient and quick method. Furthermore, the first electromagnet 34 and the first permanent magnet 33 of the adjustable damper 22 of each spring 21 assembly maintain a consistent position of engagement. After switching between different springs 21 and adjustable dampers 22, the distance between the spring 21 assembly and the rotating shaft 11 (consistent moment arm) remains consistent, further facilitating parameter setting for each spring 21 assembly.

[0099] Example 7

[0100] See also Figures 1 to 5 , this embodiment is another implementation of the connection component in Example 6.

[0101] Different from the sixth embodiment, in this embodiment, the connecting assembly includes a base plate 41 , a support plate 42 , a vertical rod 43 , a sliding sleeve 44 , a second permanent magnet 45 and a second electromagnet 46 .

[0102] The base 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 base plate 41. A plurality of adjustable dampers 22 are arranged at intervals on the base plate 41, and the spring 21 is sleeved on the adjustable damper 22.

[0103] 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 .

[0104] One end of the vertical rod 43 is fixed on the support plate 42 .

[0105] 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.

[0106] 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 extended portion 441 of the sliding sleeve 44 .

[0107] The second electromagnet 46 is disposed on the extension portion 441 of the sliding sleeve 44. When energized, the second electromagnet 46 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.

[0108] When switching the spring 21 assembly, it is only necessary to attract the corresponding second permanent magnet 45 and the second electromagnet 46 .

[0109] Furthermore, during the equipment commissioning phase before plugging the furnace eye, the opening angle of the second connecting rod 13 of the furnace robot can be fine-tuned to ensure accurate alignment of the plugging mechanism with the furnace eye. After fine-tuning the opening angle of the second connecting rod 13, the position of the base plate 41 can be appropriately adjusted to ensure that the vertical distance between the second electromagnet 46 and the corresponding second permanent magnet 45 remains consistent when the second electromagnet 46 is de-energized. This ensures that the initial lengths of the spring 21 and the adjustable damper 22 remain consistent.

[0110] Furthermore, considering the adverse effects of high temperature environment on the magnetorheological fluid in the adjustable damper 22, this 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.

[0111] A cooling water jacket 51 is wrapped around the outer shell of the adjustable damper 22. Cooling water is contained in the cooling water jacket 51. There are multiple cooling water jackets 51, each corresponding to an adjustable damper 22. Multiple cooling water jackets 51 are interconnected via conduits.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] The lower end of the guide rod 55 is connected to the float 54, and the upper end slides through the extension tube 53 and then slides into the interior of the vertical rod 43. A protrusion 551 is provided on the upper end of the guide rod 55. 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. The extension portion 441 at the bottom of the sliding sleeve 44 can intermittently contact the top of the protrusion 551.

[0116] 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.

[0117] 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.

[0118] Although the present application utilizes a spring 21 assembly, objectively, there will still be a slight relative displacement between the first connecting rod 12 and the second connecting rod 13, that is, the second connecting rod 13 will still experience slight vibration. Based on this, the extension tube 53, float 54, and guide rod 55 are designed. By utilizing the intermittent contact between the extension portion 441 at the bottom of the sliding sleeve 44 and the protrusion 551, the slight vibration of the second connecting rod 13 is transmitted to the float 54. The float 54 acts up and down on the water surface. This can not only promote the mutual heat transfer effect between the water in each cooling water jacket 51, but also further absorb the residual slight vibration of the second connecting rod 13, which is more conducive to achieving precise displacement compensation.

[0119] Finally, it should be noted that the above are merely preferred embodiments of the present application and are not intended to limit the present application. Persons skilled in the art will readily appreciate that the present application is susceptible to various modifications and variations. The embodiments and features of the embodiments may be combined arbitrarily without conflict. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present application shall be included within the scope of protection 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 joints of the furnace-front robot; A furnace eye recognition mechanism is used to identify the furnace eye coordinates and generate initial joint angle parameters; Deformation monitoring mechanism, used to monitor the real-time deformation of the connecting rod mechanism; a control mechanism, which predicts the future deformation of the link mechanism based on the initial joint angle parameter and the real-time deformation, and actively adjusts the stiffness of the variable stiffness flexible connection mechanism; 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; The connecting rod mechanism includes a first connecting rod and a second connecting rod connected by a rotating shaft, and the spring assembly is connected to the first connecting rod and the second connecting rod through a connecting assembly; the connecting assembly includes: A base plate is detachably connected to the first connecting rod and is located between the first connecting rod and the second connecting rod, and one end of the adjustable damper is mounted on the base plate; a plurality of adjustable dampers are arranged at intervals on the base plate, and a spring is sleeved on the adjustable damper; a support plate connected to the first connecting rod and located between the base plate and the second connecting rod; A vertical rod, one end of which is fixed to the support plate; A sliding sleeve is provided on the vertical rod and is hinged to the second connecting rod; the bottom of the sliding sleeve has an extension portion; a second permanent magnet mounted on a movable end of the adjustable damper, the movable end of the adjustable damper passing through the support plate, and the second permanent magnet being located between the support plate and the extension portion; A second electromagnet is provided on the extension portion, and when energized, the second electromagnet is attracted to the second permanent magnet; the second permanent magnet and the second electromagnet are in one-to-one correspondence; Also included is a cooling assembly for cooling the adjustable damper, the cooling assembly comprising: A cooling water jacket is covered on the outer shell of the adjustable damper; the cooling water jacket contains cooling water; the cooling water jacket corresponds to the adjustable damper one by one, there are multiple cooling water jackets, and the multiple cooling water jackets are interconnected through conduits; A fan is provided near the cooling water jacket and is used to enhance the air flow outside the cooling water jacket; An extension pipe, one end of which is connected to the upper portion of the cooling water jacket and the other end of which extends upward; A float is arranged in the extension tube, and the float floats on the water surface in the extension tube by utilizing buoyancy; The guide rod has its lower end connected to the floating block and its upper end slides through the extension tube and is connected to the inside of the vertical rod through sliding. A protrusion is provided at the upper end of the guide rod, and a sliding groove is provided on the side wall of the vertical rod. The protrusion slides along the sliding groove and emerges from the vertical rod. The extended part at the bottom of the sliding sleeve can make intermittent contact with the top of the protrusion.

2. The nonlinear displacement compensation device for a furnace-front robot according to claim 1, characterized in that: There are two groups of spring assemblies, and the springs in the two groups have different stiffness coefficients.

3. The nonlinear displacement compensation device for the furnace robot according to claim 2, 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.

4. The nonlinear displacement compensation device for a furnace-front robot according to claim 1, characterized in that: The adjustable damper is a magnetorheological fluid damper.

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

6. The nonlinear displacement compensation device for a furnace-front 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.

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

8. The nonlinear displacement compensation device for a furnace-front robot according to any one of claims 1 to 7, 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.

9. A method for compensating the nonlinear displacement of a furnace-front robot, which uses the nonlinear displacement compensation device of the furnace-front robot according to claim 1, characterized in that: The nonlinear displacement compensation method of the furnace robot includes: 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