Optimum On Part Crawling And Controlling System Of Line For Electric Detonator

The automatic packaging production line is a kind of blasting equipment which combines machine,electricity,liquid and gas together.Under the control of PLC program,packaging,packing and transportation for electric detonators could be achieved by a complete set of packaging manufacturing equipment.Aiming at automatic production line of electric detonators,the problem of motive inertia,motive instability,unable to small-velocity start and big-velocity to rotate,and the reasonable motive status of small-velocity stop has been studied,just as follows:(1) The design project of crawling structure had been brought forward according to the technical requirement for electric detonator manufacturing.According to the project,kinematics displacement equations,velocity equations and acceleration equations had been built up,and also inverse solutions of these equations were discussed next.Meanwhile,a new approach to get mechanism velocity which employed mixed gene algorithm was brought forward,from the need of reverse problem of few freedom degree basing on recursive speed formula of the crawling body links.Velocity Jacobian matrix is not essential in technology above with simple programming.(2) 3D simulation model of manipulator with five degrees of freedom was built up through the software of Pro/E with 3D modeling technology.And then,the simulation model was exported into ADAMS.With that,the crawling mechanism was dynamically simulated with the virtual prototype established in ADAMS.On the base above,each rotating angle and moment of joint,the relation curve of angle velocity and acceleration were achieved.The influences of each rotating angle displacement in joint,each dynamic curve of staff,each moment and angle variable in joint,to crawling mechanism was analyzed.(3) The structure of control system for electric detonators automatic packaging production line was established.The locale Fieldbus PROFIBUS-DP was adopted to constitute connection controller,and then its control method and control strategy were planned.Eventually,corresponding controlling program was presented.At last,the monitoring to manufacturing flow in automatic packaging production line of electric detonator was realized by adopting industrial configuration software Wincc through OPC technology basing on Industrial Ethernet.