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

本报告的目的是明确人手纺纱和Gara-bo（1708年在日本发明的日本throstle纺纱）的机械原理和控制机理，并应用人手纺纱和Gara-bo纺纱的研究成果，开发适用于劣质材料的纺纱设备。首先对几种不同类型的人工手纺机进行了纺锤式和飞片式纺车的性能测试。结果表明，人类手纺纱的控制机制并不简单；本文对Gara-bo的控制机理进行了研究，揭示了Gara-bo纺纱部分的牵伸量是通过控制纺纱部分的牵伸量，使纱线的张力保持恒定的操作捻速，指出人工纺纱和Gara-bo纺纱都是“捻牵伸纺纱”的一种，其控制原理与Gara-bo纺纱相似根据纱线粗细的基本原理，应用人手纺纱和Gara-bo纺纱的研究成果，研制了纺纱装置，即纺纱机器人。在捻度牵伸纱上，众所周知，纱线粗细D和捻度λ由方程D×λ=C（=const.）决定，但C不能表示为材料纤维物理量和尺寸的函数。通过对纱线一致性部位材料夹紧力与纱线捻度约束力的力学关系的分析，导出了该函数。从提速的角度考察了提升尺寸（合纱部到卷绕辊的距离）对提速的影响，证明了缩短提升尺寸对提速是有效的。本机适用于多品种、小批量的生产，并经实践验证，可将破布口、周边无纺布片、70%碳化棉与30%涤纶混纺等劣质粗料制成符合纱线。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