Development Of Loading And Unloading Robot System For Oil Barrel Renovation Production Line

At present,China has become a major manufacturing country in the world of raw materials.The main problem currently faced is the consumption of large amounts of oil resources and serious pollution of the environment.At the same time,the demand and use of oil barrels are increasing.Among the methods currently used for oil barrels renovation,chemical cleaning has the disadvantages of polluting the environment and affecting the health of workers.Mechanical chain cleaning has the disadvantages of cleaning dead angles and reducing the life of oil barrels.High-pressure water jet cleaning has the disadvantage of cleaning dead zones.Automated cleaning has become a trend.The research object of this paper is an automatic production line for the renovation of used oil barrels.The production line uses a mechanically automated cleaning method,and the new oil barrels are refurbished through a new process combining shaping and polishing.The loading and unloading robot system is the key components of the oil barrels refurbished production line have an important impact on the normal production operation of the production line.The main research work of this paper is as follows:(1)The production and processing technology of waste oil barrel renovation production line is developed.The working process and cycle of the loading and unloading manipulator are systematically analyzed and planned.The specific technical parameters of the manipulator are determined.On this basis,the overall design scheme of the manipulator is put forward,the model of the manipulator is established,and the key components are selected and designed.According to the technological requirements of the production line,the gripper of the manipulator is designed.(2)Based on ANSYS Workbench,the finite element model of the loading and unloading manipulator system is established,and the static analysis of its key components is carried out.According to the analysis results,the gripper is optimized.The results show that the stress concentration is reduced and the mechanical strength is enhanced.Through modal analysis of key parts of the manipulator system,the rationality and effectiveness of the design of the manipulator are verified,and the resonance phenomenon is effectively avoided.(3)The hardware and software system of the loading and unloading manipulator control system are designed.The hardware system includes I/O distribution,PLC selection,electrical schematic design and design and production of electrical control cabinet.The software system includes ladder programming design.Human-computer interaction interface design.(4)Based on the S7-200 simulator,the PLC program simulation and debugging of the manipulator system was carried out,and the gripping,the movement and the whole machine experiment of the manipulator were designed.At the same time,the field experiment was carried out.The test results show that the technical parameters of the manipulator meet the technical requirements,and the working efficiency is over 90%.