Journal of Textile Research ›› 2022, Vol. 43 ›› Issue (02): 208-213.doi: 10.13475/j.fzxb.20210603206

• Machinery & Accessories • Previous Articles     Next Articles

Grabbing performance of non-contact gripper based on Coanda effect for garment fabrics

LIU Hanbang1,2, LI Xinrong1,2(), FENG Wenqian1,2, WU Liubo1,2, YUAN Ruwang1,2   

  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:2021-06-09 Revised:2021-11-24 Online:2022-02-15 Published:2022-03-15
  • Contact: LI Xinrong E-mail:lixinrong7507@hotmail.com

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Abstract:

The automatic grabbing and transfer of garment fabrics is the key to the automated production of the garment industry in order to improve the processing efficiency in garment production. Aiming at the problems of surface scratches and insufficient grabbing force with the current garment fabric grabbing methods, the impact of the non-contact gripper based on Coanda effect on grabbing garment fabrics was studied and analyzed. The structure and working principle of the non-contact gripper based on Coanda effect were introduced, and the grabbing performance experiments of fabrics with different parameters were carried out. The grabbing performance of garment fabrics with different fabric parameters was compared and analyzed. The results show that the non-contact gripper based on the Coanda effect can achieve the non-contact gripping of a variety of garment fabrics, which solves the problem of contact scratches and insufficient grabbing force in the production process of garment fabrics. This research can effectively reduce the spread of bacteria and viruses in the grabbing and transfer of garment fabrics, and provide technical support for the realization of the automated production of garment fabrics.

Key words: non-contact gripping, garment fabric, grabbing performance, Coanda effect

CLC Number: 

  • TS112.7

Fig.1

Schematic diagram of the structure and principle of non-contact gripper based on Coanda effect. (a) Physical structure diagram; (b) Schematic diagram"

Tab.1

List of nomenclature"

参数 符号 单位
面料有效吸附面积 s mm2
气体流速 v m/s
气体的压强 p Pa(abs)
大气压强 pa Pa(abs)
超音速区域的压强 p1 Pa(abs)
亚音速区域的压强 p2 Pa(abs)
气流的半径 r mm
空气动力黏度 μ Pa·s
夹持器与工件之间的间隙 h1 mm
方位角 δ (°)
外界大气的密度 ρa kg/m3
气体的密度 ρ kg/m3
比热容比 γ _
摩擦因数 f _
提升力 F N
超音速区域的提升力 f1 N
亚音速区域的提升力 f2 N

Fig.2

Theoretical model for pressure analysis"

Fig.3

Experimental measuring device"

Tab.2

Selected parameter values for the experiment"

喷嘴入口
半径/mm		 夹持器半
径/mm		 阻挡板半
径/mm		 喷嘴出口
半径/mm		 节能装置初级
入口面积/mm2		 节能装置次级进
气口面积/mm2
4 20 5 15 50.24 254.34

Tab.3

Specific parameters of garment fabrics"

试样编号 经密/
(根·(10 cm)-1)		 纬密/
(根·(10 cm)-1)		 质量/g 透气量/
(mm·s-1)		 厚度/mm
1 62 57 0.855 5 3 045 0.36
2 78 63 2.497 9 934.3 0.62
3 57 63 2.416 5 29.88 0.46
4 75 65 1.428 4 406.3 0.24
5 120 86 1.387 7 328 0.24
6 64 63 1.788 5 344.6 0.40
7 63 66.5 1.401 7 84.7 0.26
8 76 64.5 1.631 1 246.8 0.23
9 84 49 1.273 3 1 779.7 0.36
10 70 63 2.725 0 50.68 0.48
11 58 80 2.213 5 75.29 0.38
12 87 86 1.325 5 1 237.3 0.36

Fig.4

Schematic diagram of adsorption gap"

Fig.5

Schematic diagram of adsorption gap"

Fig.6

Lifting force experimental measuring device"

Tab.4

Crawling effect at different gas flowing"

试样
编号		 气体流量/(L·min-1)
25 30 35 40 45 50
1 D D D D D D
2 A A B D D D
3 A A D D D D
4 A D D D D D
5 D D D D D D
6 A D D D D D
7 A D D D D D
8 A D D D D D
9 A D D D D D
10 A A D D D D
11 A D D D D D
12 A D D D D D

Fig.7

Adsorption gap measurement results"

Fig.8

Relationship between supply gas flow rate and lifting force"

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