Study On The Unmanned Automatic Dismantling System Of The Shells

The waste treatment of shells is an important part in handling waste shells and recycling ammunition in the military industry. This kinds of process was completely conducted by hands in the past, it was ineffective and had risky hidden troubles. Thus, the safety, automation and intelligence of the performance in dealing with the waste of the shells has turned out to be a paramount problem.Based on the deep research of automatic control in industry, this thesis made a detailed field survey on the present situation of the waste treatment in armory, developed "Unmanned Automatic Dismantling system of the shells ". At the beginning, this thesis will introduce the total scheme of the system which has been discussed for several times and determined by experts from Shandong University and Jinan military area, it will analyse the function requirement and bring forward the whole framework of the system. This system includes three main parts: Automatic transporting and positioning system, Dismantling system of the shells, Remote monitoring system. There will be a detailed introduction about the manipulator in the part of Automatic transporting and positioning system。We completed the design of hand module,wrist module,vertical arm module and horizontal arm module, brought forward the idea of modularization in design in this chapter. In dismantling system of the shells, we designed original tweaking device, unfixing device, incising and pouring device, to make them satisfy the needs of automatic dismantling. The thesis will commence the introduction of Remote Monitor and Control System through the theory of Control System, we established the Control System on the foundation of the hardware architecture and the software requirement. Through the transmission between the processor and PLC, the operator in the armory can investigate the dismantling process remotely. This lessened the laboring intensity and upgraded the level of automation, safety and reliability.Every index of this system has been tested repeatedly and the system has been applied in the armory. Fortunately, it has achieved the results as we have expected. Finally, this thesis summarized the system's shortage appeared in the practical application, and putted forward the corresponding solutions.