双凸轮驱动的取送瓶机械手运动规律设计

Design of Motion Law of Double CAM Driven Bottle Manipulator

取送瓶双凸轮式机械手是旋转式吹瓶机生产瓶子过程中的重要组成机构,其运动的平稳性将影响成型瓶的效率。通过对机械手在取送瓶过程的运动分析,提出一种新的设计思路:采用矢量分析法建立取送瓶同步段的运动轨迹方程,通过三次样条法拟合机械手的运动轨迹;对摆动凸轮过渡段进行分段设计,反推出直动凸轮的轨迹方程;借助Matlab软件进行求解曲线坐标,得到取送瓶凸轮理论轮廓曲线,提高了机械手的传动效率。

As bottle picking and feeding double CAM manipulator is an important component of the rotating bottle blowing machine in the process of bottle production,the smoothness of its movement will affect the efficiency of bottle forming.Based on the motion analysis of the manipulator in the process of fetching and feeding bottles,a new design idea is proposed.The vector analysis method is used to establish the motion trajectory equation of the synchronous section of fetching and feeding bottles,and the motion trajectory of the manipulator is fitted by cubic spline method.The transition section of swing CAM is designed in sections,and the trajectory equation of direct CAM is inversely deduced.Matlab software is used to solve the curve coordinates,and the theoretical contour curve of the CAM is obtained.Experiments show that the proposed method effectively overcomes discontinuity of speed and accelerated speed at jionts,and ensures the action requirements of manipulator and the smoothness of overall operation as well.