Reconfigurable Mechanism Design And Kinematics Analysis Of Wine Box Base Production Line

Wine packaging box production line,as a supporting industry of wine drinks,has a huge market demand.Taking Panama Fen wine box base as an example,its base structure is complex and the production line has many processes.At present,most processes on the production line have been basically automated,however,some complex processes still rely on manual or manual assistance,such as the circle rough edge treatment process in the wine box base.This man-machine collaborative “special line and special box” production line layout has low efficiency and high cost,and the quality of wine box base is difficult to guarantee,which restricts the development of wine packaging industry.During the “14th five years plan” period,China's wine packaging should further develop in green,digital,intelligent,integrated,networked and personalized aspects.Facing the “six modernizations” requirements of the “14th five years plan”,combined with the theories of process flow,motion characteristics,mechanism topology and reconfigurable production line of wine box base production,this paper proposed a dual-mode movement platform with simple structure and easy control.and takes it as the dynamic module of wine box base production line.On the basis of the platform,a circle edging machine is designed,which can squeeze the rough edge in the base circle to the inner side of the box wall,and a base overturning machine is also designed.The kinematics and mechanics properties of the reconfigurable six-bar spatial mechanism,as the main structure of the dual-mode movement platform are studied.The main research contents of this paper are summarized as follows:Firstly,a spherical five-bar mechanism is proposed.The spherical five-bar mechanism has the movement characteristics of U pair and can effectively drive it.A reconfigurable six-bar spatial mechanism is designed based on the spherical five-bar mechanism.The mechanism has two mutually exclusive configurations with different degrees of freedom.The mechanism is the main mechanism of the dual-mode moving platform.The production equipment of the key processes of the wine box base production line,such as the circle edging machine and the base overturning machine,are designed on the dual-mode moving platform as the activity unit.The degrees of freedom and movement directions of the dual-mode movement platform under two modes are analyzed using screw theory,in which 6R mode has three degrees of freedom of 1R2 T,and(5R)mode has two degrees of freedom.Based on the structural characteristics of the mechanism,the D-H parameters of the mechanism in two modes are established,and the inverse kinematics solution of the parallel mechanism is obtained using DH matrix method.The particle swarm optimization(PSO)algorithm is used to transform the positive solution into the optimal solution.Three groups of positive solution examples are listed,respectively,and the optimum fitness curve of positive solution is obtained by Matlab program.The position space of the executive mechanism is solved using numerical search method.The workspaces of the moving platform in two kinds of movement modes are solved.The results show that the workspace of the dual-mode moving platform within the parameter range is continuous and stable,the range of the workspace is large,the mobility is large,and the movement performance is good.Based on the inverse position equation,the first-order and second-order movement influence coefficient matrices of the dual-mode moving platform are solved.When the platform is in the initial static stable state,the branch chains and rods are separated,and the statics analysis are carried out,respectively,the force situation of each rod is obtained,which provides a theoretical basis for the further research of various mechanics performances of the mechanism.The forces of each rod of the platform under the forces and torques are simulated using Adams software.The variations of the forces of the dual-mode moving platform are smooth and there is no impact,which proves that its bearing capacity is good.The output trajectories of the executive mechanisms in the circle edging machine and the base overturning machine of the dual-mode moving platform are planned.The circle edging machine and the base overturning machine are modeled using Solid Works software.The process actions performed by the circle edging machine and the base overturning machine are simulated using Adams software.The kinematic data of the output end of the executive mechanism are measured,and the displacement,velocity,acceleration and mechanics data of the model are analyzed.Based on dual-mode moving platform,the movements of the circle edging machine and the base overturning machine is smooth and flexible,and can well complete the process actions required by each process.At the same time,the circle edging machine and the base overturning machine have versatility and flexibility,are also suitable for the processing of other brands of wine box base,so that the production line has greater flexibility and minimizes the waste of the production line caused by the “special line and special box”.