基于运动合成的旋转变速运动建模及其驱动机构演变

doi:10.13475/j.fzxb.20230504801

摘要/Abstract

摘要：

为满足织机开口运动停—升—停的工艺特性及其动力学性能,提出一种基于运动合成的旋转变速运动规律构造方法。从组合机构角度提出旋转变速运动驱动机构及其演变,建立不同驱动机构的相对运动传递函数模型。采用目标优化法对旋转变速机构尺寸参数进行设计,在相同的中心距半径和转子臂初始位置的情况下建立优化函数并进行求解。仿真结果表明:偏移系数是影响旋转变速运动的关键参数,且变速运动静止时间、相对位移和速度峰值随偏移系数增加而减小;传递函数是影响旋转变速机构运动特性的重要参数,当偏移系数为0.414 7时,随传动比的减小,转子臂相对位移减小,同时影响旋转变速机构凸轮特性,传动比大于0.9后不能满足旋转变速机构约束条件;用导杆滑块机构和铰接四杆机构对齿轮机构进行代换,可近似实现变速规律相对运动的传递,其传动误差分别为0.010、0.003 rad;通过减小中心距对铰接四杆机构重新优化可以提高旋转变速机构传动性能,满足高速运动需求。

关键词: 运动合成, 旋转变速运动, 驱动变速机构, 偏移系数, 目标优化, 织机开口

Abstract:

Objective In order to achieve and optimize the stop-rise-stop motion characteristics of heald frames to meet the shedding requirements, a variable speed motion model was established and different driving mechanisms adopted to achieve variable speed motion was analyzed. A systematic design method was proposed for the rotating variable speed mechanism with different configurations.

Method Based on the principle of motion synthesis, a method of constructing the rules of movement of the heald frames was proposed. The model of rotating motion was accordingly established to analyze the characteristics of the shedding mechanism under different parameters. From the perspective of mechanism of combination, the rotating-variable-speed motion driving mechanism and its improvement were put forward. The relative motion transfer function models of different heald frame driving mechanisms were established, and the scale optimization was carried out using objective optimization.

Results By comparing and analyzing the motion characteristics of the cycloidal function under different offset coefficients, changing the offset coefficients of the cycloidal function can meet the technological requirements of the loom at different rest times. The cycloidal rest time, relative displacement and velocity extremes decrease with the increase of the offset coefficient, and the acceleration is the least when the offset coefficient (b) is 0.199 1. When the offset coefficient is 0.414 7 and radius of roller (r_c) is 31 mm, the kinematic characteristics of the fixed cam-gear rotating transmission mechanism with different gear ratios are analyzed. With the reduction of the transmission ratio, the rotor arm displacement, cam pressure angle and cam curvature also decrease. The dimensional design of the evolved mechanism is carried out by means of objective optimization method, and its motion characteristics are analyzed. When the offset coefficient is 0.414 7 and the transmission ratio is lower than 0.9, the size of the hinged four-bar mechanism satisfying the constraint conditions can be obtained. The transmission ratio of the hinged four-bar mechanism and the guide slider mechanism both fluctuate uniformly above and below the transmission ratio. The transmission ratio range of the guide bar slider mechanism increases with the increase of the transmission ratio, while the transmission ratio range of the hinged four-bar mechanism is small. With the increase of transmission ratio, the error fluctuation of guide bar slider mechanism increases, and the error fluctuation of hinged four-bar mechanism is the smallest when the transmission ratio is 0.90. Under the same transmission ratio, the transmission performance of the guide bar slider mechanism is better than that of the hinged four-bar mechanism. By reducing the center distance of the hinged four-bar mechanism, the transmission performance of the mechanism is improved, the CAM pressure angle is reduced by 2.95%, and the transmission angle of the connecting rod is increased by 2.93%. The maximum diameter of the CAM rod is reduced by 2.90%.

Conclusion In the motion period, the relative angular displacement, angular velocity and angular acceleration curves of the corrected cycloid motion law are continuous without sudden change, and the offset coefficient is the only control parameter, which can meet the different process requirements of loom. When a four-bar mechanism is used instead of a gear mechanism to realize the transmission of relative motion, the transmission of relative motion can only be approximately realized, and the transmission ratio fluctuates within a certain range. By reducing the distance from the center, the size of the rotary gear can be reduced, the transmission performance of the return gear can be improved, and the speed of the loom can be increased.

Key words: motion synthesis, rotary variable speed motion, drive variable speed mechanism, migration coefficient, objective optimization, loom shedding mechanism

中图分类号:

TS1031

袁汝旺, 李文豪. 基于运动合成的旋转变速运动建模及其驱动机构演变[J]. 纺织学报, 2024, 45(09): 220-227.

YUAN Ruwang, LI Wenhao. Modeling of rotary variable motion and shedding driving mechanism based on motion synthesis[J]. Journal of Textile Research, 2024, 45(09): 220-227.

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链接本文: http://www.fzxb.org.cn/CN/10.13475/j.fzxb.20230504801

http://www.fzxb.org.cn/CN/Y2024/V45/I09/220

图/表 13

图1

图2

图3

图4

图5

图6

表1

图7

图8

表2

不同传动尺寸参数"

机构类别	传动比 λ	机构尺寸					机构特征值
机构类别	传动比 λ	l₁/mm	l'₁/mm	l_BD/mm	l₃/mm	l₄/mm	$φ 2 m a x$ /(°)	α_max /(°)	ρ_min/mm	$ρ b m i n$ /mm	γ_min /(°)
铰接四杆机构	0.80	116	33.5	94	79	44	26.559	25.677	57.930	215.355	59.247
	0.85	116	33.5	94	78	46	27.929	26.722	57.607	172.845	58.955
	0.90	116	33.5	94	75	49	30.00	28.391	57.646	128.151	56.230
	0.95	116	33.5	94	75	49	30.00	28.391	57.646	128.151	56.230
	1.00	116	33.5	94	75	49	30.00	28.391	57.646	128.151	56.230
导杆滑块机构	0.80	116	33.5	94	-	52	25.545	24.568	48.231	197.466	60.466
	0.85	116	33.5	94	-	54	27.254	25.849	47.107	152.760	59.613
	0.90	116	33.5	94	-	56	29.054	27.198	46.049	125.032	58.713
	0.95	116	33.5	94	-	58	30.952	28.620	45.063	99.627	57.764
	1.00	116	33.5	94	-	59	31.940	29.359	44.596	90.512	57.271

表2

图9

图10

图11

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杆长约束条件	约束值	约束条件
导杆滑块	l₁≤ l₄+ l_AC	φ_2max≤30
	g₁=l₁-l₂≥0 g₂=l₁-l₃≥0	α_max≤[α]
铰接四杆	g₃=l₁-l₄≥0 g₄=l₁+l₂≥l₃+l₄	γ_min≥[γ]
	g₅=l₁+l₃≥l₂+l₄ g₆=l₁+l₄≥l₂+l₃	ρ_min≥r_f ρ_b _min≥r_c