Research On Automation Loading And Unloading System For Wide Blade Spiral Drilling Pipe In Welding Process

Wide blade spiral drilling pipe(referred to as the spiral drilling pipe)is one of the major equipment of drilling construction of gas drainage in soft outburst coal seam,which mainly consists of the body and the blade.Blade welding is one of the key processes in the production of spiral drilling pipe,the efficiency of handling affects the efficiency of welding production.Aiming at the problems of manual handling,such as large labor intensity and low production efficiency,according to the welding process of spiral drilling pipe,the loading and unloading system for the production of spiral drilling pipe is designed,to realize the full automation of the welding process of the wide blade spiral drilling pipe.The main contents of the study include:(1)Through the analysis and comparison of palletizing robot and truss manipulator,the scheme of automatic loading and unloading system for wide blade spiral drill pipe in welding is determined.(2)The structure design,the design and calculation of the driving system of the truss manipulator and the gripper in the adopted scheme are carried out,while the virtual prototyping technology is used to simulate and analyze the manipulator and the finite element analysis method is used to study the static analysis of the key parts of the gripper.(3)The article focuses on the study of the control part of the loading and unloading system.First,the general design requirements of the control part of the system are put forward,and the hardware structure of the control system is designed.On this basis,the type of PLC and sensors are confirmed,I/O addresses of PLC are allocated,electrical schematic diagram is designed.After that,the functions that the system needs to realize is studied in detail,and the software structure of the control system is planned by modular thinking.PLC programs and touch screen programs are compiled.And several key technical problems involved in the software part are solved,such as the position calculation of work-piece palletizing coordinate,motion path planning.(4)The automatic loading and unloading system is integrated with the existing welding workstation of the spiral drilling pipe,and the problems existing in the trialoperation are optimized.Through the research,a set of automatic handling system for wide blade spiral drilling pipe in welding process is developed independently.The actual operation results show that the system meets the actual needs,reduces the number of labor,has the advantages of simple operation and good stability,while also has good economic benefits and practical application value.