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Development of Hand Spinning Robot System for Special Functional Yarns Modeling after Control Mechanism and Operational Skill in Man-Hand Spinning

手纺手纺机器人系统的控制机制及手纺操作技巧的特殊功能纱线造型建模

基本信息

批准号：
11555070
负责人：
NAKAZAWA Masaru
金额：
$ 8.13万
依托单位：
Shinshu University
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (B)
财政年份：
1999
资助国家：
日本
起止时间：
1999 至 2002
项目状态：
已结题

项目摘要

Hand spinning robot systems for special materials were developed modeling after control mechanism and skill of operation in man hand spinning. These systems can spin rather rough and irregular materials and are adaptable to large item and small amount production. The modern spinning machine cannot spin such materials and cannot fit for such style productions. The principle idea was obtained by the research of old spinning machines and spinning methods such as hand wheel spinning with spindle or flyer and Gara-bo (Japanese throstle spinning machine) which was invented in Japan in 1870's. These old spinning machines have special characteristics to be able to deal with rough and irregular materials and adaptable to small amount production. The authors revealed that these characteristics were caused by the "twist draft spinning mechanism" and developed the automatic spinning machines based on old twist draft spinning machines.It was proved that the systems could spin (a) disentangled fiber of waste cloth containing wool, acrylic fiber, polyester fiber, etc. and (b) remnant of non-woven cloth of needle punch type. These systems are convenient to apply to "Fiber recycle" of waste cloth.Basic equations to control the systems and design specification of yarn were obtained as follows;λ = C_<tλ>ρ^<1/(2b)>T^<(-1)/2> D = C_<td>ρ^<(-1)/(2b)>T^<1/2>where, D=Yarn Diameter, λ=Twist rate, T=Yarn tension, ρ=Density of clamped fiber assemble, C_<tλ>, C_<td>=Coefficients independent ρ. Above equations indicate that if D is able to measure D can controlled constant operating λ so as to make T constant.

仿人手旋压的控制机理和操作技巧，研制了特种材料手旋压机器人系统。这些系统可以纺出相当粗糙和不规则的材料，并适用于大项目和小批量生产。现代纺纱机不能纺出这种材料，也不适合这种风格的产品。其原理思想是通过对旧纺纱机和纺纱方法的研究而得出的，如带锭或锭翼的手轮纺纱和19世纪70年代在日本发明的Gara-bo（日本喷气纺纱机）。这些旧的纺纱机具有特殊的特点，能够处理粗糙和不规则的材料，并适应小批量生产。作者揭示了这些特点是由“加捻牵伸纺纱机理”造成的，并在原有加捻牵伸纺纱机的基础上研制了自动纺纱机，证明该系统可纺（a）羊毛、腈纶、涤纶等废布的解缠纤维和（B）针刺型非织造布的残丝。得到了控制系统和纱线设计指标的基本方程：λ = C_（tλ）ρ^<1/（2b）>T^<（-1）/2> D = C_（tλ）ρ ^<td><（-1）/（2b）>T^<1/2>式中，D为纱线直径，λ为捻度，T为纱线张力，ρ为纤维束密度，C_（tλ），C_（tλ）为<td>与ρ无关的系数。上述方程表明，如果D能够测量D，则可以控制λ恒定，从而使T恒定。