SEMI-AUTOMATED LOADING AND TRANSPORT UNIT FOR CYLINDRICAL PIECE LOADS

In the modern world, loading and transport units are widely used in the oil and gas industry, in warehouses, during the installation and operation of drilling rigs, and during the laying of pipelines. In the process of performing loading and transport operations, the functionality of the loader's manipulating mechanism and maneuvering the chassis, relative to the object being loaded and transported, is not enough. Therefore, it is proposed to use a semi-automated loader based on a stacker, with three manipulators of a sequential structure, a conveyor belt with cargo restraints, and a replaceable container. Subsequently, the proposed loader will automate the process of loading and unloading cylindrical cargoes at oil and gas industry facilities. As a result of the work, a 3d model of a loading and transport unit is presented, the technological process of loading and transport operations of oil barrels in four stages is considered. The geometric and structural parameters of the loader are considered, the degree of freedom of the mechanism is determined. A kinematic study of loader manipulators has been carried out. The loader service areas are formed and the limitations of the point E of the output link of the load-handling body in the Cartesian coordinate system are presented.