Journal of Textile Research ›› 2022, Vol. 43 ›› Issue (07): 178-185.doi: 10.13475/j.fzxb.20201205708

• Machinery & Accessories • Previous Articles     Next Articles

Automatic bobbin changing technology for circular weft knitting machines

TU Jiajia1,2, SUN Lei1, MAO Huimin1, DAI Ning1, ZHU Wanzhen1, SHI Weimin1()   

  1. 1. Key Laboratory of Modern Textile Machinery & Technology of Zhejiang Province, Zhejiang Sci-Tech University,Hangzhou, Zhejiang 310018, China
    2. College of Automation, Zhejiang Institute of Mechanical and Electrical Engineering, Hangzhou, Zhejiang 310053, China
  • Received:2020-12-21 Revised:2022-03-13 Online:2022-07-15 Published:2022-07-29
  • Contact: SHI Weimin E-mail:swm@zstu.edu.cn

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Abstract:

Facing the problems such as low automation, high labor intensity and high labor cost associated with traditional manual cylinder changing, a new automatic cylinder changing scheme based on truss robot and bobbin changing manipulator was proposed. According to the bionic technology of manual changing the bobbin, the mechanical structure of the truss robot and the bobbin changing manipulator was designed and a laboratory testing machine was developed, taking in to considerations of the factors such as the layout of the production workshop, the structure of the bobbin, the type of the bobbin and the changing period, the process flow and the electrical principle diagram of the automatic bobbin changing. The control algorithm of bobbin change based on AS320T module and servo motor was established, and the function of automatic bobbin change was achieved by using a touch-screen as man-machine interface. The research results show that the control technology can meet the requirements on precision, stability and repeatability of the automatic bobbin changing of the circular weft knitting machine, and realize the function of "automatic bobbin changing with manual thread joining" for the circular weft knitting machine, which is significant in solving the problems in traditional manual bobbin changing.

Key words: circular weft knitting machine, automatic bobbin changing, bobbin holder, bobbin, truss robot, bobbin changing manipulator

CLC Number: 

  • TP103.7

Fig.1

Sketch map of frame structure"

Fig.2

Structure diagram of automatic bobbin changing system for circular weft knitting machine"

Fig.3

Simulation structure of truss robot"

Fig.4

Structure drawing of barrel changing manipulator"

Fig.5

Wiring diagram of master control module"

Tab.1

Types and parameters of servo motor"

序号 名称 电动机型号 输入电源
(220 V)		 额定输出/
kW
1 X轴 GYH302C6-TC2 三相 3.0
2 Y轴 GYB751D5-RC2 单相 0.75
3 Z轴 GYG152C5-RG2-B 三相 1.5
4 A、B位 GYB751D5-RC2 单相 0.75
5 撑爪 GYB201D5-RC2-B 单相 0.2

Fig.6

Flow chart of automatic bobbin changing for frame of circular weft knitting machine"

Fig.7

Human-computer interface of drum changer"

Fig.8

Physical drawing of bobbin changing mechanismin circular weft knitting machine"

Tab.2

Test data of X, Y, and Z axis"

序号 脉冲数/个 测量距离/mm 理论距离/mm 误差/mm
X轴 Y轴 Z轴 X轴 Y轴 Z轴 X轴 Y轴 Z轴 X轴 Y轴 Z轴
1 0 0 0 0.0 0.0 0.0 0.0 0.2 -0.2 0.0 -0.2 0.2
2 50 100 100 14.5 2.0 10.0 14.8 2.1 10.0 -0.3 -0.1 0.0
3 100 200 200 29.5 4.0 21.0 29.6 4.1 20.2 -0.1 -0.1 0.8
4 150 300 300 45.5 6.0 30.5 44.4 6.0 30.4 1.1 0.0 0.1
5 200 400 400 59.0 8.0 40.5 59.2 7.9 40.6 -0.2 0.1 -0.1
6 250 500 500 74.0 10.0 50.5 74.0 9.8 50.8 0.0 0.2 -0.3
7 300 600 600 89.0 12.0 60.8 88.8 11.7 61.0 0.2 0.3 -0.2
8 350 700 700 105.0 14.5 70.7 103.6 13.7 71.2 1.4 0.8 -0.5
9 400 800 800 117.5 16.0 81.0 118.4 15.6 81.4 -0.9 0.4 -0.4
10 450 900 900 134.0 17.0 92.0 133.2 17.5 91.6 0.8 -0.5 0.4
11 500 1 000 1 000 148.0 19.0 103.0 148.0 19.4 101.7 0.0 -0.4 1.3
12 550 2 000 2 000 161.0 38.0 202.0 162.8 38.6 203.6 -1.8 -0.6 -1.6
13 600 3 000 3 000 178.0 57.5 306.5 177.6 57.8 305.5 0.4 -0.3 1.0
14 650 4 000 4 000 191.0 76.0 407.5 192.4 77.0 407.4 -1.4 -1.0 0.1
15 700 5 000 5 000 206.0 97.0 508.8 207.2 96.2 509.3 -1.2 0.8 -0.5
16 750 6 000 6 000 221.5 115.0 611.8 222.0 115.4 611.2 -0.5 -0.4 0.6
17 800 7 000 7 000 237.0 135.5 712.5 236.8 134.6 713.1 0.2 0.9 -0.6
18 850 8 000 8 000 253.0 153.5 815.0 251.6 153.8 815.0 1.4 -0.3 0.0
19 900 9 000 9 000 267.0 172.5 918.0 266.3 173.0 916.9 0.7 -0.5 1.1
20 1 000 10 000 10 000 296.0 192.0 1 019.0 295.9 192.2 1 018.8 0.1 -0.2 0.2
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