高速柔性药盒装箱生产线及关键部件设计研究

发布时间：2018-08-08 15:19

【摘要】：目前药盒包装行业存在着繁琐性、安全性等诸多问题,简洁、快速、稳定、高效的药盒装箱系统已成为医药包装行业的迫切需求。本论文围绕一种高速柔性化药盒装箱生产线系统的开发应用,完成了生产线主要设备的机械结构设计,对其核心设备——装箱机器人进行运动学性能、动力学仿真研究,优化了生产线的运行调度情况,搭建了生产线的控制系统,实现了生产线的快速稳定运行。主要内容如下:(1)对药盒装箱生产线总功能进行分层次划分,确定各个子功能,通过分析装箱生产线的工艺要求,依据性能矩阵分析法完成对主要设备的选型,并绘制工艺路线图。(2)根据各个子功能要求,采用模块化设计方法,完成了对生产线中开箱装置、坤口装置、动态称量仪、装箱装置、封箱装置、码垛装置等子系统设计,并确定了生产线整体布局方式。(3)对装箱机器人进行运动学分析,研究了装箱机器人的稳定性、运动分辨率、刚度等性能,考虑了转动副间隙引起的机构位置形态误差。(4)建立装箱机器人的仿真模型,通过分析运动过程中动平台的位置、速度、加速度等确定了机构运动的平稳性,在考虑主动臂转角的基础上完成了对伺服电机的选型,验证了转动副间隙所引起的机构位置形态误差。通过研究整条生产线中的瓶颈问题,优化生产线性能,提高设备的利用率。(5)基于装箱生产线中各个设备的动作要求设计,完成了整个系统的气路设计并绘制了气路图;根据信号的输入输出,完成I/O口地址分配以及PLC的选型,并编写了运行程序。实现了整个药盒装箱生产线控制系统的设计。本课题开发的高速柔性化药盒装箱生产线系统能够有效的降低工人的劳动强度,减少药品的污染,提高生产效率,实现高速、高效、高可靠性的自动化装箱作业,具有重要的应用推广前景。
[Abstract]:At present, there are many problems in the pharmaceutical packaging industry, such as triviality, safety and so on. The simple, fast, stable and efficient drug packing system has become an urgent need of the pharmaceutical packaging industry. This paper focuses on the development and application of a high speed flexible cartridge packing production line system, completes the mechanical structure design of the main equipment of the production line, and simulates the kinematics and dynamics of the core equipment, the packing robot. The operation scheduling of the production line is optimized and the control system of the production line is set up to realize the fast and stable operation of the production line. The main contents are as follows: (1) the total function of the medicine box packing line is divided into different levels and each sub-function is determined. By analyzing the process requirements of the packing line, the selection of the main equipment is completed according to the performance matrix analysis method. And draw the process roadmap. (2) according to the requirements of each sub-function, the modular design method is used to complete the design of the subsystems such as the open-box device, the Kun port device, the dynamic weighing instrument, the packing device, the sealing device, the palletizing device, and so on in the production line. The overall layout of the production line is determined. (3) the kinematics analysis of the packing robot is carried out, and the stability, motion resolution and stiffness of the packing robot are studied. The configuration error of the mechanism caused by the clearance of the rotating pair is considered. (4) the simulation model of the packing robot is established, and the stationary motion of the mechanism is determined by analyzing the position, velocity and acceleration of the moving platform during the moving process. On the basis of considering the rotation angle of the active arm, the selection of the servo motor is completed, and the position error caused by the clearance of the rotating pair is verified. By studying the bottleneck problem in the whole production line, the performance of the production line is optimized, and the utilization ratio of the equipment is improved. (5) based on the design of the action requirements of each equipment in the packing production line, the gas path design of the whole system is completed and the gas path diagram is drawn; According to the input and output of the signal, I / O port address assignment and PLC selection are completed, and the running program is written. The design of the control system of the whole packing line is realized. The high speed flexible packing line system developed in this paper can effectively reduce labor intensity of workers, reduce drug pollution, improve production efficiency, and realize high speed, high efficiency and high reliability automatic packing operation. It has important application prospect.
【学位授予单位】：河北工程大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TQ460.69

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