工业技术与职业教育

随着钢铁行业智能装备和信息化水平的提高，钢区连铸作为制约产线效率的核心生产环节，正在陆续引进机器人代替人工完成大包水口的自动拆装、中间包测温、取样等功能，确保标准化精准作业，减少危险岗位人工操作及重复性劳动，提升产线效率。通过对连铸大包、中包机器人从拆卸大包水口液压缸、中包换水口，测温、取样加保护渣等功能利用改进的RRT*算法对机器人进行路径规划，最终实现其在浇钢平台复杂环境下的高效稳定运行，实现生产的自动化和智能化，减少人工操作的风险，提升了生产的安全性和连续性。

With the improvement of intelligent equipment and information technology in iron and steel industry,continuous casting in steel area,as the key production link restricting the efficiency of production line,is gradually introducing robots to replace manual work for automatic disassembly and assembly of ladle nozzle,tundish temperature measurement,sampling and other functions to ensure the standardization of accurate work,reduce the risk of manual operation and repetitive labor,and improve the efficiency of the production line.In this paper,the path planning of the continuous casting ladle and tundish robot is carried out by using the improved RRT * algorithm from the functions of disassembling the hydraulic cylinder of the ladle nozzle,changing the nozzle of the Tundish,measuring the temperature,sampling and adding the flux.Finally,it realizes the high-efficient and stable operation under the complex environment of steel platform,realizes the automation and intelligence of production,reduces the risk of manual operation,and improves the safety and continuity of production.