圆纬机纱架自动换筒技术

doi:10.13475/j.fzxb.20201205708

纺织学报 ›› 2022, Vol. 43 ›› Issue (07): 178-185.doi: 10.13475/j.fzxb.20201205708

圆纬机纱架自动换筒技术

屠佳佳¹^,², 孙磊¹, 毛慧敏¹, 戴宁¹, 朱婉珍¹, 史伟民¹()

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

收稿日期:2020-12-21 修回日期:2022-03-13 出版日期:2022-07-15 发布日期:2022-07-29
通讯作者: 史伟民
作者简介:屠佳佳(1987—),男,讲师,博士生。主要研究方向为纺织智能检测与控制。
基金资助:
国家重点研发计划项目(2017YFB1304000)

Automatic bobbin changing technology for circular weft knitting machines

TU Jiajia¹^,², SUN Lei¹, MAO Huimin¹, DAI Ning¹, ZHU Wanzhen¹, SHI Weimin¹()

1. Key Laboratory of Modern Textile Machinery & Technology of Zhejiang Province, Zhejiang Sci-Tech University,Hangzhou, Zhejiang 310018, China
2. College of Automation, Zhejiang Institute of Mechanical and Electrical Engineering, Hangzhou, Zhejiang 310053, China

Received:2020-12-21 Revised:2022-03-13 Published:2022-07-15 Online:2022-07-29
Contact: SHI Weimin

摘要/Abstract

摘要：

针对传统人工换筒的圆纬机存在生产自动化程度低、劳动强度大、人力成本高等问题,提出一种基于桁架机器人和换筒机械手的自动换筒方案。根据人工更换纱筒仿生工艺,结合圆纬机生产车间布局、纱架结构、纱筒类型以及换筒周期等因素,设计了桁架机器人和换筒机械手的机械结构,以及自动换筒的工艺流程和电气原理图等,并研制了实验室测试机构。最后研究了基于AS320T模块和伺服电动机的纱筒更换控制算法,实现了利用触摸屏作为人机交互界面的自动换筒功能。测试结果表明,采用此控制技术满足了圆纬机纱架自动换筒的准度、稳定性以及重复性要求,实现了以“机器换筒、人工接头”的方式为圆纬机续线,对解决传统人工换筒存在的问题具有重要意义。

关键词: 圆纬机, 自动换筒, 纱架, 纱筒, 桁架机器人, 换筒机械手

Abstract:

Facing the problems such as low automation, high labor intensity and high labor cost associated with traditional manual cylinder changing, a new automatic cylinder changing scheme based on truss robot and bobbin changing manipulator was proposed. According to the bionic technology of manual changing the bobbin, the mechanical structure of the truss robot and the bobbin changing manipulator was designed and a laboratory testing machine was developed, taking in to considerations of the factors such as the layout of the production workshop, the structure of the bobbin, the type of the bobbin and the changing period, the process flow and the electrical principle diagram of the automatic bobbin changing. The control algorithm of bobbin change based on AS320T module and servo motor was established, and the function of automatic bobbin change was achieved by using a touch-screen as man-machine interface. The research results show that the control technology can meet the requirements on precision, stability and repeatability of the automatic bobbin changing of the circular weft knitting machine, and realize the function of "automatic bobbin changing with manual thread joining" for the circular weft knitting machine, which is significant in solving the problems in traditional manual bobbin changing.

Key words: circular weft knitting machine, automatic bobbin changing, bobbin holder, bobbin, truss robot, bobbin changing manipulator

中图分类号:

TP103.7

屠佳佳, 孙磊, 毛慧敏, 戴宁, 朱婉珍, 史伟民. 圆纬机纱架自动换筒技术[J]. 纺织学报, 2022, 43(07): 178-185.

TU Jiajia, SUN Lei, MAO Huimin, DAI Ning, ZHU Wanzhen, SHI Weimin. Automatic bobbin changing technology for circular weft knitting machines[J]. Journal of Textile Research, 2022, 43(07): 178-185.

图/表 10

图1

图2

图3

图4

图5

表1

图6

图7

图8

表2

参考文献 12

[1]	蒋高明, 高哲, 高梓越. 针织智能制造研究进展[J]. 纺织学报, 2017, 38(10): 177-183.
	JIANG Gaoming, GAO Zhe, GAO Ziyue. Research advance of knitting intelligent manufacturing[J]. Journal of Textile Research, 2017, 38(10): 177-183.
[2]	胡旭东, 沈春娅, 彭来湖, 等. 针织装备的智能制造及互联互通标准验证[J]. 纺织学报, 2017, 38(10): 172-176.
	HU Xudong, SHEN Chunya, PENG Laihu, et al. Intelligent manufacturing and standard about interoperability verification of knitting machine[J]. Journal of Textile Research, 2017, 38(10): 172-176.
[3]	卢茂忠, 吴载阳. 一种针织圆机用编织机: CN201811293707.0[P]. 2018-11-01.
	LU Maozhong, WU Zaiyang. The utility model relates to a knitting machine for circular knitting machine: CN201811293707.0[P]. 2018-11-01.
[4]	邹鲲, 佘娟, 白延星. 智能纱架多机械手换纱系统设计[J]. 机床与液压, 2015, 43(3): 60-63.
	ZOU Kun, SHE Juan, BAI Yanxing. Design of replacing yarn system of intelligent creel multi-robot[J]. Machine Tool & Hydraulics, 2015, 43(3): 60-63.
[5]	佘娟, 智能纱架的控制系统设计[D]. 上海: 东华大学, 2014:18-22.
	SHE Juan. Design on control system of the intelligent creel robot[D]. Shanghai: Donghua University, 2014:18-22.
[6]	顾颖佳. 智能纱架机械手系统研制[D]. 上海: 东华大学, 2013:8-12.
	GU Yingjia. The design of the system of the intelligent creel robot[D]. Shanghai: Donghua University, 2013:8-12.
[7]	张洪, 魏毅, 陈瑞, 等. 整经机筒子架自动换筒机器人系统研发[J]. 上海纺织科技, 2020, 48(6): 10-13,16.
	ZHANG Hong, WEI Yi, CHEN Rui, et al. Research and development of automatic barrel changing robot system for warping machine's barrel frame[J]. Shanghai Textile Science & Technology, 2020, 48(6): 10-13, 16.
[8]	梅顺齐, 胡贵攀, 王建伟, 等. 纺织智能制造及其装备若干关键技术的探讨[J]. 纺织学报, 2017, 38(10): 166-171.
	MEI Shunqi, HU Guipan, WANG Jianwei, et al. Analysis of some key technology basis for intelligent textile manufacturing and its equipment[J]. Journal of Textile Research, 2017, 38(10): 166-171.
[9]	胡旭东, 沈春娅. 针织行业的智能制造及其实践[J]. 针织工业, 2019 (8): 1-6.
	HU Xudong, SHEN Chunya. Intelligent manufacturing and practice in knitting industry[J]. Knitting Industries, 2019 (8): 1-6.
[10]	廖能解, 马平, 李健洪, 等. 上下料桁架机器人仿真研究[J]. 机床与液压, 2019, 47(21): 9-14,33.
	LIAO Nengjie, MA Ping, LI Jianhong, et al. Simulation study on loading and unloading material truss robot[J]. Machine Tool & Hydraulics, 2019, 47(21): 9-14, 33.
[11]	郭志良. 数控车床桁架机器人上下料系统设计研究[D]. 大连: 大连理工大学, 2019:8-10.
	GUO Zhiliang. Design and study of gantry robot system for loading and unloading of CNC lathe[D]. Dalian: Dalian University of Technology, 2019:8-10.
[12]	杨中成. 台达高阶泛用型控制器AS300系列在全自动套袋机上的应用[J]. 智能机器人, 2018 (1): 56-58.
	YANG Zhongcheng. Application of Delta high-order universal controller AS300 series in full-automatic bagging machine[J]. Intelligent Robot, 2018 (1): 56-58.

Metrics

Viewed

Full text

Abstract

Cited

Shared

Discussed

序号	名称	电动机型号	输入电源 (220 V)	额定输出/ kW
1	X轴	GYH302C6-TC2	三相	3.0
2	Y轴	GYB751D5-RC2	单相	0.75
3	Z轴	GYG152C5-RG2-B	三相	1.5
4	A、B位	GYB751D5-RC2	单相	0.75
5	撑爪	GYB201D5-RC2-B	单相	0.2

序号	脉冲数/个			测量距离/mm			理论距离/mm			误差/mm
序号	X轴	Y轴	Z轴	X轴	Y轴	Z轴	X轴	Y轴	Z轴	X轴	Y轴	Z轴
1	0	0	0	0.0	0.0	0.0	0.0	0.2	-0.2	0.0	-0.2	0.2
2	50	100	100	14.5	2.0	10.0	14.8	2.1	10.0	-0.3	-0.1	0.0
3	100	200	200	29.5	4.0	21.0	29.6	4.1	20.2	-0.1	-0.1	0.8
4	150	300	300	45.5	6.0	30.5	44.4	6.0	30.4	1.1	0.0	0.1
5	200	400	400	59.0	8.0	40.5	59.2	7.9	40.6	-0.2	0.1	-0.1
6	250	500	500	74.0	10.0	50.5	74.0	9.8	50.8	0.0	0.2	-0.3
7	300	600	600	89.0	12.0	60.8	88.8	11.7	61.0	0.2	0.3	-0.2
8	350	700	700	105.0	14.5	70.7	103.6	13.7	71.2	1.4	0.8	-0.5
9	400	800	800	117.5	16.0	81.0	118.4	15.6	81.4	-0.9	0.4	-0.4
10	450	900	900	134.0	17.0	92.0	133.2	17.5	91.6	0.8	-0.5	0.4
11	500	1 000	1 000	148.0	19.0	103.0	148.0	19.4	101.7	0.0	-0.4	1.3
12	550	2 000	2 000	161.0	38.0	202.0	162.8	38.6	203.6	-1.8	-0.6	-1.6
13	600	3 000	3 000	178.0	57.5	306.5	177.6	57.8	305.5	0.4	-0.3	1.0
14	650	4 000	4 000	191.0	76.0	407.5	192.4	77.0	407.4	-1.4	-1.0	0.1
15	700	5 000	5 000	206.0	97.0	508.8	207.2	96.2	509.3	-1.2	0.8	-0.5
16	750	6 000	6 000	221.5	115.0	611.8	222.0	115.4	611.2	-0.5	-0.4	0.6
17	800	7 000	7 000	237.0	135.5	712.5	236.8	134.6	713.1	0.2	0.9	-0.6
18	850	8 000	8 000	253.0	153.5	815.0	251.6	153.8	815.0	1.4	-0.3	0.0
19	900	9 000	9 000	267.0	172.5	918.0	266.3	173.0	916.9	0.7	-0.5	1.1
20	1 000	10 000	10 000	296.0	192.0	1 019.0	295.9	192.2	1 018.8	0.1	-0.2	0.2

圆纬机纱架自动换筒技术

Automatic bobbin changing technology for circular weft knitting machines

RichHTML

PDF (PC)

摘要/Abstract

引用本文

使用本文

图/表 10

参考文献 12

相关文章 11

Metrics

本文评价

推荐阅读 10

[1]	周濛濛, 蒋高明, 高哲, 郑培晓. 纬编衬经衬纬管状织物增强复合材料研究进展[J]. 纺织学报, 2021, 42(07): 184-191.
[2]	彭来湖, 王罗俊, 胡旭东, 吴振辉, 袁嫣红. 磁保持电子选针器及串行总线提花系统设计[J]. 纺织学报, 2019, 40(01): 136-141.
[3]	彭来湖吴英刚王罗俊胡旭东. 针织圆纬机牵拉张力闭环控制技术[J]. 纺织学报, 2018, 39(10): 125-130.
[4]	戴宁彭来湖胡旭东吕明来未印. 圆纬机主动式动态送纱控制技术[J]. 纺织学报, 2018, 39(09): 153-159.
[5]	彭来湖陈青松汝欣胡旭东沈春娅. 圆纬机互联互通关键技术[J]. 纺织学报, 2018, 39(05): 119-124.
[6]	张东孟婥. 纱筒残余氨的扩散过程建模与数值模拟[J]. 纺织学报, 2017, 38(09): 149-154.
[7]	彭来湖吕江东汝欣史伟民向忠. 提花圆纬机花型图案嵌入式显现系统[J]. 纺织学报, 2016, 37(08): 138-142.
[8]	史伟民郭波锋彭来湖袁嫣红. 采用高速串行总线的圆纬机选针驱动器设计[J]. 纺织学报, 2015, 36(05): 110-114.
[9]	吴晓光孔令学朱里武玉琴黄振李爽. 磁悬浮式针织提花驱动方式理论研究与探讨[J]. 纺织学报, 2012, 33(10): 128-133.
[10]	许为民;张方华. 从电脑提花圆机的研制看我国针织工业的技术创新[J]. 纺织学报, 2000, 21(04): 60-62.
[11]	周罗庆. 双面纬编圆机上剖绒产品的开发[J]. 纺织学报, 1998, 19(05): 57-58.