摆臂式回转插袋机优化设计及其主从控制

Optimal design of swing-arm rotary bag insertion machine and its master-slave follow-up control

为解决摆臂式回转插袋包装机插袋率偏低的问题,对摆臂机械手四连杆机构进行优化设计,并使用电子凸轮技术对其进行主从随动控制。首先以四连杆机构参数为设计变量,四连杆连杆展开杆轨迹与理想插袋轨迹误差最小、四连杆连杆展开杆与出料嘴轴线夹角最小为优化目标,利用遗传算法求解多目标约束问题。然后,应用电子凸轮对回转料塔和摆臂机械手进行主从随动控制,提高控制精度。改进后的插袋率达到99.8%,高于千分之三的行业标准。

In order to solve the problem of low insertion rate of swing-arm rotary bag insertion packaging machine,the four-bar linkage mechanism of the swing arm manipulator was optimized,and the master-slave follow-up control was performed using electronic cam technology.First,the parameters of the four-bar linkage mechanism were used as design variables and the smallest error between the trajectory of the four-bar linkage deployment rod and the ideal bag insertion trajectory as the optimization objective to solve the problem of multi-object constraints by genetic algorithm.Then,the electronic cam was used to perform master-slave follow-up control on the rotating material tower and the swing arm manipulator to improve the control accuracy.The improved bag insertion rate reached 99.8%,higher than the industry standard of three thousandths.