Kinematics study of the executive mechanism of a bottle manipulator for case packing (part 1)

The efficient operation of packaging lines is highly dependent on the performance of modules that handle the movement, reorientation, and positioning of packages.One of the critical types of equipment in the packaging line is manipulators for case packing, which are designed to reorient and place arrays of glass bottles into transport containers.Glass bottles, due to their significant specific weight compared to their contents, require gripping heads and moving mechanisms capable of withstanding high dynamic loads.Ensuring reliable and precise operation involves optimizing kinematic parameters, allowing the forces between the mechanism links and the packaging objects to remain within acceptable limits.This optimization not only guarantees smooth operation but also enhances the efficiency and durability of the equipment.The research focuses on the technological process of reorienting bottle arrays from an accumulator table to transport containers.Special attention is given to the temporal characteristics of motion stages and the kinematic parameters of the links moving along a predefined trajectory.The methodology involves analysis, synthesis, and mathematical modeling of the gripping head joints motion.The study identifies the characteristic angularpositions of the crank, connecting rod, and roller during the manipulator's operation.For the studied design, the crank movement is divided into two phases: the first phase covers 0-29 (42-71 from the starting point), and the second phase spans 29-109.Mathematical dependencies were developed to calculate displacements, velocities, and accelerations at each stage of the cranks movement.The results provide insights into the kinematic performance of the bottle manipulator, offering a basis for optimizing its operation.These findings contribute to the design of more efficient and reliable equipment for the packaging industry.