Design And Application Of Cross-Shaped Flexible Parallel Mechanism For White Wine Cartoning Line

In response to the problems of low cartoning efficiency and low automation level in the white wine cartoning production line,this paper firstly designs a set of automatic cartoning mechanism with double parallel cross-type H-BOT mechanism as the core component.The parallel mechanism adopts a flexible drive system(double orthogonal synchronous belt structure),which can convert the output torque of the motor shaft into the driving force in the linear direction at the actuating end of the mechanism;the actuating end has two mutually perpendicular linear motions under the action of the synchronous toothed drive belt: the motion along the frame guide(horizontal direction)and the motion of the slider along the guide(vertical direction).Thus,the positioning of the drive in the plane can be achieved and meet the practical requirements.The main research of this paper includes the following aspects:1)The structural design was carried out by selecting the key components and determining the parameters of the parallel flexible mechanism,and the mass and load static analysis was carried out on the moving members and bottom frame of the cross-shaped H-BOT to verify the strength and stiffness of the moving members and bottom frame to ensure the accuracy problem when the moving members move.2)Through the analysis of the geometric characteristics of the mechanism,the positive and negative position solutions of the actuator and the drive wheel are derived,and the position equation,velocity equation and acceleration equation of the actuator are obtained,and then the relationship between the input parameters of the actuator and the drive wheel is obtained.The kinematics and dynamics model of the cross-type H-BOT mechanism is established,and the trajectory planning is carried out for the parallel shift mechanism with few degrees of freedom,and the simulation results of the trajectory planning are used to study the influence of different motion states of the actuator on the motor input torque,so as to select the optimal solution of the path planning.3)A virtual prototype model of the cross-type less-degree-of-freedom flexible parallel transplanting mechanism is established in SIMPACK software,and the displacement,velocity and acceleration curves of the actuating end are obtained by inputting parameters from the constraints of the dynamic pulley and the actuating end;meanwhile,the dynamics simulation analysis is carried out under certain path conditions to obtain the angular velocity and driving torque curves of the timing pulley.The above simulation results are used to verify the rationality of the mechanical design and the feasibility of the trajectory planning of the actuating end.4)Conduct production line field experiments to verify and analyze the above theoretical model design part based on experimental test data to further verify the rationality of the mechanism design.Demonstrate the value of its use in actual production,by realizing the application in the packaging production line of a national brand of liquor to meet the manufacturer’s production requirement of 15,000 bottles per hour.