给袋式包装机撑袋空间组合机构的运动分析

Kinematic Analysis of Spatial Combined Mechanism for Bag Opening in Automatic Bag Packaging Machine

目的为了使给袋式包装机更加精准、平稳地撑袋与落料。方法通过建立撑袋机构的数学模型,分析了撑袋机构末端执行件的运动特性,以矩阵坐标变换法推导出撑袋执行件的位移、速度、加速度计算公式,并通过Matlab编程得出了撑袋机构的运动学曲线图。结果升降速度和加速度曲线连续,旋转速度曲线连续,加速度曲线虽不连续,但最大加速度较小。结论运动分析表明,采用该双凸轮-连杆空间组合机构作为撑袋工位的执行机构,可以精准、平稳地完成撑袋所需的运动轨迹,实现撑袋机构的预期功能。

Objective To make bag opening and blanking more precise, more stable in automatic bag packaging machine. Methods Based on the mathematical model of mechanism for bag opening, the kinematics characteristics of executive link were analyzed, base on the coordinate matrix transformation, the calculation formulas of displacement, velocity and acceleration of executive link for bag opening were deduced, and Matlab was used to carry out the kinematics simulations, getting the kinemat- ics curves of bag opening mechanism. Results The lifting velocity and acceleration curve as well as the rotation velocity curve was continuous, while the rotation acceleration curve was discontinuous, with a small peak acceleration. Conclusion The re- suits of kinematic analysis showed that the double cam-linkage combined mechanism as actuator of bag opening station, can finish the motion track of bag opening mechanism end-effector, and the expected function of bag opening mechanism can be better realized.