基于Adams的自行走式缠绕包装机器人包装膜固定装置的设计与运动学仿真  

Design and Kinematics Simulation of Adhesive Tape Fixing Devices of Self walking Winding Packaging Robots Based on Adams

作　　者：石亚磊 王良文 刘一扬[2] 李伟玮 李飞飞 李梓鹏 Shi Yalei;Wang Liangwen;Liu Yiyang;Li Weiwei;Li Feifei;Li Zipeng(Mechanical and Electrical Engineering Institute,Zhengzhou University of Light Industry,Zhengzhou 450002,China;School of Intelligent Engineering,Zhengzhou College of Finance and Economics,Zhengzhou 450049,China;Anyang Cigarette Factory,China Tobacco Industry Co.,Ltd.,Anyang 455004,China)

机构地区：[1]郑州轻工业大学机电工程学院,河南郑州450002 [2]郑州财经学院智能工程学院,河南郑州450049 [3]河南中烟工业有限责任公司安阳卷烟厂,河南安阳455004

出　　处：《机械传动》2023年第5期38-44,共7页Journal of Mechanical Transmission

基　　金：国家自然科学基金项目(52075500,52005453);河南省科技攻关重点项目(232102221033,232102220075);河南省教育厅重点科技攻关项目(21A460034);郑州财经学院自然科学重点项目资助项目(ZCKY2022ZD-0101)。

摘　　要：缠绕包装广泛应用于物流运输包装中。开发自行走式缠绕包装机器人可以显著推升行业的技术进步,而开发该机器人的关键是包装膜固定装置的设计。提出了一种用于自行走式缠绕包装机器人的包装膜固定装置,包括气缸驱动关节臂、夹持翻转机构、压带切断机构、胶带展开机构等。在根据工作要求进行机构设计的基础上,采用SolidWorks对结构进行三维建模,并通过Adams对其进行多体运动学分析,验证了机构的可行性。仿真结果表明,夹头的运行轨迹符合规划路径,达到了设计要求。研究为后续缠绕包装机器人的实用化提供了依据。Wrap-around packaging is widely used in logistics and transportation packaging.The development of a self-propelled winding and packaging robot can significantly push up the technological progress of the industry,and the key to the development of this robot is the design of the packaging film fixing device.In this study,we propose a packaging film fixing device for a self-propelled wrap-around robot,including a cylinder driven articulated arm,a clamping and turning mechanism,a press tape cutting mechanism,and a tape unfolding mechanism.Based on the mechanism design according to the work requirements,SolidWorks is used to model the structure in three dimensions,and the multi-body kinematic analysis is performed by Adams to verify the feasibility of the mechanism.The simulation results show that the running trajectory of the belt chuck conforms to the planned path and meets the design requirements.The structural design and simulation study in this study provide the basis for the subsequent practicalization of the winding and packaging robot.

关 键 词：包装机器人 缠绕包装 包装膜固定装置 建模 ADAMS仿真 

分 类 号：TB486.3[一般工业技术—包装工程] TP242[自动化与计算机技术—检测技术与自动化装置]