Design Of Robot System For Cleaning Inner Wall Of Cement Silo

The high risk factor and high work intensity of workers are the characteristics of the cleaning of the inner wall of the cement silo.The traditional manual cleaning efficiency is low and the cleaning effect is not good.Due to the limitation of the size of the opening on the top of the cement silo,when the inner diameter of the cement silo is greater than 20 meters,how the inner wall cleaning robot can efficiently clean the inner wall accumulation and compaction is a difficult problem studied in this paper.In view of the above key issues,this paper designs a cement silo inner wall cleaning robot system,which specifically includes the mechanical structure design of a cement silo inner wall cleaning robot,and selects the main electrical components.The dynamic simulation results of the inner wall cleaning robot are studied,and the finite element analysis of its main structure is carried out.Use the host computer to develop a control system and control the PLC for automation.In the mechanical structure design,refer to the relevant information,learn from the domestic and foreign advanced silo cleaning machine overall mechanism.According to the machine function,the whole is divided into multiple parts,and each part is designed.Based on the existing foreign silo clearing machines for automation improvement and perfection,the silo roof support device,the inner working arm and the end effector are designed and completed.Through modular design,each part realizes the lightweight and applicability of the warehouse cleaning robot.Finite element simulation software was used to check the structure and optimize the dangerous nodes.In the control system design part,the overall control requirements of the cleaning robot are analyzed,and PLC is selected as the control processor to design the control system of the inner wall cleaning robot.It mainly includes the selection of components such as action motors and pneumatic components,and then design and completion of the wiring schematic diagrams of the working motors and various sensors.According to the electrical components,the control system software is written,including the wiring diagram design and timing analysis of the PLC input and output,and the human-computer interaction interface of the upper computer is designed.The control system dynamics modeling to obtain a kinetic model to run different sessions and the eventual clean up the inner wall of the robot control system design.Perform cleaning planning and experimental analysis of the end effector,adopt the modular concept to design the PLC control program,and realize the trajectory planning of the end effector.Through the experimental simulation,the feasibility of the program was verified,and the efficiency of cement silo cleaning is further improved,thereby increasing the utilization rate of cement silo in cement enterprises.