Mechanism Realization And Performance Evaluation Analysis Of Manipulator For Transferring Signatures

Wireless binding is the main method of post-press processing of books and periodicals,and binding linkage line is the main equipment for wireless binding.The mechanism for transferring signatures is a transfer mechanism on the binding linkage line,which is responsible for turning the matched book stickers 90 degrees along the vertical plane to provide the correct posture for entering the next process.With the overall improvement of social and economic life,printing and binding enterprises are increasingly demanding the quality and speed of the binding linkage line.This paper designs and develops a new type of mechanism for transferring signatures based on the actual needs of enterprises.The main work and achievements of this paper are as follows:(1)The realization scheme of the mechanism for transferring signatures is put forward through analyzing the functional requirements of the mechanism.The mechanism for transferring signatures is driven by a single cam with two connecting rods.Dual actuators move inversely to each other,avoiding the inherent time loss of single actuator's empty return stroke and improving the operational efficiency of the mechanism.(2)The kinematics model of the mechanism for transferring signatures is established by analytic method,and the theoretical design of the mechanism is carried out.With the help of self-compiled MATLAB program,the motion law of the cam follower is optimized through the mechanism motion analysis.The analysis shows that the motion law of cam follower adopts quintic polynomial in push and sinusoidal acceleration in return,which can obtain better comprehensive motion characteristics.(3)Based on the results of kinematic analysis,the dynamic statics model of the mechanism for transferring signatures is established by using the D'Alembert principle,and the restraint reaction force and cam driving moment of each motion pair of the mechanism for transferring signatures in a motion cycle are revealed.The analysis results show that the restraint reaction force of each pair and the driving moment required by the cam of the transfer mechanism change continuously in a cycle,without impact,and the range of change is in a reasonable range.(4)The whole mechanism is simplified to seven beam elements by using finite element method.Considering the transverse and longitudinal vibration of the beam,the elastodynamic model of the mechanism for transferring signatures is established,and the elastic motion of the main nodes of the mechanism for transferring signatures is analyzed.The results show that the elastic displacement of each node changes slightly and has little effect on the functional movement of the mechanism(5)The three-dimensional solid model of the mechanism is built by using Pro/E software,and the kinematics simulation,rigid dynamics analysis and elastodynamics analysis of the mechanism are completed by ADAMS.The analysis results show that the analytical motion analysis and simulation results are consistent,and the rigid dynamic analysis and elastic dynamic analysis results are slightly different from the simulation results.