一种袋装水泥自动装车机设计与分析

Design and Analysis of an Automatic Loading Robot for Bagged Cement

针对目前国内外市场上已有的水泥装车机在国内水泥厂中不能实现全自动装车以及无法适应多种规格的运载车厢和袋包尺寸的问题,我们设计了一种袋装水泥自动装车机,实验分析了该机构的组成及其运动原理,建立了具体的运动学模型,设计了控制系统的总体架构,并给出了装车作业的控制流程。现场装车实验表明,该自动装车机能实现全自动化,可适应不同车厢和袋包尺寸,袋包码放整齐,达到了设计目标,满足了国内袋装水泥自动装车的要求。

Considering that that the existing cement loading machines in the domestic and foreign markets are not able to adapt to the various sizes of transport vehicles and bags of cement,and not able to achieve automatic loading in domestic cement factories,an automatic loading robot for bagged cement is designed in this paper.The composition and movement principle of the robot are analyzed,the kinematic model is established,the overall structure of the control system is illustrated,and the control flow of the loading operation is given.The field loading experiment shows that the automatic loading robot is fully automated,able to adapt to the different sizes of transport vehicles and bags of cement,and the bags are neatly arranged,which achieves the design goals and meets the requirements of the domestic automatic loading of bagged cement.