Research On Automatic Unloading Method Of Side-dumping Mine Car

In the downturn of the iron ore industry,most enterprises have been engaged in automation transformation in order to be able to develop steadily.The backward transportation equipment of iron mine requires manual operation,which also increases the investment in manpower costs while reducing the efficiency of transportation.Low degree of automation,poor working conditions,production safety problems and other issues has restricted the development of enterprises.In this thesis,aiming at the problems such as the need of manual unloading and the potential safety hazard of a side-loading mine car,an electromechanical device automatic unloading system was designed to replace artificial,and completed without changing the original equipment,and has been applied to the scene,and helps enterprises to reduce labor costs and improve economic efficiency.In order to make the automatic unloading system more universal and intelligent,on the basis of the existing automatic unloading system,a theoretical study was made on the method of replacing the electromechanical device by the visual mechanical arm to complete automatic unloading.First of all,this thesis introduces the technological background of side-dumping mine car,and analyzes the components and unloading process of the unloading system of side-dumping mine car,and the problems existing in the process of unloading are found,and an automatic ore unloading system based on electromechanical device has been designed to realize the function of automatic unloading of unmanned duty.Secondly,in order to improve the universality and intelligence of automatic unloading system,the research on replacing robotic unloading with visual manipulator has been carried out.The running trajectory of unloading wheel unloading process was analyzed.A brief model structure of the visual manipulator was established.The algorithm of automatic unloading of the visual manipulator was designed.Based on the principle of Canny edge detection and least squares fitting,the position and speed of the unloading wheel of side-dumping mine car were identified and calculated by image recognition.Finally,the kinematic equation of visual manipulator was established by D-H modeling method to solve the real-time desired angle of each joint of the visual manipulator in unloading process.The spatial state equation of the visual manipulator is established by using the Lagrange method.Based on the improved terminal sliding mode control method,the tracking and control of the angle and angular velocity of the end joints of the visual manipulator are simulated.The simulation results show that the improved terminal Sliding Mode Control makes the control input of the system more stable,and reduces the chattering of the system and obtains a better control and tracking effect,and also verifies the feasibility and effectiveness of automatic unloading method based on visual manipulator.