Research And Realization Of Kinematic Properties For Manipulator Transverse Sealing System Of High-Speed Aseptic Brick Packaging Machine

The liquid beverage production is a newly emerging industry in our country over the last decade. Nowadays, the rapid development of the liquid food and beverage market strongly promoted the development of domestic beverage package industry. However, the core technology of the high-speed aseptic brick packaging machine is monopolized by foreign multinational, which seriously impedes the sound development of the domestic beverage package industry. Consequently, it's pressing that we develop the high-speed aseptic brick packaging technology of our own and possess the intellectual property.Transverse sealing system is one of the core parts of the high-speed aseptic brick packaging machine, which directly impacts the quality and productivity of the latter. At the present time, the technology of this part is still a blank at home. Then the design and research of the transverse sealing is a matter of great importance for developing the high-speed aseptic brick packaging technology with our own intellectual property, breaking up monopolies of the foreign multinational and promoting the domestic beverage packaging industry.In the light of practical applications, this paper conducted an elaborate study and analysis into the production technics, kinematic characteristic and machinery system design, employing the method of theory analyzing and software simulation fulfilled the mechanism design of the transverse sealing system which satisfied the technical and kinetic demand by and large. The key work is as follow: 1. Studied the characteristic of the high-speed aseptic brick package molding, worked out the functional request of the transverse sealing system, provided orientation and evidence to the mechanism locomotion design of the transverse sealing system, proposed the implementation and elements of the machine aiming at different each function.2. According to the technical demand of the transverse sealing, considering constraints such as the minimal open angle of the jaw, total travel length and so on, designed the motion law of the manipulator transverse sealing, conducted 5-order B-spline fitting optimization to the motion law with MATLAB, successfully eliminated the acceleration gust in the motion.3. In order to achieve the accurate movement of the two driving-links of the transvers sealing jaw, established the kinematic model of the transverse sealing by setting up local constraints, and performed kinematic analysis to it by appending drive constraints. Based on the MATLAB's powerful function of numerical calculating and the least-squares algorithm, worked out the computing program of the link mechanism's kinematic model, reversely determined the motion law of the input end of the mechanism.4. Deduced the correlative condition of the two cam's basic parameters, implemented the unisonous installation and working. According to various fixing mode, the analytical expression of the two drive cam's profile was established respectively. And the auto-calculating function was worked out with MATLAB, which can provide relevant input and output parameters on demand, and display the cam profile. The auto-calculating was programmed based on secondary development of UG, which can convert the data of the cam profile into 3-d model and conduct kinematic simulation of the mechanism, taking advantage of the motion simulating module of UG. As displayed in the simulating result, the cam-linkage mechanism realized the prospective motion.This paper focuses on the design requirements of the transverse sealing's technics and motion characteristics, employing the method of theory analyzing and software simulation, optimized the motion curve, and completed the design of the manipulator transverse sealing mechanism with complex motion and cam driven.