摘要
为实现异形瓶的高效自动装箱,简述平面H-bot机构原理及其在追踪抓取式装箱机上的应用,通过分析机构的运动组合方式,将其简化为数学模型进行简要分析,推导出移动末端夹具位移分别与电机转角和电机角速度之间的运动关系矩阵表达式,和各阶段移动末端夹具移动与电机角速度的关系式,为程序设定机构运动轨迹参数提供理论依据。基于其机构运动原理分析得出伺服电机选型方法并依据实际数据计算伺服电机所需功率。实际运行结果得出,装箱过程产品破损率在0.05‰以内,单次装箱周期可缩短至4.8 s,效率提升约78%。研究为异形瓶自动化装箱提供参考。
In order to realize efficient automatic packing of special-shaped bottles,the principle of planar H-bot mechanism and its application in tracking and grabbing type packing machine were briefly described,and the motion combination mode of the mechanism was analyzed,which is simplified into a mathematical model for brief analysis.In addition,the matrix expression for motion relationship between the displacement of the moving end fixture and the motor rotation angle and motor angular velocity,and the relation expression between the movement of the moving end fixture and the motor angular velocity in each stage were derived,which provides theoretical basis for setting the motion trajectory parameters of the mechanism by program.Based on the analysis of its mechanism motion principle,the selection method of servo motor was obtained,and the actual power required by servo motor was calculated according to the actual data.The actual operation results show that the breakage rate of products in the packing process is less than 0.05‰,the single-time packing period can be shortened to 4.8 s,and the efficiency can be improved by about 78%.The study provides reference for automated packing of special-shaped bottles.
作者
赖厚安
LAI Houan(Shanxi Peiyu Packaging Institute of Science and Technology,Xi'an 710077,China)
出处
《包装与食品机械》
CAS
北大核心
2023年第5期82-86,共5页
Packaging and Food Machinery
关键词
H-bot机构
追踪抓取
装箱机
无压力
H-bot mechanism
tracking and grabbing
packing machine
non-pressure
