Study On The Control System Of Unmanned Automatic Dismantling System Of The Shells

At present, dismantling of the waste shells is half conducted by hands and half by mechanization, the automatization is in a low level. And the shell is explosive, in case of accident, it will cause severe loss of people and property. At the same time, the technology of automatization has made great progress and is widely used in many domains. Thus, it makes high sense to use the technology of automatization in the dismantling progress of waste shells, actualize the unmanned automatic dismantling of the waste shells and improve the antomatization level and safety factor of shell dismantling.Based on collecting lots of data, deep researching the technology of automatization and the field survey on the present situation of the waste treatment in armory, by consulting with the relevant experts and military leadership, we developed the "Unmanned Automatic Dismantling system of the shells" At the beginning, this thesis will analyse the function requirement, bring out a new project of waste shell dismantling and then bring forward the whole framework and flow of the system and design the way of controlling.This system includes arm-and-hand system, dismantling machine, incision machine and remote controlling. There will be a detailed introduction to the controlling system of the systems. All of the parts in the system are controlled with a Mitsubishi FX series PLC. Arm-and-hand system consist of three manipulators, this thesis analyses the working progress of the three manipulators, designs the controlling flow chart and compiles the controlling echelon chart and program. The controlling system of dismantling machine and incision machine are also analyzed and designed.By debugging, the controlling part achieved the results as we have expected, and can carry out all of the controlling to the "Unmanned Automatic Dismantling system of the shells ". All of the guide lines to the system can meet the requirements.