纺织学报 ›› 2021, Vol. 42 ›› Issue (01): 145-153.doi: 10.13475/j.fzxb.20200401309

• 机械与器材 • 上一篇    下一篇

空间连杆引纬机构柔性铰间隙动态特性研究

李博1,2, 胡凯1,2, 金国光1,2(), 魏展1,2, 畅博彦1,2   

  1. 1.天津工业大学 天津市现代机电装备技术重点实验室, 天津 300387
    2.天津工业大学 机械工程学院, 天津 300387
  • 收稿日期:2020-04-07 修回日期:2020-09-03 出版日期:2021-01-15 发布日期:2021-01-21
  • 通讯作者: 金国光
  • 作者简介:李博(1983—),男,讲师,博士生。主要研究方向为纺织机械动力学。
  • 基金资助:
    国家自然科学基金项目(51475330);天津市自然科学基金项目(16JCZDJC38500);天津市自然科学基金项目(17JCQNJC03900);天津市自然科学基金项目(17CQNJC03600);天津市自然科学基金项目(18JCQNJC05300)

Research on dynamic characteristics of spatial-linkage weft insertion mechanism considering flexible hinge clearance

LI Bo1,2, HU Kai1,2, JIN Guoguang1,2(), WEI Zhan1,2, CHANG Boyan1,2   

  1. 1. Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tiangong University, Tianjin 300387, China
    2. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
  • Received:2020-04-07 Revised:2020-09-03 Online:2021-01-15 Published:2021-01-21
  • Contact: JIN Guoguang

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摘要：

为提升高速剑杆织机的运行效率,深入研究运动副间隙给空间连杆引纬机构运动输出带来的影响。首先,采用矢量法对空间连杆引纬机构进行运动学仿真,选择适合高速剑杆织机工况下的Lankarani-Nikravesh建模方法;其次,将计算得到的运动学参数与柔性铰碰撞力模型相结合,使用Newton-Euler方法对系统运动输出部分进行动力学分析;结合具体工程实例,求解不同间隙下系统的动态特性;最后,通过虚拟样机检测数据校核并与刚性铰间隙碰撞建模方法进行输出对比和误差分析。结果表明:间隙的增加会导致剑头加速度的剧烈波动,进而影响空间连杆引纬机构平稳接纬和剑头准确夹持纬纱;在间隙值为0.5 mm时,采用柔性铰方法能将剑头位移的峰值误差缩小69.4%,有效提升工作精度。

关键词: 引纬机构, 柔性铰, 穿刺深度, 接触碰撞力, 剑杆织机

Abstract:

In order to improve the operation efficiency of high-speed rapier loom, the complex influence of the joint clearance on the motion output of the spatial-linkage weft insertion mechanism was studied. Kinematic simulation of the mechanism was firstly carried out by using the vector method, and a variety of discontinuous contact force models considering energy dissipation were compared. The Lankarani-Nikravesh modeling method suitable for high-speed rapier loom was selected. Secondly, combining the calculated kinematic parameters of the spatial linkage with the impact force model of the flexible hinge, the dynamic analysis of the output part of the system was carried out by the Newton-Euler method. Combined with specific engineering practice, the dynamic characteristics of the system with different clearances were worked on. Based on the validation of the virtual prototype test data and the output comparison and error analysis with the rigid hinge clearance collision modeling method. The results show that the increase of clearance leads to sharp fluctuation in rapier head acceleration, affecting the smooth pick-up and accurate weft clamping. When the clearance value is 0.5 mm in particular, the peak error of rapier head displacement is reduced by 69.4% by using flexible hinge method, effectively improving the operating accuracy.

Key words: weft insertion mechanism, flexible hinge, penetration depth, contact impact force, rapier loom

中图分类号: 

  • TS103.33

图1

空间连杆引纬机构结构简图 1—传动曲柄;2—空间连杆;3—十字摇轴;4—连杆;5—扇形齿轮;6—传动小齿轮;7—剑带轮;8—剑带。"

图2

含间隙转动铰模型(柔性铰)"

图3

空间连杆机构简化模型"

表1

各构件长度"

l1' l2' l1 l2 l3 l4 lOA
206.5 298.6 160 400 280 480 144.6

图4

理想无间隙状态下剑头运动规律"

图5

含间隙连杆部分"

表2

相关参数取值"

ce K/
(N·m-1)		 质量/kg 转速/
(r·min-1)		 转动惯量/(10-3 kg·m2)
m2 m3 J1 J2 J3
0.9 6.61×1010 2 1.548 500 77.13 33.52 10.45

图6

不同间隙下系统的动态特性"

图7

空间连杆引纬机构虚拟样机"

图8

不同间隙剑头速度曲线对比"

图9

不同间隙剑头加速度曲线对比"

图10

不同间隙剑头位移曲线对比"

图11

不同间隙剑头位移误差幅值曲线对比"

表3

剑头位移及误差对比(间隙0.2 mm)"

主轴
转角/
(°)		 剑头位移/mm 剑头位移误差/mm
柔性铰 刚性铰 虚拟样机
检测数据		 柔性铰 刚性铰
7.152 0.83 1.19 8.25 5.11 1.63
25.793 61.16 22.75 45.00 6.43 0.51
45.466 150.82 78.40 116.89 6.91 -8.21
62.391 281.52 170.44 258.94 -2.14 -23.77
85.431 551.00 401.20 508.49 -12.76 -47.27
103.564 716.71 595.69 704.83 0.39 -44.89
123.199 819.11 761.87 813.25 0.47 -25.48
139.427 865.43 855.51 868.66 -2.54 -10.56
151.835 887.37 888.39 896.40 -2.87 -4.71
178.011 911.12 915.97 913.42 -2.49 0.06
201.846 913.72 901.33 897.06 -7.49 -7.76
220.466 896.73 855.47 861.56 -13.51 -26.57
238.390 849.28 761.89 803.99 -15.61 -58.93
258.238 720.05 595.64 676.71 -22.12 -98.18
275.618 506.68 373.41 456.62 -31.48 -102.93
292.645 297.03 206.86 256.28 -19.75 -65.72
311.634 151.88 88.61 120.34 -4.84 -32.85
332.734 60.21 27.55 35.98 0.39 -11.21
351.105 15.03 2.39 11.51 -0.22 -1.64
359.052 4.35 0.02 0.96 0.03 0.08
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