高速剑杆织机共轭凸轮引纬机构运动精度分析
|
摘要
为提高高速剑杆织机共轭凸轮引纬机构运动平稳性、运动精度及纬纱交接可靠性等,建立含尺寸误差与运动副间隙的凸轮机构、铰接四杆机构和齿轮机构及其串联组成的共轭凸轮引纬机构运动精度误差模型,结合概率统计法进行运动学仿真分析,揭示凸轮、铰接四杆与齿轮机构误差对剑头运动精度误差及引纬工艺的影响规律。结果表明:凸轮机构在剑头位移误差影响中占比最大,约为48%,铰接四杆机构和齿轮机构对剑头位移误差影响的占比分别约为35%和17%,提高凸轮机构加工精度可改善机构运动精度;机构运动精度误差引起剑头进出梭口的时间改变,剑杆在交接过程中的位移偏差为-4.09～3.23 mm,加速度的偏差均值约为13.07×10~2 m/s~2,从而产生较大惯性力与剑杆的动态变形,致使纬纱交接失误。
In order to improve the motion stability, motion accuracy and weft transfer reliability of the conjugate cam weft insertion mechanism for high speed rapier looms, the error analysis model for kinematic accuracy of conjugate cam weft insertion mechanism consisting of cam mechanism, articulated four-bar mechanism, gear mechanism and their series connection is established. The kinematics simulation analysis is carried on combined with probability and statistics method. The influence of the errors of cam, articulated four-bar mechanism and gear mechanism on the motion accuracy error of rapier head and weft insertion technology is revealed. The results show that the cam mechanism accounts for the largest proportion of the displacement error of the rapier head, which is about 48%.Hinged four-bar mechanism and gear mechanism account for 35% and 17% of the displacement error of the rapier head, respectively. Increasing the machining accuracy of cam mechanism can improve the situation. Errors in motion accuracy result in changes in the time of the sword head entering and leaving the shuttle. The displacement deviation of rapier during handover is-4.09-2.32 mm. The mean deviation of acceleration is 13.07×10~2 m/s~2.
In order to improve the motion stability, motion accuracy and weft transfer reliability of the conjugate cam weft insertion mechanism for high speed rapier looms, the error analysis model for kinematic accuracy of conjugate cam weft insertion mechanism consisting of cam mechanism, articulated four-bar mechanism, gear mechanism and their series connection is established. The kinematics simulation analysis is carried on combined with probability and statistics method. The influence of the errors of cam, articulated four-bar mechanism and gear mechanism on the motion accuracy error of rapier head and weft insertion technology is revealed. The results show that the cam mechanism accounts for the largest proportion of the displacement error of the rapier head, which is about 48%.Hinged four-bar mechanism and gear mechanism account for 35% and 17% of the displacement error of the rapier head, respectively. Increasing the machining accuracy of cam mechanism can improve the situation. Errors in motion accuracy result in changes in the time of the sword head entering and leaving the shuttle. The displacement deviation of rapier during handover is-4.09-2.32 mm. The mean deviation of acceleration is 13.07×10~2 m/s~2.
引文
[1]ZHU Z C,FANG Z H.An optimization design of a weft insertion mechanism for rapier looms[J].Journal of Donghua University(English Edition),2003,20(3):38-41.
[2]张雷,余克龙,陈少钟,等.基于ANSYS和ADAMS空间四连杆引纬机构的柔性动力学仿真[J].纺织学报,2013,34(5):116-120.ZHANG L,YU K L,CHEN S Z,et al.Flexible dynamics simulation for spatial four bar linkage weft insertion mechanism based on ANSYS and ADAMS[J].Journal of Textile Research,2013,34(5):116-120(in Chinese).
[3]滕兵.高性能剑杆织机打纬和引纬机构的设计与研究[D].上海:东华大学,2006.TENG B.Design and study of beat-up mechanism and weft insertion mechanism of high-powered rapier loom[D].Shanghai:Donghua University,2006(in Chinese).
[4]XIAO W B.Dynamic modeling and response analyses for the conjugate-cam weft insertion system of rapier looms[J].Mechanical and Electrical Equipment,2007(8):6-8.
[5]CUI L,ZHENZHOU L,WANG Q.A study of the mechanism kinematic accuracy reliability by probability density evolution method[J].Mechanical Science and Technology for Aerospace Engineering,2010,29(5):690-694,700.
[6]李克让,陈明.剑杆引纬机构的传动规律研究[J].纺织学报,2004,25(1):44-45.LI K R,CHEN M.A study of the transmission law for the weft insertion mechanism in rapider looms[J].Journal of Textile Research,2004,25(1):44-45(in Chinese).
[7]张雷,贺虎,孔佳元.含间隙和尺寸误差空间连杆引纬机构运动精度综合分析[J].纺织学报,2016,37(6):124-129,135.ZHANG L,HE H,KONG J Y.Comprehensive analysis of kinematics accuracy for spatial linkage weft insertion mechanism with clearance and dimensional errors[J].Journal of Textile Research,2016,37(6):124-129,135(in Chinese).
[8]唐雪梅,朱伟林,赖奇暐,等.共轭凸轮打纬机构运动精度分析[J].机电工程,2014,31(2):173-176,202.TANG X M,ZHU W L,LAI Q W,et al.Kinematic accuracy analysis of conjugate cam beating-up mechanism[J].Journal of Mechanical and Electrical Engineering,2014,31(2):173-176,202(in Chinese).
[9]唐雪梅,巫世晶,朱伟林,等.高速剑杆织机打纬机构运动精度可靠性分析与计算[J].天津工业大学学报,2015,34(1):78-83.TANG X M,WU S J,ZHU W L,et al.Analysis and calculation of kinematics accuracy reliability on beating-up mechanism of high-speed rapier loom[J].Journal of Tianjin Polytechnic University,2015,34(1):78-83(in Chinese).
[10]TANG X M.Calculation algorithm for kinematics accuracy reliability of conjugate cams beating-up mechanism[J].Journal of Information and Computational Science,2014,11(18):6787-6793.
[11]国志刚,冯蕴雯,冯元生.摆动推杆盘形凸轮机构运动精度可靠性分析[J].机械科学与技术,2006,25(2):200-203,228.GUO Z G,FENG Y W,FENG Y S.Reliability analysis of kinetic precision on disk cam mechanism with swing rollers[J].Mechanical Science and Technology,2006,25(2):200-203,228(in Chinese).
[12]陈建军,陈勇,高伟,等.平面四杆机构运动精度可靠性分析与数字仿真[J].西安电子科技大学学报,2001,28(6):759-764.CHEN J J,CHEN Y,GAO W,et al.Reliability analysis and simulation for kinematics accuracy of the flat four-bar mechanism[J].Journal of Xidian University,2001,28(6):759-764(in Chinese).
[13]SUN D Y,CHEN G P.Kinematic accuracy analysis of planar mechanisms with clearance involving random and epistemic uncertainty[J].European Journal of Mechanics-A,2016,58:256-261.
[14]黄贤振,赵庆栋,李少东,等.渐开线圆柱齿轮系统运动精度可靠性分析[J].计算机集成制造系统,2014,20(9):2210-2214.HUANG X Z,ZHAO Q D,LI S D,et al.Reliability analysis for kinematic accuracy of involute cylindrical gear systems[J].Computer Integrated Manufacturing Systems,2014,20(9):2210-2214(in Chinese).
[15]陈文华,朱海峰,樊晓燕.齿轮系统传动误差的蒙特卡洛模拟分析[J].仪器仪表学报,2004,25(4):435-437.CHEN W H,ZHU H F,FAN X Y.Monte-carlo simulation analysis of transmission error for gear drive systems[J].Chinese Journal of Scientific Instrument,2004,25(4):435-437(in Chinese).
[16]HUANG X Z,HU S,ZHANG Y M,et al.A method to determine kinematic accuracy reliability of gear mecha nisms with truncated random variables[J].Mechanism and Machine Theory,2015,92:200-212.
[17]同长虹,黄建龙.多机构系统输出运动精度模型与影响因素[J].兰州理工大学学报,2010,36(4):33-36.TONG C H,HUANG J L.Model of output accuracy of kinematics in multi-mechanism system and its influencing factors[J].Journal of Lanzhou University of Technology,2010,36(4):33-36(in Chinese).
[18]PANDEY M D,ZHANG X F.System reliability analysis of the robotic manipulator with random joint clearances[J].Mechanism and Machine Theory,2012,58:137-152.
[19]CHOI C K,YOO H H.Uncertainty analysis of nonlinear systems employing the first-order reliability method[J].Journal of Mechanical Science and Technology,2012,26(1):39-44.
[20]孙志礼,陈良玉.实用机械可靠性设计理论与方法[M].北京:科学出版社,2003:210-280.SUN Z L,CHEN L Y.Theory and Method of Reliability Design for Practical Machinery[M].Beijing:Science Press,2003:210-280(in Chinese).
[2]张雷,余克龙,陈少钟,等.基于ANSYS和ADAMS空间四连杆引纬机构的柔性动力学仿真[J].纺织学报,2013,34(5):116-120.ZHANG L,YU K L,CHEN S Z,et al.Flexible dynamics simulation for spatial four bar linkage weft insertion mechanism based on ANSYS and ADAMS[J].Journal of Textile Research,2013,34(5):116-120(in Chinese).
[3]滕兵.高性能剑杆织机打纬和引纬机构的设计与研究[D].上海:东华大学,2006.TENG B.Design and study of beat-up mechanism and weft insertion mechanism of high-powered rapier loom[D].Shanghai:Donghua University,2006(in Chinese).
[4]XIAO W B.Dynamic modeling and response analyses for the conjugate-cam weft insertion system of rapier looms[J].Mechanical and Electrical Equipment,2007(8):6-8.
[5]CUI L,ZHENZHOU L,WANG Q.A study of the mechanism kinematic accuracy reliability by probability density evolution method[J].Mechanical Science and Technology for Aerospace Engineering,2010,29(5):690-694,700.
[6]李克让,陈明.剑杆引纬机构的传动规律研究[J].纺织学报,2004,25(1):44-45.LI K R,CHEN M.A study of the transmission law for the weft insertion mechanism in rapider looms[J].Journal of Textile Research,2004,25(1):44-45(in Chinese).
[7]张雷,贺虎,孔佳元.含间隙和尺寸误差空间连杆引纬机构运动精度综合分析[J].纺织学报,2016,37(6):124-129,135.ZHANG L,HE H,KONG J Y.Comprehensive analysis of kinematics accuracy for spatial linkage weft insertion mechanism with clearance and dimensional errors[J].Journal of Textile Research,2016,37(6):124-129,135(in Chinese).
[8]唐雪梅,朱伟林,赖奇暐,等.共轭凸轮打纬机构运动精度分析[J].机电工程,2014,31(2):173-176,202.TANG X M,ZHU W L,LAI Q W,et al.Kinematic accuracy analysis of conjugate cam beating-up mechanism[J].Journal of Mechanical and Electrical Engineering,2014,31(2):173-176,202(in Chinese).
[9]唐雪梅,巫世晶,朱伟林,等.高速剑杆织机打纬机构运动精度可靠性分析与计算[J].天津工业大学学报,2015,34(1):78-83.TANG X M,WU S J,ZHU W L,et al.Analysis and calculation of kinematics accuracy reliability on beating-up mechanism of high-speed rapier loom[J].Journal of Tianjin Polytechnic University,2015,34(1):78-83(in Chinese).
[10]TANG X M.Calculation algorithm for kinematics accuracy reliability of conjugate cams beating-up mechanism[J].Journal of Information and Computational Science,2014,11(18):6787-6793.
[11]国志刚,冯蕴雯,冯元生.摆动推杆盘形凸轮机构运动精度可靠性分析[J].机械科学与技术,2006,25(2):200-203,228.GUO Z G,FENG Y W,FENG Y S.Reliability analysis of kinetic precision on disk cam mechanism with swing rollers[J].Mechanical Science and Technology,2006,25(2):200-203,228(in Chinese).
[12]陈建军,陈勇,高伟,等.平面四杆机构运动精度可靠性分析与数字仿真[J].西安电子科技大学学报,2001,28(6):759-764.CHEN J J,CHEN Y,GAO W,et al.Reliability analysis and simulation for kinematics accuracy of the flat four-bar mechanism[J].Journal of Xidian University,2001,28(6):759-764(in Chinese).
[13]SUN D Y,CHEN G P.Kinematic accuracy analysis of planar mechanisms with clearance involving random and epistemic uncertainty[J].European Journal of Mechanics-A,2016,58:256-261.
[14]黄贤振,赵庆栋,李少东,等.渐开线圆柱齿轮系统运动精度可靠性分析[J].计算机集成制造系统,2014,20(9):2210-2214.HUANG X Z,ZHAO Q D,LI S D,et al.Reliability analysis for kinematic accuracy of involute cylindrical gear systems[J].Computer Integrated Manufacturing Systems,2014,20(9):2210-2214(in Chinese).
[15]陈文华,朱海峰,樊晓燕.齿轮系统传动误差的蒙特卡洛模拟分析[J].仪器仪表学报,2004,25(4):435-437.CHEN W H,ZHU H F,FAN X Y.Monte-carlo simulation analysis of transmission error for gear drive systems[J].Chinese Journal of Scientific Instrument,2004,25(4):435-437(in Chinese).
[16]HUANG X Z,HU S,ZHANG Y M,et al.A method to determine kinematic accuracy reliability of gear mecha nisms with truncated random variables[J].Mechanism and Machine Theory,2015,92:200-212.
[17]同长虹,黄建龙.多机构系统输出运动精度模型与影响因素[J].兰州理工大学学报,2010,36(4):33-36.TONG C H,HUANG J L.Model of output accuracy of kinematics in multi-mechanism system and its influencing factors[J].Journal of Lanzhou University of Technology,2010,36(4):33-36(in Chinese).
[18]PANDEY M D,ZHANG X F.System reliability analysis of the robotic manipulator with random joint clearances[J].Mechanism and Machine Theory,2012,58:137-152.
[19]CHOI C K,YOO H H.Uncertainty analysis of nonlinear systems employing the first-order reliability method[J].Journal of Mechanical Science and Technology,2012,26(1):39-44.
[20]孙志礼,陈良玉.实用机械可靠性设计理论与方法[M].北京:科学出版社,2003:210-280.SUN Z L,CHEN L Y.Theory and Method of Reliability Design for Practical Machinery[M].Beijing:Science Press,2003:210-280(in Chinese).