Analysis And Improvement Of Vacuum Adhesive Mechanism For Automated Pillow Packed Liquid Injection Tray Packing Equipment

Automated pillow packed liquid injection tray packing equipment is an equipment that automatically places pillow packed injections into injection trays.Presently,medicine packing industry is demanding this technology urgently.However,the application of this technology is limited due to the success rate of into the tray was only 77%for the problems of null packets and deranged packets.Therefore,forward study of automated pillow packed liquid injection tray packing equipment is needed to apply this equipment to automated production line.In view of this,this paper makes an analysis and research on the technological characteristics of the automatic pillow packed liquid injection tray packing equipment.And provided analyzes and improves of automated pillow packed liquid injection tray packing equipment by synthesizing advanced vacuum technology and robotic technology.Analysis shows that there are two reasons for the low success rate of into the tray.First,the suction cup can not effectively absorb the pillow bag;second,the mechanical arm transfer pillow bag running is not smooth enough.In view of these two aspects,this paper has carried on the research in the following three aspects.First,by analyzing the vacuum suction cup in the pick up in the force situation,According to the given process conditions and actual operating conditions,the type and size of the vacuum suction cups are selected and designed,and the silicone rubber 50oShoreA,which is easier to form a confined space with the folding pillow,is selected as the vacuum sucker.material.Experimental results show that the selection of ?8 silicone rubber 50oShoreA sucker the success rate of into the tray up to 97.58%;then,kinematic model of the robotic arm and the corresponding error model were built,analyzing the error of each motion parameters which has influence on the reliability and accuracy of the motion of the robot arm,disadvantageous effects caused by internal factors of the robot were eliminated,And the results of the error term are simulated.The simulation results show that the influence of SCARA robot 1,2,3,4 joints on the overall operation error of the robot is weakened,which provides a strong reference for the optimization of the subsequent robot movement.Finally,the trapezoidal curve and the sine function curve which are often used in the trajectory running of the traditional robot are optimized to optimize the running curve of the bagging process,and the feasibility of the work is verified by experiments.Based on the?8 silicone rubber 50oShoreA sucker,after optimizing the running curve of the pillow bag the success rate of into the tray was 99.35%.Equipment running in this state,greatly reducing personnel intervention in the equipment production process frequency,have met the requirements of the efficient and continuous production that for the equipment.