Design And Experiment Of Injection And Separation Device Of Near Infrared Plastics Sorting System

With the continuous development of the domestic petrochemical industry,large vertical oil storage tanks will also be more and more widely used.According to petrochemical industry standards and requirements,the volume of oil storage tanks in service needs to be regularly checked to ensure that they are in a safe operating state.At present,the detection process is mostly completed by manual operation of the mobile radial deviation measuring instrument.Restricted by the environment and working conditions of the oil storage tank,the staff has a large workload,low detection efficiency and high danger.Therefore,in order to reduce manual and complicated work,it is of great practical significance to develop a wall-climbing robot that is suitable for the onsite environment of the oil storage tank and has load capacity.Based on the analysis and summary of the motion characteristics and wall-climbing methods of the existing wall-climbing robots at home and abroad,a new type of permanent-magnet wheeled wall-climbing robot which is suitable for the detection of the outer wall of large vertical oil storage tanks was proposed.First of all,the mechanical body design and control system construction was established,the adsorption,walking and driving scheme of the wall climbing robot were also determined.The static,kinematics and dynamics modeling of the wall-climbing robot is carried out to obtain the limit of the magnetic adsorption force under critical conditions.MAXWELL software was used to simulate the relationship between the parameters of the adsorption magnetic circuit and the adsorption force.The size of the adsorption mechanism was determined,and the results of the adsorption force and the simulation value were verified by an experimental device.Then based on Maxwell and Workbench,magnetic-solid coupling was performed to analyze the statics and prestress modal simulation on the model.In order to achieve lightweighting,the bottom plate was optimized by adopting the multi-objective genetic algorithm.Finally,mechatronics co-simulation was performed through the interface between dynamic simulation software ADAMS and control software Matlab / Simulink simulation.Through double closed-loop PID control,the model has good control accuracy and response speed.In addition,the model torque and lateral force parameters were simulated and analyzed during the straight and turning stages of the wall.The simulation results showed that the selected motor rated torque can meet the wall-climbing robot's running requirment.