自动落纱机自适应纱管夹持器设计及其动力学仿真研究

Design and dynamic simulation research of self-adaptive bobbin gripper for automatic doffer

为了提高自动落纱机的工作效率和可靠性,增强纱管夹持器适应锭子安装误差的能力,减小工作过程中的动力消耗,采用机构扩展法设计了一种自动落纱机自适应纱管夹持器。首先构建了一个二自由度的纱管夹持器主机构,并对机构进行扩展,增加3个杆件使它与原来的构件组成平行四边形机构以实现机构变异,并得到了自适应纱管夹持器的运动简图。该夹持器利用浮动连接板的摆动自动适应锭子的安装误差,利用平行四边形机构的工作特点实现夹紧/预松纱管功能。在完成结构设计的基础上对自适应纱管夹持器进行了静力分析,研究了夹持器的受力情况。基于SolidWorks Motion建立了自适应纱管夹持器的动力学仿真模型,对不同锭子安装误差下夹紧纱管时纱管所受到的接触力进行了仿真计算。结果表明:当锭子准确安装时,在夹紧纱管情况下有足够的旋转力矩作用在纱管上,可实现预松纱管功能;稳定工作状态下安装在夹指中的聚氨酯夹块与纱管的接触力满足要求;自适应纱管夹持器具有在-1~1mm范围内自动适应锭子安装误差的能力,并在夹紧纱管时可以实现预松纱管功能。研究成果为设计高效、可靠的自动落纱机拔管装置奠定了基础。自适应纱管夹持器的工作原理和设计思想对设计服务于其他领域的机器人自适应夹持器有一定的借鉴意义。

In order to improve the efficiency and reliability of automatic doffer, enhance the ability to automatically adapt to the mounting errors of the spindle and reduce the power consumption in the working process, a new type of self-adaptive bobbin gripper was designed by using the mechanism expansion method. Firstly, a two-degree-of-freedom main mechanism was constructed, it was extended by adding 3 components to form parallelogram mechanism so as to realize the mechanism variation. Then, the kinematic sketch of self-adaptive bobbin gripper was obtained. The mounting error of the spindle was automatically adapted by the swing of floating connection plate. By using of the working characteristics of parallel quadrilateral mechanism, the functions of pre-clamping and loosening bobbin were completed. On the basis of the structure design, the force analysis of the self-adaptive bobbin gripper was carried out. Finally, based on SolidWorks Motion, the dynamic simulation model of the self-adaptive bobbin gripper was built, and the contact force of the bobbin was simulated and calculated in different installation conditions of the spindle. The results showed that when the spindle was properly installed, the enough running torque acted on the bobbin to realize the pre-loosening function successfully while clamping the bobbin. In the stable working condition, the contact force between the polyurethane block and the bobbin could meet the requirements. The self-adaptive bobbin gripper had the ability to automatically adapt to the spindle mounting error within a range of -1-1 mm, and the pre-loosening function could be realized while clamping the bobbin. The research results lay the foundation for the design of efficient and reliable automatic doffing device. The working principle and design idea of the self-adaptive bobbin gripper can be used for reference in the design of robot adaptive gripper serving other fields.