Design And Research On Automatic Loading System For Bagged Cement

The traditional domestic loading tasks for bagged cement usually combine semi-automatic loading equipments with manual palletizing and loading.However,during the process of loading,this method not only has little production efficiency,but also causes a large amount of dust pollution and seriously damage to the health of workers.Although the automatic loading equipment for bagged cement in foreign countries can be fully automated,it cannot adapt to the domestic current situation which has various specifications of transportation vehicles and bagged cement.Therefore,the development of an automatic loading equipment for bagged cement which suitable for the domestic cement industry is of great significance.This dissertation focuses on the design of the automatic loading system for bagged cement.We propose a design of the automatic loading system for bagged cement based on the strategy of single-pack positioning and placing,analyze the composition and control system of the automatic loading system.The prototype of the automatic loading system was installed and tested at Jurong Taini Cement Company.The test results show that the design of the automatic loading system is reasonable,the loading operation is fully automated,the automatic loading system can adapt to different size of compartments and bags,and the bags are arranged neatly,which meets the fundamental requirements of the project.The main works of this dissertation are as follow:1.We designed and analyzed the structure of the automatic loading system for bagged cement and established its kinematics mathematical model.In this dissertation,the composition of the automatic loading system is analyzed.Firstly,based on the geometric characteristics of the loading system's structure,the wire rope cooperative movement model is established,and the numerical relationship of the vertical connected wire rope's length and the diagonal connected wire rope's length is calculated.Then,the system's kinematic coordinate system is established,and the analytical formulas of the forward kinematics and reverse kinematics of the automatic loading system are calculated through kinematic analysis.2.We designed and analyzed the control system of the automatic loading system for bagged cement,and proposed the control strategies of the single-pack positioning placing.In this dissertation,the composition of the control system is analyzed,the main electronic components are selected,the control strategies that containing the algorithm of car size detection and positioning,the algorithm of path planning and speed matching and the algorithm of solving the current sequence value of bagged cement are designed.Then,the control methods of each joint of the automatic loading system and the control process of the loading operation are explained.3.We designed and implemented the monitoring software of the automatic loading system for bagged cement,and realized the intelligent visual operation.According to the project requirements,the monitoring software was designed,the functions of the monitoring software were analyzed,and the corresponding function modules were programed which including high-speed communication,security permission setting,monitoring and operation,data management and algorithm implementation.4.In order to verify the feasibility of the automatic loading system for bagged cement,the performance of the prototype was tested.First,the wire rope cooperative movement model was tested,and the results proved that the modeling error of the model is within the allowable range.Then,the car size detection and positioning algorithm was tested,and the results showed that the car size detection error and positioning error meet the loading operation requirements.Next,the motion accuracy of the automatic loading system along the x-axis,y-axis and z-axis was tested,and the results showed that the motion accuracy can meet the requirements of the design.Finally,we carried out the on-site loading operation experiment by using the automatic loading system for bagged cement,and the results showed that the loading scheme satisfies the demands of the system.