Clarification of the mechanism of control and skill in human hand spinning and development of spinning robot system

本报告的目的是为了弄清人类手纺和Gara-bo(日本发明于1708年的日本短吻纺)的机械原理和控制机理，并应用人类手纺和Gara-bo的研究成果开发劣质材料纺纱设备。首先，测量了几种类型的主轴式和飞片式纺纱机的性能特点。结果表明，人体手纺的控制机理不是简单的，而是由加捻和牵伸相互作用而产生的“自调节控制机制”.作者对GARA-BO的控制机理进行了研究，发现通过控制纺纱部件的牵伸量，使纱线张力保持恒定的操作加捻速度.注意到，人体手纺和GARA-BO都是一种“牵伸纱”，在t…中有相似之处为了更好地控制纱线厚度，作者借鉴了人工纺纱和加拉纺纱的研究成果，开发了纺纱机器人这一纺纱装置。在加捻牵伸纱线上，纱线厚度D和加捻速率λ可用公式D×λ=C(=Const)表示，但C不能表示为原料纤维的物理量和尺寸的函数。通过对材料夹紧力与纱线合并部纱线捻合力之间的力学关系的分析，推导出该函数。从设备提速的角度出发，考察了提升力尺寸(纱线合并部到络筒的距离)对提速的影响，证明缩短提升力对提速是有效的。研制的机器适用于多品种、小批量生产，经验证能满足开布、无纺布周边片、70%碳化棉与30%涤纶混纺等劣质、粗面料对纱线的整形。较少

The purpose of this report is to make clear the mechanical principle and controlling mechanism of human hand spinning and Gara-bo (Japanese throstle spinning invented in Japan in 1708) and to develop spinning apparatus for inferior quality materials applying the results of the study of human hand spinning and Gara-bo.At first the performance characteristics of several type of human hand spinning with spindle type and flyer type spinning wheel are measured. The results show that the controlling mechanism of human hand spinning is not simple, but essential part of the mechanism is "self adjusting controlling mechanism" caused by mutual reaction of twisting and drafting operation..The authors had already investigated the controlling mechanism of Gara-bo and revealed that draft amount of the spinning part is controlled so as to make the yarn tension constant operating twisting speed..Noticing that both the human hand spinning and Gara-bo are kinds of "Twist draft spinning" and similar in t … More heir controlling principle of the yarn thickness, the authors developed spinning apparatus, namely Spinning robot, applying the research results of human hand spinning and Gara-bo.On the twist draft yarn it is well known that the thickness of the yarn D and the twist rate λ are governed by the equation D×λ=C(=const.), but C could not be expressed as a function of physical quantities and dimension of material fiber. The authors derived the function by analysis of the mechanical relation between clamping force of material and restraining force of the yarn twist at the yarn conforming part.From the view point of speeding up of the apparatus the influences of the lift dimension (distance from yarn conforming part to winding roller) is examined and shortening of the lift proved to be effective for the speeding up.The machine developed is effective for multi-kind and small-quantity production, and is verified to be able to conform the yarn by such inferior and coarse materials as rag opening, periphery piece of non-woven cloth, mixture of 70% carbonized cotton and 30% polyester. Less