纺织学报 ›› 2021, Vol. 42 ›› Issue (02): 185-192.doi: 10.13475/j.fzxb.20200802408

• 机械与器材 • 上一篇    下一篇

服装面料静电吸附抓取转移电极板优化设计

刘立东1,2, 李新荣1,2(), 刘汉邦1,2, 李丹丹1,2   

  1. 1.天津工业大学 机械工程学院, 天津 300387
    2.天津市现代机电装备技术重点实验室, 天津 300387
  • 收稿日期:2020-08-03 修回日期:2020-11-02 出版日期:2021-02-15 发布日期:2021-02-23
  • 通讯作者: 李新荣
  • 作者简介:刘立东(1995—),男,硕士生。主要研究方向为服装设备智能化。
  • 基金资助:
    国家重点研发计划资助项目(2018YFB1308801)

Optimization design of electrode plate based on electrostatic adsorption and transfer used for garment fabric

LIU Lidong1,2, LI Xinrong1,2(), LIU Hanbang1,2, LI Dandan1,2   

  1. 1. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
    2. Key Laboratory of Modern Mechanical and Electrical Equipment Technology, Tianjin 300387, China
  • Received:2020-08-03 Revised:2020-11-02 Online:2021-02-15 Published:2021-02-23
  • Contact: LI Xinrong

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摘要：

为提高服装定制化生产过程中机器人的使用效果,解决机器人末端执行器在加工过程中抓取转移面料吸附力不稳定问题,针对静电极板设计的关键因素,电极板的形状布置和结构参数进行了分析优化。通过构建针织纬编织物的模型,对当前4种电极分布形式进行仿真对比分析,得到最适合服装面料的电极板的形状布置:梳状电极。然后以单位面积吸附力最大为优化目标,对电极板的形状布置及结构参数进行了优化设计,并对优化设计结果进行仿真验证。结果表明:采用梳状形状布置、结构参数优化后的电极,能够很好地吸附服装面料,满足服装自动化使用要求。

关键词: 静电吸附, 面料抓取, 电极优化, 织物建模, 静电力, 服装加工智能化

Abstract:

In order to improve the effect of robot in the process of garment customization, unstable adsorption of the robot end-effector during grabbing and transferring fabric was worked on. The key factors of electrostatic plate design, the shape arrangement and structure parameters of the electrode plate were analyzed and optimized. The model of knitted weft knitted fabric was constructed, the four electrode distribution forms were simulated and compared, and the most suitable shape arrangement for garment fabric of the electrode plate: the comb electrode was obtained. The shape arrangement and structural parameters of the electrode plate were then optimized with the objective of maximizing the adsorption capacity per unit area. The simulation results show that the electrode with comb-shaped arrangement and optimized structure parameters can grab garment fabrics well, meeting the requirements for automatic garment production.

Key words: electrostatic adsorption, fabric grasping, electrode optimization, fabric modeling, electrostatic force, intellectualizationof grarment processing

中图分类号: 

  • TS181.8

图1

静电吸附横截面"

图2

电极极板的形状"

图3

针织纬编织物线圈的几何模型 w—圈距,mm;h—圈柱高度,mm;d—纱线直径,mm;β—线圈起伏角,(°);a0—椭圆的长轴长度,mm;a1—椭圆的短轴长度,mm。"

图4

BC段型值点坐标"

图5

织物的三维模型"

图6

梳状电极电荷分布"

图7

电容与振幅之间的关系"

图8

电容与周期之间的关系"

图9

静电吸附力大小曲线图"

图10

静电仿真的三维模型"

图11

梳状电极的制作过程"

图12

静电吸附式电极板"

图13

吸附力检测装置简图 1—“F”型安装支撑架;2—上基板固定装置;3—面料固定装置; 4—导柱;5—导套;6—导套固定装置;7—拉力传感器;8—滑轨;9—滑块;10—支撑座;11—调节螺栓。"

图14

吸附力的检测装置"

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