适应多类型纱筒的换筒末端执行器关键技术  

Key technology research of bobbin change actuator suitable for multiple bobbin types

作　　者：毛慧敏 屠佳佳 孙磊 戴宁 史伟民[1] MAO Huimin;TU Jiajia;SUN Lei;DAI Ning;SHI Weimin(Key Laboratory of Modern Textile Machinery&Technology of Zhejiang Province,Zhejiang Sci-Tech University,Hangzhou,Zhejiang 310018,China;School of Automation,Zhejiang Institute of Mechanical and Electrical Engineering,Hangzhou,Zhejiang 310053,China)

机构地区：[1]浙江理工大学浙江省现代纺织装备技术重点实验室,浙江杭州310018 [2]浙江机电职业技术学院自动化学院,浙江杭州310053

出　　处：《纺织学报》2024年第6期193-200,共8页Journal of Textile Research

基　　金：国家重点研发计划项目(2017YFB1304000)。

摘　　要：为解决现有换筒夹持机构无法适用于不同规格纱筒抓取的问题,根据针织生产车间纱架结构特征和纱筒更换工艺流程,设计了由夹爪机构、刹车机构、离合机构、推纱机构、翻转机构等组成的换筒末端执行器,该末端执行器可通过外扩电动机和外张气缸分别调节夹爪收缩尺寸以及夹爪间角度,以适用于不同类型的纱筒抓取。在机构设计过程中,不仅对各组成部分及其运动原理进行分析,还通过ANSYS Workbench软件对不同直径和不同长度的夹爪进行了静力学仿真,得出夹爪的直径为18 mm、长度为58 mm时可满足设计要求。同时研制样机,并进行了不同规格圆柱筒和圆锥筒的抓取实验。实验结果表明:该换筒末端执行器能够稳定、快速抓取内径为20~65 mm、质量不大于6 kg的纱筒,可应用于圆型纬编针织生产线。Objective In a traditional knitting workshop,bobbin changes are carried out manually.This highly repetitive and low automation production method makes it difficult and inefficient to change the top layer bobbins on the yarn frame.Although different sizes of cylindrical and conical bobbins are used with circular knitting machines,the bobbin clamping mechanisms are available only for specific sizes and types of bobbins,causing problems for bobbins with different inner diameters and tapers.Therefore,this research focuses on designs an bobbin change actuator for different types of bobbins to achieve automated circular weft knitting.Method According to the structural characteristics of the yarn frame and the process of bbbin replacement in the knitting machine,this paper designed a bobbin change actuator composed of a clamping mechanism,a brake mechanism,a clutch mechanism,a yarn pushing mechanism,a flip mechanism,and son on.The actuator was expected to adjust the contraction size of the clamping jaws and the angle between the jaws through the external expansion motor and the external expansion cylinder respectively,for different types of bobbin gripping.In order to solve the situation of symmetrical flare of the yarn frame bar,a flip mechanism was designed to drive the gripper mechanism for 180°rotation to achieve A/B bobbin replacement.After completing the design,the process of bobbin changing was simulated to verify the feasibility of the bobbin change actuator.In addition,in order to improve the operating life and stability of the bobbin change actuator,ANSYS Workbench software was used to simulate the exhaustive mechanics of the jaws with different diameters and lengths.Results The simulation results showed that when the length of the jaws was unchanged,the stress on the jaws was decreased with the increase of the diameter of the jaws,while when the diameter of the jaws was unchanged,the stress on the jaws was increased with the increase of the length of the jaws.According to the minimum inner diameter of the gu

关 键 词：换筒末端执行器 夹爪机构 翻转机构 自动换筒 机械设计 纱筒 

分 类 号：TS103.7[轻工技术与工程—纺织工程]