Research And Design Of Explosive-proof Mould Unloading Manipulator

The double-base explosive is a spiral extrusion weapon launching propellant. In orderto meet the needs of different range, a military enterprise need to regular replacement ofmold,to product double-base explosives with different section types.In the stage of thereplacement of mold mold unloading, due to the mold cavity containing part of residualmedicine, in case of a source of ignition, prone to ignition or explosion, resulting inproduction safety accidents.The traditional mold unloading by multi scene operation,unloading process is complex, inefficient and prone to malfunction ignition source, poses agreat threat to the safety of staff.According to the manual unloading mode, on-site personnel life security situation, thispaper puts forward a method of mold unloading of the remote control, the use of relatedtechnologies of explosion-proof manipulator, pneumatic transmission, PLC control, design ofexplosion-proof unloading manipulator, replacement workers on-site unloading.According to the production equipment field environment and artificial unloading workflow characteristics, we design the explosion-proof Cartesian coordinate manipulatorLongmen frame, replacement workers on-site unloading work;In order to adapt to thecomplexity of unloading process, improve the reliability and accuracy of remote control,explosion-proof unloading manipulator through video observation, dynamic control methodfor remote operation.This paper describes the overall design of explosion-proof unloading manipulator,mechanical structure design and selection of explosion-proof manipulator, pneumatic controldesign, program design and parameter setting of PLC variable frequency control ofasynchronous motor.Finally, the prototype debugging problems, analyze and resolve liftingjitter in the lifting process.In addition, in order to ensure the safe and reliable operation ofunloading mechanical hand in hand, the whole design process of mechanical control, explosion-proof ignition source as the focus of the design considerations, to avoid thedangerous source of mechanical and electrical.