Design Of Automatic Filling Machine ARM For Cement Filling

Cement manufacturing has always been a very basic manufacturing industry,and most modern cement production lines are produced using automated industrial equipment to cope with large demand.That is,the produced cement is poured into the woven bag by using the rotating nozzle,and there are a plurality of nozzles in the same plane in each rotation cycle.The cement woven bag is inserted into the nozzle at a certain position,and the nozzle detects the weaving.After the bag is inserted,the material is filled inwardly(filling while rotating),and after the filling is completed,the woven bag is unloaded at another position,that is,a filling operation is completed.The existing cement production line bag insertion machines have their own defects,some of which have insufficient accuracy of inserting bags,and some are too large and have restrictions on the material of the woven bag.In short,the bagging machines currently applied to various production lines have various production defects,and they cannot be fully applied to various production environments and conditions because of these defects.Especially,some bag-inserting machines can miss bags when working,so it is necessary to manually detect the bag insertion situation on the side and assist the normal operation of bag-filling.However,the production environment of the cement plant is relatively harsh,and the dust is more serious.It is not conducive to human health to stay in this working environment for a long time.Therefore,the research work in this paper mainly consists of the design of a fully automatic bagging robot arm,which can guarantees the correct rate of the insertion of the bag.Focusing on the research of the fully automatic bagging robot,we first reduced the model of the actual machine by 1:4,and carried out the feasibility test.Under the premise of running at a certain speed based on the nozzle,the corresponding mechanical arm structure was designed.The structure and size of the structure are continuously optimized to ensure that it has the function of synchronous bag insertion and guarantees better bag insertion effect.The research work of this paper mainly includes the following aspects:(1)The theoretical study of the pocket robot and the corresponding structural design.It mainly includes: designing the bag insertion scheme;comparing the advantages and disadvantages of various schemes with the accuracy and cost and feasibility of the bag;the structural design of the pocket arm;the calculation of the inertia of the pocket arm;the corresponding servo motor and the reducer,Selection and calibration of the shaft;finite element simulation analysis of the corresponding main force parts.(2)Mechanical arm kinematics and mechanics research.Based on the corresponding nozzle rotation speed and quantity,the corresponding motor drive algorithm is designed according to the selection of the motor and the reducer.The corresponding kinematics simulation is performed in ADAMS and Solidworks motion according to the corresponding driving algorithm.The corresponding mechanical structure continuously optimizes the motor control algorithm.The corresponding spatial coordinate system is established,and the plane projection of the motion trajectory is picked up to judge the accuracy of the insertion pocket.(3)Set up an experimental platform and design the control board according to the corresponding motor and driver.Debug various equipment parameters and perform swing arm experiments.Verify the feasibility of the swing arm and measure its motion trajectory.Compare it with the simulation results and optimize its control model.