| According to statistics,the domestic consumption of refined oil products will reach 345 million tons in 2022,about 60 to 70 percent of which will be transported by railway.In railway transportation of petrochemical oil products,the loss caused by loading link accounts for about1% of the total oil products.In addition,at present,manual handling arm(crane tube for short)is commonly used when loading oil tank trucks,which has a high labor intensity of operators,easy to cause fire,deflagging and other safety hazards.In order to reduce the leakage of petrochemical oil products when loading,reduce the labor intensity of operators,and the probability of safety risks,this topic designs and develops a hydraulic fluid handling arm which can automatically identify the center coordinates of tank tank opening,and can automatically complete the functions of centering,lowering,transporting and returning the oil handling arm and the tank opening.In order to realize the automatic loading process of oil products in railway transportation.According to the requirements of loading link in railway transportation of oil products,as well as the action flow of fluid handling arm centering on tank mouth of tank car,oil handling arm lowering,oil transporting and returning,the principle of detecting the center coordinates of tank car based on the detection image of tank mouth is explained.The hydraulic transmission system of fluid handling arm and the mechanical structure of transverse movement device of handling arm are designed.The overall structure design of the fluid handling arm is completed.According to the image edge detection technology,Industrial integrated camera scans the image of tank mouth of tank car.After denoising and histogram correction,the improved Canny operator is used to identify the contour features of the mouth.Combining with the orthogonal scanning method,the center coordinates of the tank mouth are calculated,and the algorithm design of the automatic centering system for the tank car is completed.Based on the algorithm as the core,it is combined with the hydraulic servo system of the loading arm by PLC to realize the function of controlling the lateral displacement of the loading arm and complete the design of the automatic centering system of the fluid loading arm.According to the design method of hydraulic transmission system,combined with the size and motion parameters of the fluid handling arm,the structure of the lower cylinder of the oil arm was designed and calculated,and the selection of each component in the hydraulic system was carried out.According to the principle of automatic control and the design method of hydraulic servo system,the mathematical model(transfer function)of the transverse movement hydraulic servo system of the fluid handling arm with the function of position feedback was established,and the load characteristics of the components such as the proportional valve and the valve controlled asymmetric cylinder were analyzed,and the hydraulic transmission control system of the fluid handling arm was designed.By using Simulink software,combined with the transfer function of the hydraulic transmission control system of the fluid handling arm,the stability,rapidity and accuracy of the system were analyzed,and the parameters of the PID controller were optimized by introducing an improved future search algorithm.By using the Amesim software,the signal tracking performance and dynamic characteristics of the hydraulic control system of the transverse movement of the oil transmission arm,as well as the synchronization performance of the hydraulic transmission system of the lifting of the oil transmission arm are simulated and analyzed,and the dynamic characteristics and synchronization performance of the above two systems are verified by the experimental device.In this research,the image recognition technology,hydraulic transmission and servo control technology are comprehensively used to design the mechanical structure of the fluid handling arm,the image positioning system of the center coordinate of the tank mouth,and the automatic centering of the handling arm and the movement control system of the oil delivery arm,and the combination of the three is better realized.From the performance analysis results,the system can meet the actual needs of railway transportation of petrochemical oil loading link.Therefore,the research results of this topic can be used as a reliable reference for the design of the actual fluid handling arm and its control system,which has a good reference value for realizing the automation of the petrochemical oil loading process. |
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