【摘要】：目的使給袋式包裝機(jī)實(shí)現(xiàn)更加精確、平穩(wěn)的取袋送袋。方法通過建立取袋機(jī)構(gòu)的數(shù)學(xué)模型,得到包裝機(jī)允許空間內(nèi)大、小臂鉸鏈點(diǎn)的位置可行域及初始安裝角范圍;以封閉矢量法計算出末端執(zhí)行器運(yùn)動學(xué)參數(shù)解析式;應(yīng)用Matlab編程得到其運(yùn)動學(xué)曲線圖譜并進(jìn)行分析。結(jié)果優(yōu)化后當(dāng)大臂長l1=360mm、小臂長l2=200 mm、安裝角?=30?時末端執(zhí)行機(jī)構(gòu)的運(yùn)動學(xué)曲線軌跡過渡平穩(wěn)、沒有突變。結(jié)論采用結(jié)構(gòu)參數(shù)優(yōu)化后的取袋機(jī)構(gòu)具有良好的運(yùn)動特性,能夠?qū)崿F(xiàn)更加平穩(wěn)的取送袋。
[Abstract]:Objective to make the bag packing machine more accurate and stable. Methods by establishing the mathematical model of bag picking mechanism, the feasible range of position and initial installation angle of the hinge point in the permitted space of the packing machine was obtained, and the kinematic parameter analytic formula of the end actuator was calculated by the closed vector method. The kinematics curves were obtained by Matlab programming and analyzed. Results after optimization, when the length of the upper arm is 360mm and the length of the lower arm is 120mm, the angle of installation is 30? The kinematics curve of the time end actuator is stable and has no abrupt change. Conclusion the bag-removal mechanism with optimized structural parameters has good kinematic characteristics and can achieve more stable bag removal.
【作者單位】： 河北工業(yè)大學(xué);天津商業(yè)大學(xué);
【基金】：天津市自然科學(xué)基金重點(diǎn)項(xiàng)目(15JCZDJC34100) “十二五”國家科技支撐計劃(2012BAD32B04)
【分類號】：TB486
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本文編號：2413638