机械手式高速无菌砖包机横封系统运动特性研究及实现

上海交通大学硕士学位论文机械手式高速无菌砖包机横封系统运动特性研究及实现姓名：温鹏俊申请学位级别：硕士专业：机械设计及理论指导教师：王石刚20080201I1.II2.MATLAB5B-spline3.MATLAB4.MATLABUGUGIIIABSTRACTIIIRESEARCHANDREALIZATIONOFKINEMATICPROPERTIESFORMANIPULATORTRANSVERSESEALINGSYSTEMOFHIGH-SPEEDASEPTICBRICKPACKAGINGMACHINEABSTRACTTheliquidbeverageproductionisanewlyemergingindustryinourcountryoverthelastdecade.Nowadays,therapiddevelopmentoftheliquidfoodandbeveragemarketstronglypromotedthedevelopmentofdomesticbeveragepackageindustry.However,thecoretechnologyofthehigh-speedasepticbrickpackagingmachineismonopolizedbyforeignmultinational,whichseriouslyimpedesthesounddevelopmentofthedomesticbeveragepackageindustry.Consequently,it’spressingthatwedevelopthehigh-speedasepticbrickpackagingtechnologyofourownandpossesstheintellectualproperty.Transversesealingsystemisoneofthecorepartsofthehigh-speedasepticbrickpackagingmachine,whichdirectlyimpactsthequalityandproductivityofthelatter.Atthepresenttime,thetechnologyofthispartisstillablankathome.Thenthedesignandresearchofthetransversesealingisamatterofgreatimportancefordevelopingthehigh-speedasepticbrickpackagingtechnologywithourownintellectualproperty,breakingupmonopoliesoftheforeignmultinationalandpromotingthedomesticbeveragepackagingindustry.Inthelightofpracticalapplications,thispaperconductedanelaboratestudyandanalysisintotheproductiontechnics,kinematiccharacteristicandmachinerysystemdesign,employingthemethodoftheoryanalyzingandsoftwaresimulationfulfilledthemechanismdesignofthetransversesealingsystemwhichsatisfiedthetechnicalandkineticdemandbyandlarge.Thekeyworkisasfollow:ABSTRACTIV1.Studiedthecharacteristicofthehigh-speedasepticbrickpackagemolding,workedoutthefunctionalrequestofthetransversesealingsystem,providedorientationandevidencetothemechanismlocomotiondesignofthetransversesealingsystem,proposedtheimplementationandelementsofthemachineaimingatdifferenteachfunction.2.Accordingtothetechnicaldemandofthetransversesealing,consideringconstraintssuchastheminimalopenangleofthejaw,totaltravellengthandsoon,designedthemotionlawofthemanipulatortransversesealing,conducted5-orderB-splinefittingoptimizationtothemotionlawwithMATLAB,successfullyeliminatedtheaccelerationgustinthemotion.3.Inordertoachievetheaccuratemovementofthetwodriving-linksofthetransverssealingjaw,establishedthekinematicmodelofthetransversesealingbysettinguplocalconstraints,andperformedkinematicanalysistoitbyappendingdriveconstraints.BasedontheMATLAB'spowerfulfunctionofnumericalcalculatingandtheleast-squaresalgorithm,workedoutthecomputingprogramofthelinkmechanism’skinematicmodel,reverselydeterminedthemotionlawoftheinputendofthemechanism.4.Deducedthecorrelativeconditionofthetwocam’sbasicparameters,implementedtheunisonousinstallationandworking.Accordingtovariousfixingmode,theanalyticalexpressionofthetwodrivecam’sprofilewasestablishedrespectively.Andtheauto-calculatingfunctionwasworkedoutwithMATLAB,whichcanproviderelevantinputandoutputparametersondemand,anddisplaythecamprofile.Theauto-calculatingwasprogrammedbasedonsecondarydevelopmentofUG,whichcanconvertthedataofthecamprofileinto3-dmodelandconductkinematicsimulationofthemechanism,takingadvantageofthemotionsimulatingmoduleofUG.AsdisplayedinthesimulatingABSTRACTVresult,thecam-linkagemechanismrealizedtheprospectivemotion.Thispaperfocusesonthedesignrequirementsofthetransversesealing’stechnicsandmotioncharacteristics,employingthemethodoftheoryanalyzingandsoftwaresimulation,optimizedthemotioncurve,andcompletedthedesignofthemanipulatortransversesealingmechanismwithcomplexmotionandcamdriven.KEYWORDS:high-speedasepticbrickpackaging,transversesealingsystem,kinematicpropertiesanalysis,mechanismdesign,softwaresimulation2008218200821811.1:[1]20017.2200618.2920.5%1003001/5“515”201020020044816823.8200327.9520056000000200429.1720061-107196692.927.96%[2]20%~30%295200480009000/40006000/250ml0.40.15100151.2(UHT)3(1)(2)121868(3)(4)(5)(6)[3]1.2.1406030,(LEALER)(ERCA)SERACMETAL-BoxBOSCHHAMBAGASTIBENCOCERACELECSTERSIG[3,4]70[5,6,7]10%[8]2060708“”1986“”1990“”419461961UHTTBA2002TBA/22A3/12,000TBA/2220,000TBA/225200250A3/1,000TBA/221,000[9,10][11]20049280009000/40006000/51.2.21-1[12]1-1Fig.1-1Productlineofhigh-speedasepticbrickpackaging1-21-2Fig.1-2Processofhigh-speedasepsisbrickpackaging1.36PLC[13]1.41.4.11.2.3.MATLAB74.MATLABUGUG5.1.4.21-33456MATLABMATLAB1.UG2.Matlab1-3Fig.1-3Structureofthepaper82-1UHT2-1Fig.2-1ProcessofAspectPackaging2.1[14,15]2-2,2-2Fig.2-2Thepackagematerialforasepticbrick92-32-3Fig.2-3Thematchingofpre-creaseandactualcrease2.2102.2.12.2.2(1)(2)(4)(3)11[16,17]2.2.3220V/50Hz[13,18]2.2.4(1)(2)(3)2.2.5122-42-4Fig.2-4Mechanismoffinalfolder2.3133-13-1Fig.3-1Wayofproductfilling[19]14[20][21,22]3.13-2153-23-2Fig.3-2Sketchmapofcam-linkagemechanismfortransversesealing3-3163-3Fig.3-3Diagramforyoke-jawmechanism3.2[23]3-43-5Fig3-4Sketchmapforpressuremechanismoftransversesealing3-4173-5Fig.3-5Turningprincipleofpressurecatch3-6CAABCA3-6Fig.3-6Linearmotionprincipleforpressurecatch183.33-73-73-8Fig.3-7SketchmapoffoldflapFig.3-8Sketchmapofpreliminaryfold3-8