Kinematics Analysis And Research On Mechanical And Electrical Integrated Open-box Machine

The electromechanical integrated box-opening mechanism is a combination mechanism of servo mechanism and planetary mechanism.Carrying on the principle research and motion analysis of electromechanical integrated box-opener based on open-box process,determining the transmission mode and transmission ratio distribution relationship of each mechanism,establishment of motion coordination relations among agencies and servo mechanisms.Solidworks is used to build the assembly model of the box opener,then the model is imported into Adams to simulate the motion of the assembly model.Through the comparison of theoretical analysis and simulation results of the gear speed ratio,the relative maximum rotation angle between the dial box rod and the suction box rod,validating the rationality of the motion of the open-box mechanism and the correctness of the open-box model.According to the motion principle,the suction box rod is modeled and analyzed.By solving the model,the trajectory equation of the suction box rod is obtained,the key parameters affecting the trajectory of suction box are determined,and the trajectory is further optimized through the constraints.According to the law of motion of the dialing rod in the process of opening the box,carry on three kinds of speed control curve for the moving of dial box rod: Five-section S-curve,four-section S-curve and sine curve,then establishing the velocity curve equation.Through the kinematics and dynamics analysis,the motion stability of the dialing box rod is much better than that of the original cam-connecting rod open box mechanism by speed planning of dial box rod.Among them,the speed planning of the dial box rod is based on sinusoidal acceleration and deceleration motion control mode,which is more conducive to reducing the impaction on the open box mechanism because of the speed change of the dial box rod,and enhancing the smooth performance of the mechanism.According to the sinusoidal acceleration and deceleration motion equation,PLC programming is carried out to control the motion of the servo motor.It is verified that the servo motor can run smoothly according to the designed acceleration and deceleration motion control curve.