| With the increasingly widespread application of chemical reaction equipment such as vertical kneading machines,fast and safe cleaning has become increasingly important.At present,the commonly used cleaning method is manual cleaning.Due to the problems of high labor intensity and low cleaning efficiency in manual cleaning of kneading machines;On the other hand,due to the presence of harmful gases in the cleaning environment and being in flammable and explosive situations,the safety of workers cannot be guaranteed.The purpose of this study is to improve the cleaning efficiency of kneading machines and replace traditional manual cleaning methods.By utilizing robot technology,a jet cleaning robot that can quickly and safely clean chemical reaction equipment such as kneading machines has been developed.Firstly,the structure and position status of the kneading machine were analyzed,and the cleaning paths of the kneading machine’s material pot and stirring paddle were analyzed.The types and cleaning ranges of different cleaning nozzles were also analyzed.Based on the analysis of the cleaning path of the kneading machine’s material pot stirring paddle and the cleaning range of the cleaning nozzle,the action requirements of the jet cleaning robot were clarified;A typical telescopic robot was introduced and jet cleaning experiments were conducted,and the advantages and disadvantages of the robot in cleaning experiments were obtained.Secondly,based on the action requirements of the jet cleaning robot,the design technical indicators of the cleaning robot were proposed,and the configuration,driving mode,and explosion-proof protection form of the cleaning robot were clarified.The main structure of the jet cleaning robot was designed and its three-dimensional model was established;Mechanical analysis was conducted on the key components of the jet cleaning robot at their extreme positions under different working conditions,verifying that the material strength meets the work requirements;Kinematics analysis is carried out.Firstly,the linkage coordinate system of the jet cleaning robot is established,then kinematics is solved,and the kinematics of the robot is simulated and verified,and the results are consistent with the theory;Finally,the Monte Carlo method was used to analyze and calculate the workspace of the jet cleaning robot,and the workspace was simulated to verify that it meets the work requirements.Finally,the action process of the jet cleaning robot during the vertical and inclined placement of the kneading machine material pot,as well as the cleaning of the stirring paddle,was analyzed,and the control process of the robot’s joint variables was obtained;And a jet cleaning experimental platform was built to conduct experiments on various joint movements of the jet cleaning robot,verifying that the jet cleaning robot meets the work requirements and laying the foundation for subsequent practical production. |
