考虑铰链间隙和连杆柔性推料机构运动学分析
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摘要
目的基于ADAMS软件,对包装机推料机构进行虚拟样机建模。方法对机构进行仿真,在此基础上建立铰链间隙模型、柔性体模型和铰链间隙柔性体都存在的模型。通过与理想模型运动曲线进行对比,分析各个铰链间隙和连杆柔性对运动学规律的影响。结果运动副间隙(0.25 cm)对推料板的速度、加速度影响明显,会产生振荡现象;同时考虑运动副间隙(0.25 cm)和构件柔性,得到的速度、加速度曲线趋于平稳,缓解了铰链间隙产生的冲击。结论适当考虑连杆柔性,可以缓解铰链间隙产生的振荡,使推料板运动趋于稳定。
The work aims to build a virtual prototype model of pusher for packaging machine based on ADAMS. The simulation of pusher was carried out, based on which the hinge gap model, the flexible body model and the hinge gap flexible body model were established. Through the comparison with the motion curves of ideal model, the influences of each hinge gap and linkage flexibility on the kinematics law were analyzed. The effect of kinematic pair clearance(0.25 cm) on speed and acceleration of pushing plate was obvious, which caused oscillation; meanwhile, kinematic pair clearance(0.25 cm) and component flexibility were considered. The speed and acceleration curves obtained tended to be stable, which eased the hinge gap impact. Appropriate considerations taken for linkage flexibility can ease the oscillation generated by hinge gap, so as to enable the pushing plate to move stably.
The work aims to build a virtual prototype model of pusher for packaging machine based on ADAMS. The simulation of pusher was carried out, based on which the hinge gap model, the flexible body model and the hinge gap flexible body model were established. Through the comparison with the motion curves of ideal model, the influences of each hinge gap and linkage flexibility on the kinematics law were analyzed. The effect of kinematic pair clearance(0.25 cm) on speed and acceleration of pushing plate was obvious, which caused oscillation; meanwhile, kinematic pair clearance(0.25 cm) and component flexibility were considered. The speed and acceleration curves obtained tended to be stable, which eased the hinge gap impact. Appropriate considerations taken for linkage flexibility can ease the oscillation generated by hinge gap, so as to enable the pushing plate to move stably.
引文
[1]董伟,李克天,李啟定.自动装盒机推料机构设计与仿真[J].包装工程,2015,36(9):14—16DONG Wei,LI Ke-tian,LI Qi-ding.Designing and Simulation of Pusher Mechanism for Automatic Cartoning Machine[J].Packaging Engineering,2015,36(9):14—16.
[2]MI Jin-tai,MENG Yong-gang.Numerical Analyses of Hydro-dynamic Lubrication and Dynamics of the Rolling Piston and Crankshaft in a Rotary Compressor[J].Tribology Transactions,2014(6):1136—1147.
[3]向飞,李克天,何卫峰,等.自动装盒机推料机构凸轮的设计及运动仿真[J].制造业自动化,2014(5):137—139.XIANG Fei,LI Ke-tian,HE Wei-feng,et al.Design and Kinematic Simulation of Pusher Mechanism in Automatic Car-toning Machine[J].Manufacturing Automation,2014(5):137—139.
[4]郭惠昕,岳文辉.含间隙平面连杆机构运动精度的稳健优化设计[J].机械工程学报,2012,48(3):75—81.GUO Hui-xin,YUE Wen-hui.Design Optimization of Planar Linkage Mechanism with Joint Clearance for Improving the Robustness of Kinematic Accuracy[J].Journal of Mechanical Engineering,2012,48(3):75—81.
[5]席晓燕.基于ADAMS的含间隙酒瓶装箱机构优化设计[J].包装工程,2013,34(1):69—74.XI Xiao-yan.Optimization Design of Wine Bottle Packing Machine Based on ADAMS[J].Packaging Engineering,2013,34(1):69—74.
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[9]郭杏林,赵子坤.含间隙柔性曲柄摇杆机构动力学分析[J].机械强度,2010,32(6):905—909.GUO Xing-lin,ZHAO Zi-kun.Dynamic Analysis of A Flexible Crank Rocker Mechanism with Clearance[J].Journal of Mechanical Strength,2010,32(6):905—909.
[10]席晓燕.基于ADAMS的含间隙柔性酒瓶装箱机构的优化设计与动力学仿真[J].机械科学与技术,2013,32(8):1195—1199.XI Xiao-yan.Kinematics Simulation and Optimization Design of Flexible Wine Bottle Packing Machine with Clearance Based on ADAMS[J].Mechanical Science and Technology for Aerospace Engineering,2013,32(8):1195—1199.
[11]李宇庭,胡万里,谢伟华,等.椭圆齿轮-槽轮组合机构的虚拟样机设计及仿真分析[J].包装工程,2014,35(17):79—85.LI Yu-ting,HU Wan-li,XIE Wei-hua,et al.The Design and Simulation Analysis for the Virtual Prototype of Elliptic Gear-geneva Combined Mechanism[J].Packaging Engineering,2014,35(17):79—85.
[12]刘静,汪中厚,黄德杰.基于ADAMS的包裹机推料机构凸轮轮廓曲线设计[J].包装工程,2011,32(13):14—16.LIU Jing,WANG Zhong-hou,HUANG De-jie.Cam Contour Curve Design of Packaging Machine Pusher Mechanism Based on ADAMS[J].Packaging Engineering,2011,32(13):14—16.
[13]李宇庭,胡万里,谢伟华,等.椭圆齿轮-槽轮组合机构的虚拟样机设计及仿真分析[J].包装工程,2014,35(17):79—85.LI Yu-ting,HU Wan-li,XIE Wei-hua,et al.The Design and Simulation Analysis for the Virtual Prototype of Elliptic Gear-geneva Combined Mechanism[J].Packaging Engineering,2014,35(17):79—85.
[14]田野,孙智慧,郑赛男,等.包装机中推料机构分析及优化[J].包装工程,2013,34(21):66—70.TIAN Ye,SUN Zhi-hui,ZHENG Sai-nan,et al.Analysis and Optimization of Feeding Mechanism of Packaging Machine[J].Packaging Engineering,2013,34(21):66—70.
[15]袁清珂,李龙刚,冯竞浩,等.先进设计技术平台与包装机械虚拟样机[J].包装工程,2014,35(19):59—64.YUAN Qing-ke,LI Long-gang,FENG Jing-hao,et al.Advanced Design Technique Platform and Packaging Machinery Virtual Prototype[J].Packaging Engineering,2014,35(19):59—64.
[16]刘静,汪中厚,黄德杰.基于ADAMS的包裹机推料机构凸轮轮廓曲线设计[J].包装工程,2011,32(13):14—15.LIU Jing,WANG Zhong-hou,HUANG De-jie.Cam Contour Curve Design of Packaging Machine Pusher Mechanism Based on ADAMS[J].Packaging Engineering,2011,32(13):14—15.
[2]MI Jin-tai,MENG Yong-gang.Numerical Analyses of Hydro-dynamic Lubrication and Dynamics of the Rolling Piston and Crankshaft in a Rotary Compressor[J].Tribology Transactions,2014(6):1136—1147.
[3]向飞,李克天,何卫峰,等.自动装盒机推料机构凸轮的设计及运动仿真[J].制造业自动化,2014(5):137—139.XIANG Fei,LI Ke-tian,HE Wei-feng,et al.Design and Kinematic Simulation of Pusher Mechanism in Automatic Car-toning Machine[J].Manufacturing Automation,2014(5):137—139.
[4]郭惠昕,岳文辉.含间隙平面连杆机构运动精度的稳健优化设计[J].机械工程学报,2012,48(3):75—81.GUO Hui-xin,YUE Wen-hui.Design Optimization of Planar Linkage Mechanism with Joint Clearance for Improving the Robustness of Kinematic Accuracy[J].Journal of Mechanical Engineering,2012,48(3):75—81.
[5]席晓燕.基于ADAMS的含间隙酒瓶装箱机构优化设计[J].包装工程,2013,34(1):69—74.XI Xiao-yan.Optimization Design of Wine Bottle Packing Machine Based on ADAMS[J].Packaging Engineering,2013,34(1):69—74.
[6]LOWEN G G,CHASSAPIS C C.The Elastic Behavior of Linkages:An Update[J].Mechanism&Machine Theory,1986,21(1):33—42.
[7]BEJKOW I J.Application FEM in Modeling Rigid and Flexible Systems with Joint Clearances[J].Shock and Vibration Digest,2000,32(1):63.
[8]MIYABE T,KONNO A,UCHIYAMA M.Cooperative Control of a Two-arm Flexible Manipulator with Redundancy[C]//IEEE/RS J,2002,3:2708—2713.
[9]郭杏林,赵子坤.含间隙柔性曲柄摇杆机构动力学分析[J].机械强度,2010,32(6):905—909.GUO Xing-lin,ZHAO Zi-kun.Dynamic Analysis of A Flexible Crank Rocker Mechanism with Clearance[J].Journal of Mechanical Strength,2010,32(6):905—909.
[10]席晓燕.基于ADAMS的含间隙柔性酒瓶装箱机构的优化设计与动力学仿真[J].机械科学与技术,2013,32(8):1195—1199.XI Xiao-yan.Kinematics Simulation and Optimization Design of Flexible Wine Bottle Packing Machine with Clearance Based on ADAMS[J].Mechanical Science and Technology for Aerospace Engineering,2013,32(8):1195—1199.
[11]李宇庭,胡万里,谢伟华,等.椭圆齿轮-槽轮组合机构的虚拟样机设计及仿真分析[J].包装工程,2014,35(17):79—85.LI Yu-ting,HU Wan-li,XIE Wei-hua,et al.The Design and Simulation Analysis for the Virtual Prototype of Elliptic Gear-geneva Combined Mechanism[J].Packaging Engineering,2014,35(17):79—85.
[12]刘静,汪中厚,黄德杰.基于ADAMS的包裹机推料机构凸轮轮廓曲线设计[J].包装工程,2011,32(13):14—16.LIU Jing,WANG Zhong-hou,HUANG De-jie.Cam Contour Curve Design of Packaging Machine Pusher Mechanism Based on ADAMS[J].Packaging Engineering,2011,32(13):14—16.
[13]李宇庭,胡万里,谢伟华,等.椭圆齿轮-槽轮组合机构的虚拟样机设计及仿真分析[J].包装工程,2014,35(17):79—85.LI Yu-ting,HU Wan-li,XIE Wei-hua,et al.The Design and Simulation Analysis for the Virtual Prototype of Elliptic Gear-geneva Combined Mechanism[J].Packaging Engineering,2014,35(17):79—85.
[14]田野,孙智慧,郑赛男,等.包装机中推料机构分析及优化[J].包装工程,2013,34(21):66—70.TIAN Ye,SUN Zhi-hui,ZHENG Sai-nan,et al.Analysis and Optimization of Feeding Mechanism of Packaging Machine[J].Packaging Engineering,2013,34(21):66—70.
[15]袁清珂,李龙刚,冯竞浩,等.先进设计技术平台与包装机械虚拟样机[J].包装工程,2014,35(19):59—64.YUAN Qing-ke,LI Long-gang,FENG Jing-hao,et al.Advanced Design Technique Platform and Packaging Machinery Virtual Prototype[J].Packaging Engineering,2014,35(19):59—64.
[16]刘静,汪中厚,黄德杰.基于ADAMS的包裹机推料机构凸轮轮廓曲线设计[J].包装工程,2011,32(13):14—15.LIU Jing,WANG Zhong-hou,HUANG De-jie.Cam Contour Curve Design of Packaging Machine Pusher Mechanism Based on ADAMS[J].Packaging Engineering,2011,32(13):14—15.
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