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

仿照手工旋压的控制机理和操作技巧，研制了特殊材料手旋机器人系统。这些系统可以旋压较粗糙和不规则的材料，适用于大批量和小批量生产。现代的纺纱机不能纺制这种材料，也不能适应这种风格的生产。通过对传统纺纱机和纺纱方法的研究，得出了原理思想，如主轴或飞片手轮纺纱和1870年S在日本发明的GARA-BO(日本短吻纺纱机)，这些老式纺纱机具有能够处理粗糙、不规则的物料和适应小批量生产的特点。作者揭示了这些特点是由“加捻牵伸纺纱机构”造成的，并在老式加捻牵伸纺纱机的基础上开发了自动纺纱机。实践证明，该系统可以纺制出(A)含有羊毛、腈纶、涤纶等废布的解缠纤维和(B)针刺型无纺布的残留物。得到了纱线控制的基本方程：λ=C_&lt；tλ&gt；ρ^&lt；1/(2b)&gt；T^&lt；(-1)/2&gt；D=C_<td>ρ^&lt；(-1)/(2b)&gt；T^&lt；1/2&gt；式中，D=纱线直径，λ=加捻速率，T=纱线张力，ρ=夹持纤维密度，C_λ&gt；，C_<td>系数=独立ρ。上述方程表明，如果D能够测量，则D可以控制恒定运行λ，从而使T恒定。

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.