Research On Automatic Loading Machine For Bagged Cement

As one of the three major building materials,cement plays an important role in urban development,water conservancy and national defense.With the continuous progress of society,China's demand for cement is increasing,and the annual gross product of cement is also increasing.Focusing on the development of bag cement automatic loading system,this thesis develops a method of carriage measurement and positioning based on laser sensor,designs and analyses the control system of bag cement automatic loading machine,and conducts installation test in Jurongtai Mud Cement Co.,Ltd.The research results can better solve the problem of automatic loading of bagged cement,improve the loading efficiency,and have important value and significance in alleviating the difficulty of recruiting workers and reducing labor intensity in cement industry.The main work of the thesis is as follows:1.Based on the current situation of domestic cement industry,the structure of automatic loading system for bagged cement is designed and analyzed.The kinematics coordinate system is established.The forward kinematics equation expression of the loading system is obtained through analysis and calculation,and the inverse kinematics solution formula is given.2.The control system of automatic loading machine for bagged cement is analyzed and designed.Firstly,the related electrical components of the control system are selected,and the electrical schematic diagram of the whole control system is given.Then,the motion control scheme of each joint of the loading system is designed,and the position control of the lifting mechanism is realized by using the closed-loop PID control method.3.A carriage size measurement and positioning system based on laser sensors and travel switches is designed.Firstly,the hardware composition and control system are designed,and the solution principle of carriage size measurement and positioning is given.Then,the carriage size measurement and positioning experiments are carried out on scene.The results show that the accuracy of measurement and positioning meets the requirements.4.The single-axis motion accuracy of the bagged cement automated loading system is tested.The results prove the feasibility of the single-axis control scheme.Subsequently,the automatic loading system of bagged cement was tested on site,and the absolute errors of 27 loading stations in three degrees of freedom were recorded.The experimental results show that the positioning error along the x.axis is no more than 4 cm,along the yR axis is no more than 2 cm,and along the ZR axis is no more than 5 cm,which can meet the loading requirements.