纺织学报 ›› 2020, Vol. 41 ›› Issue (01): 158-164.doi: 10.13475/j.fzxb.20181204307

• 机械与器材 • 上一篇    下一篇

棉精梳机分离罗拉伺服驱动研究

刘立东1,2, 李新荣1,2(), 杨海鹏1,2, 卜兆宁1,2   

  1. 1.天津工业大学 机械工程学院, 天津 300387
    2.天津市现代机电装备技术重点实验室, 天津 300387
  • 收稿日期:2018-12-20 修回日期:2019-06-05 出版日期:2020-01-15 发布日期:2020-01-14
  • 通讯作者: 李新荣
  • 作者简介:刘立东(1995—),男,硕士生。主要研究方向为纺织机械设计及自动化。
  • 基金资助:
    国家重点研发计划资助项目(2018YFB1308801)

Research on servo drive of detaching roller of cotton combing machines

LIU Lidong1,2, LI Xinrong1,2(), YANG Haipeng1,2, BU Zhaoning1,2   

  1. 1. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
    2. Key Laboratory of Modern Mechanical and Electrical Equipment Technology, Tianjin 300387, China
  • Received:2018-12-20 Revised:2019-06-05 Online:2020-01-15 Published:2020-01-14
  • Contact: LI Xinrong

摘要:

针对新型棉精梳机分离罗拉采用单伺服电动机驱动功率过大的问题,提出采用双电动机单向混合驱动的方法,在满足分离罗拉运动规律的条件下,通过对混合驱动机构进行合理的动力分配,提出并列型以及偏列型差动轮系混合驱动的概念,并通过虚拟样机进行仿真分析,比较各方案中电动机的动态性能。结果表明:相较于伺服电动机直接驱动分离罗拉,混合驱动方案中驱动电动机的速度、加速度(绝对值)减幅达30%以上,显著改善了电动机的动态性能;该设计还可根据不同种类的棉花工艺需求对车速进行适度的调节,增加机构的柔性,为高效精梳机的研究提供了新思路。

关键词: 精梳机, 分离罗拉, 混合驱动, 差动轮系, 单向电动机, 动力分配

Abstract:

Aiming at solving the problem of excessive driving power provided by the single servo motor equipped for detaching roller in the current versions of cotton comber, the use of dual motor with a one-way hybrid driving mechanism was proposed. Under the preposition that detaching roller provides the required motion, the concept of hybrid drives using parallel and biased differential gear trains was put forward after analyzing the power distribution in the hybrid driving mechanism. The dynamic performance of motor under different schemes was compared to by simulation analysis of virtual prototype. The results show that the speed and acceleration (absolute value) of the driving motor used in the hybrid drive mechanism is reduced by more than 30% compared to that of the single servo motor mechanism, leading to a significant improvement in dynamic performance of the motor. In addition, the design also enables the adjustment of machine speed according to different cotton processing parameters. This new design increases the flexibility of the mechanism, stimulating new ideas for research in high-efficiency combers.

Key words: combing machine, detaching roller, hybrid drive, differential gear train, unidirectional motor, power distribution

中图分类号: 

  • TS112.2

图1

分离罗拉角速度曲线图"

图2

伺服电动机直接驱动分离罗拉电动机的运动规律"

图3

混合驱动机构简图"

图4

2个电动机的角速度与加速度曲线(常速电动机正向转动)"

图5

2个电动机的角速度与加速度曲线(常速电动机负向转动)"

图6

并列型混合驱动分离罗拉2个电动机角速度状态图"

图7

按正负速度分开后的2个电动机的对应驱动角速度曲线"

图8

分段多项式的边界条件"

图9

并列型混合驱动分离罗拉优化后2个电动机角速度状态图"

表1

电动机动态性能参数表"

驱动方案 电动机 角速度/(rad·s-1) 角加速度/(rad·s-2)
最小值 最大值 平均值 最小值 最大值 平均值
伺服电动机直接驱动 电动机1 -494.9 280.7 19.62 -66 130 87 020 -180.8
电动机2 -494.9 280.7 19.62 -66 130 87 020 -180.8
并列型混合驱动 电动机1 20.36 94.04 45.16 -8 267 6 282 17.17
电动机2 -215.6 -0.019 83 -143 -24 320 18 480 50.52
偏列型混合驱动(I) 电动机1 -147.4 -0.013 56 -97.78 -16 520 12 550 34.32
电动机2 275.2 275.2 275.2 0 0 0
偏列型混合驱动(II) 电动机1 0.054 59 147.4 49.66 -16 520 12 550 34.32
电动机2 -156.2 -156.2 -156.2 0 0 0
并列型优化方案 电动机1 0 103.7 22.94 -12 230 12 650 34.26
电动机2 -156 0 -78.3 -13 850 3 805 0.173 9

表2

各方案电动机动态性能参数降幅值"

驱动
方案
角速度
最大值/
(rad·s-1)
角速度最大
值降幅/%
角加速度
最大值/
(rad·s-2)
角加速度
最大值
降幅/%
并列型混合驱动 215.6 56.4 24 320 72.1
偏列型混合驱动 156.2 68.4 16 520 81.0
并列型优化
混合驱动
156 68.5 13 850 84.1

图10

混合驱动机构三维仿真图"

图11

精梳机分离罗拉仿真速度曲线"

[1] 李留涛, 贾国欣, 任家智. 精梳机分离罗拉传动机构的平衡优化[J]. 纺织学报, 2015,36(8):133-138.
LI Liutao, JIA Guoxin, REN Jiazhi. Balance optimization based on detaching roller transmission mechanism of combing machine[J]. Journal of Textile Research, 2015,36(8):133-138.
[2] 贾国欣, 任毅, 李留涛. 精梳机分离罗拉连杆传动机构的减振平衡优化[J]. 棉纺织技术, 2015,43(8):17-21.
JIA Guoxin, REN Yi, LI Liutao. Vibration damping balance optimization of comber detaching roller rod transmission mechanism[J]. Cotton Textile Technology, 2015,43(8):17-21.
[3] 刘允光. 国产高效能精梳机技术发展近况与建议[J]. 棉纺织技术, 2012,40(5):65-68.
LIU Yunguang. Development situation and suggestions of domestic high efficiency comber technology[J]. Cotton Textile Technology, 2012,40(5):65-68.
[4] 陈春红, 张慧芳, 何勇. 电子凸轮在高速精梳机上的应用[J]. 纺织器材, 2013,40(4):48-49.
CHEN Chunhong, ZHANG Huifang, HE Yong. Application of electronic CAM in high speed comber[J]. Textile Accessories, 2013,40(4):48-49.
[5] 张慧芳. 棉精梳机分离运动的传动方式探讨[J]. 上海电气技术, 2010,3(2):22-26.
ZHANG Huifang. Discussion of the transmission mode of cotton comber separatist movement[J]. Journal of Shanghai Electric Technology, 2010,3(2):22-26.
[6] 胡吉永. Toyota和Trützschler合作研发精梳机[J]. 国际纺织导报, 2013,41(3):30-30.
HU Jiyong. Toyota and Triitzschler teamed up to develop a comber[J]. Melliand China, 2013,41(3):30-30.
[7] 李瑞琴, 王英, 王明亚, 等. 混合驱动机构研究进展与发展趋势[J]. 机械工程学报, 2016,52(13):1-9.
LI Ruiqin, WANG Ying, WANG Mingya, et al. Research progress and development trend of hybrid-driven mechanism[J]. Journal of Mechanical Engineering, 2016,52(13):1-9.
[8] TOKUZ L C, JONES J R. Programmable modulation of motion using hybrid machines[C]//Proceedings of IMEcHE. UK: Professional Engineering Publishing, 1991: 85-91.
[9] STRAETE H J V D, SCHUTTER J D. Hybrid cam mechanisms[J]. IEEE/ASME Transactions on Mechatronics, 1996,1(4):284-289.
doi: 10.1109/3516.544789
[10] 程光蕴, 贺惠农. 两自由度连杆机构精确实现平面轨迹的研究[J]. 东南大学学报(自然科学版), 1990,20(3):7-12.
CHENG Guangyun, HE Huinong. Study of the generation of locus for linkage with two degrees of freedom[J]. Journal of Southeast University(Natural Science Edition), 1990,20(3):7-12.
[11] YU Hongnian. Modeling and control of hybrid machine systems: a five-bar mechanism case[J]. International Journal of Automation and Computing, 2006(3):235-243.
[12] 任家智, 郁崇文. E62型精梳机分离罗拉传动机构工艺性能研究[J]. 纺织学报, 2004,25(6):32-34.
REN Jiazhi, YU Chongwen. Research on the process performance of the separation roller drive mechanism of E62 comber[J]. Journal of Textile Research, 2004,25(6):32-34.
[13] 陈金平, 陈勇. FA251A型精梳机分离罗拉运动分析[J]. 新疆大学学报(自然科学版), 2003,20(1):79-83.
CHEN Jinping, CHEN Yong. Analyses of separat ing roll moving characteristics on FA251A comber[J]. Journal of Xinjiang University(Natural Science Edition), 2003,20(1):79-83.
[14] 王振宇, 李新荣, 蒋秀明, 等. 棉精梳机分离罗拉运动位移研究[J]. 纺织器材, 2017,44(3):14-17.
WANG Zhenyu, LI Xinrong, JIANG Xiuming, et al. Research on the motion displacement of detaching roller of a cotton comber[J]. Textile Accessories, 2017,44(3):14-17.
[15] 侯志利, 李瑞琴, 武文革. 混合驱动五杆机构的运动学解析法对比研究[J]. 机械传动, 2015(11):13-17.
HOU Zhili, LI Ruiqin, WU Wenge. Comparative study on the kinematics analytical method of hybrid-driven five-bar mechanism[J]. Journal of Mechanical Transmission, 2015,39(11):13-17.
[16] 张珂, 王生泽. 混合驱动连杆机构优化设计和性能实验研究[J]. 机械设计, 2004,21(S1):192-194.
ZHANG Ke, WANG Shengze. Research on optimal design and performance experiment of hybrid driven linkage mechanism[J]. Journal of Mechanical Design, 2004,21(S1):192-194.
[17] 任家智, 高卫东, 谢春萍, 等. 棉精梳机分离罗拉顺转定时对棉网均匀度的影响[J]. 纺织学报, 2014,35(3):127-131.
REN Jiazhi, GAO Weidong, XIE Chunping, et al. Influence of forward motion timing of comber detaching roller on evenness of cotton web[J]. Journal of Textile Research, 2014,35(3):127-131.
[18] OUYANG P R, LI Q, ZHANG W J, et al. Design, modeling and control of a hybrid machine system[J]. Mechatronics, 2004,14(10):1197-1217.
doi: 10.1016/j.mechatronics.2004.06.004
[19] 杨海鹏, 李新荣, 吕鹏飞, 等. 采用混合驱动的精梳机分离罗拉传动机构[J]. 纺织学报, 2019,40(4):122-128.
YANG Haipeng, LI Xinrong, LÜ Pengfei, et al. Separation roller transmission mechanism of comber with mixed drive[J]. Journal of Textile Research, 2019,40(4):122-128.
[1] 杨海鹏, 李新荣, 吕鹏飞, 王振宇. 采用混合驱动的精梳机分离罗拉传动机构[J]. 纺织学报, 2019, 40(04): 122-128.
[2] 李留涛 贾国欣 任家智. 精梳机分离罗拉传动机构的平衡优化[J]. 纺织学报, 2015, 36(08): 133-138.
[3] 王晓维 周国庆 李新荣. 棉精梳机钳板开闭口时间的研究[J]. 纺织学报, 2015, 36(07): 121-125.
[4] 任家智 高卫东 谢春萍 陈宇恒. 棉精梳机分离罗拉顺转定时对棉网均匀度的影响[J]. 纺织学报, 2014, 35(3): 127-0.
[5] 任家智 马驰 张一风 冯清国. 高速节能精梳技术的研究与应用[J]. 纺织学报, 2013, 34(2): 141-145.
[6] 毛立民 谢征恒 李兆旗 侯春杰. 一种全新概念的并行梳理精梳机[J]. 纺织学报, 2013, 34(12): 113-0.
[7] 马庆红;徐伯俊;王晓旭;吴碧云;徐劲. 基于ADAMS的精梳机中间轴系统的动平衡优化[J]. 纺织学报, 2010, 31(10): 121-123.
[8] 严广松;林 倩;任家智;郁崇文. 基于棉纤维长度根数分布的精梳机梳理效能分析[J]. 纺织学报, 2009, 30(05): 20-24.
[9] 周国庆;杨建成;蒋秀明;宋春梅;冯广轩;刘敦平;申卫国;王宇. 粗纱锭翼性能参数智能化测试系统[J]. 纺织学报, 2008, 29(2): 94-97.
[10] 贾国欣;任家智;杨玉广. E62精梳机钳板机构参数对钳持工艺性能的影响[J]. 纺织学报, 2008, 29(12): 83-86.
[11] 任家智;贾国欣. E7/6型精梳机落棉隔距对工艺性能的影响[J]. 纺织学报, 2006, 27(6): 78-80.
[12] 任家智;郁崇文. E62型精梳机分离罗拉传动机构工艺性能研究[J]. 纺织学报, 2004, 25(06): 32-33.
[13] 杨元兆;章友鹤. 精梳纱质量提高及其产品开发探讨[J]. 纺织学报, 2004, 25(06): 94-97.
[14] 任家智;郁崇文. E7/6型精梳机曲柄半径对工艺性能的影响[J]. 纺织学报, 2004, 25(04): 45-46.
[15] 任家智;郁崇文. E7/6型精梳机钳板运动特性分析[J]. 纺织学报, 2004, 25(03): 30-31.
Viewed
Full text


Abstract

Cited

  Shared   
  Discussed   
No Suggested Reading articles found!