粉料充填包装的自动取袋、开袋机构设计与运动仿真分析

Design and motion simulation analysis of automatic bag picking and bag opening mechanism for powder filling and packaging

为解决在粉料包装中取袋、开袋过程难以实现全自动的问题,设计粉料充填包装的自动取袋、开袋机构。利用旋转气缸运转平滑的特性取代以往的直线往复的取袋形式,将取袋、开袋过程相结合,减少编织袋的输送时间;对关键性工具-真空吸盘进行选型和计算,得到吸盘型号DP-50、数量4个、直径50 mm,吸附响应时间0.056 s等参数;利用Pro/E对取袋、开袋机构进行三维建模,对右吸盘的轨迹进行规划,并在ADAMS进行仿真,得出右吸盘前3 s的运动轨迹,将规划后右吸盘的位移、速度及加速度与使用STEP函数的曲线进行对比,验证规划轨迹的合理性。研究为粉料充填包装取袋、开袋机构的设计提供思路。

In order to solve the problem of difficulty to realize fully automatic bag picking and opening process in powder packaging,the automatic bag picking and opening mechanism for powder filling and packaging was designed.The rotary cylinder was used to replace the previous linear reciprocating bag picking and bag opening process by its smooth running characteristics,and the bag picking and bag opening process were combined to reduce the conveying time of woven bags;Through selection and calculation of one of the key tools-vacuum suction cups,parameters such as suction cup model DP-50,a diameter of 50 mm and an adsorption response time of 0.056 s were obtained;the bag picking and bag opening mechanism was modeled in 3D using Pro/E,and the trajectory of the right suction cup was planned and simulated in ADAMS,and the trajectory of the right suction cup was derived.The displacement,velocity and acceleration of the planned right suction cup were compared with the curve using STEP function to verify the rationality of the planned trajectory.The study provides ideas for the design of bag picking and bag opening mechanism for powder filling and packaging.