一类机器喙的运动控制及应用

Motion Control and Application of a Machinery Beak

机器喙在食品包装与医疗机械等领域有广泛应用,依功能需求不同,其结构与运动控制关系各异。分析并推导了一类机器喙的运动及其运动控制所需的解析关系,分别对喙的最大、最小张合角与平动止行点关系以及任意角度张合角与平动位移之间的解析关系进行了详细分析与推导,得到了张合角与平推位移的解析关系。这些关系是控制机器喙的数学基础。还基于计算机仿真给出了该类机器喙工程设计的查表曲线。对于工程技术人员设计计算类似张合机构有参考价值。

Machinery beak is widely applied in machines of food packing and medical service.The shape and control relationship of the beak vary with demands for it in practice.This article makes an analysis on the motion of a machinery beak and drives out analytic relationship that is mandatory to control the beak’s motion.Maximal and minimal angles that the beak opens and closes,start-point and stop-point of the beak’s transnational displacement and mathematical relationship between an arbitrary open-close angle and the transnational displacement are deduced through mathematical deductions in the article.The obtained analytic relationships form mathematical foundation to control the beak’s motion.The article also presents an angle-displacement graph to be a reference that is helpful for engineers to design the similar mechanism.