Journal of Textile Research ›› 2023, Vol. 44 ›› Issue (10): 172-180.doi: 10.13475/j.fzxb.20220604401

• Machinery & Accessories • Previous Articles     Next Articles

Motion path planning and driving mechanism design of reed for spacer fabrics

YUAN Ruwang1,2(), ZHANG Peng1,2   

  1. 1. School of Mechanical Engineering, Tiangong University, Tianjin 300387, China
    2. Tianjin Key Laboratory of Advanced Mechatronics Equipment Technology, Tiangong University, Tianjin 300387, China
  • Received:2022-06-17 Revised:2022-10-08 Online:2023-10-15 Published:2023-12-07

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Abstract:

Objective The traditional beating-up forms include the uses of four-lever and six-lever mechanism systems as well as conjugate cam. The reed swings around the rocking shaft reciprocally during the beating-up process, and cannot ensure the consistency of the upper and lower weft yarns during the fabric formation stage, thus leading to uneven weft density of the upper and lower surface layers of the spacer fabric. This produces width barrier defects and reduces the quality of the formed spacer fabric. A combined type of beating-up mechanism is applied to meet the weaving requirements of spacer fabrics, specifically to meet the requirements of reed movement trajectory and dynamic characteristics in the beating-up process.

Method A beating-up mechanism combining a conjugate cam and a four-lever mechanism was worked. The movement path of the reed during the beating-up process was planned from the demand of the beating-up, and the rigid-body guiding method is used to establish the design model of the reed driving mechanism. Based on the Fourier series form, the control model of the motion characteristics of the reed was established. According to the movement law of the reed, the conjugate cam contour was able to be designed, and the complex vector method was used to verify the movement path of the reed and its movement characteristics.

Results The initial angular displacement of rocker was found an important parameter to determine the motion path of the reed. Five sets of reed drive mechanisms with different parameters were designed to achieve parallel beating-up of the reed, in which the minimum trajectory error rate is 0.02% and the minimum angular error of the reed is 1.384°. The mechanism dimensional parameters were optimized in terms of reed angle error and reed trajectory error rate (Tab. 4). The constructed cam follower motion law was continuous and high order derivable, which effectively avoided rigid and flexible impact of the mechanism. The motion law can smoothly control the reciprocating motion of the reed along its motion path, and there is an approximate resting time of 50° during the start-stop phase of the reed motion, which increased the shedding angle and weft insertion angle, and was conducive to increasing the loom speed and width requirement. The acceleration of the reed reaches its peak at the moment of front dead position, ensuring that steady reed movement and beating-up inertia. For special requirements for the inertia force, the peak acceleration was changed by adjusting K value(guasi-acceleration at the moment of beating-up) at the same cam speed, so as to meet the technological requirements of adjusting the inertia force. ADAMS simulation showed that the horizontal and vertical motion of reed are 160.464 mm and 57.609 mm, respectively. The angle error of reed was 2.445° and the trajectory error rate was 0.14%. The peak acceleration of the reed in the horizontal direction is 325.5 m/s2 at the cam speed of 240 r/min, which results in the maximum inertia force of beating-up. This set of mechanism parameters meets the process requirements in terms of reed dynamic range and motion state.

Conclusion The weaving process requirement of spacer fabric is proposed, and the synthetic motion path of reed is planned according to the requirements such as the position and state of reed during beating-up. Based on the conjugate cam linkage combination mechanism, the reed is parallel beating-up to ensure the consistency of force on the upper and lower surface layers of the spacer fabric. The reed driving mechanism is modeled by the rigid body guiding method and process constraints. When the initial angular displacement of rocker is 85.5°, the reed has the minimum trajectory error rate and angle error, which can meet the requirements of the reed planning motion path. The dynamic characteristics control model of reed based on Fourier series is established, and the boundary conditions of the model are determined from the requirements of beating-up process. The cam follower motion law can smoothly control the reed beating-up motion, and the reed has an approximate resting time of 50° in the start-stop phase, which increases the weft insertion angle and shedding angle and helps to improve the loom machine speed and width requirements.

Key words: spacer fabric, reed, motion path planning, drive mechanism, kinematic characteristic control, beating-up mechanism

CLC Number: 

  • TS103.135

Fig. 1

Spacer fabric weaving principle"

Fig. 2

Parallel beating-up mechanism"

Fig. 3

Reed movement path planning diagram"

Fig. 4

Reed drive mechanism"

Fig. 5

Motion period of follower"

Tab. 1

Reed design parameters"

设计参数 数值 设计参数 数值
L/mm 160.000 Δy12/mm 15.366
Δy13/mm 55.744 θ12/rad 0.005
θ13/rad -0.024 O 15 x/mm 193.343
O 15 y/mm 68.144

Tab. 2

Cam design parameters"

设计参数 数值 设计参数 数值
中心距d/mm 162 实际基圆半径r1/mm 62
实际基圆半径r2/mm 114 摆臂长度Hb/mm 90
滚子半径R/mm 50 凸轮转速N/(r·min-1) 240

Tab. 3

Mechanism parameters with different φ10 values"

φ10/(°) φ1j/(°) l1/mm l2/mm l3/mm
82.0 29.6 348.380 158.160 277.162
85.5 27.5 345.586 177.008 276.589
88.5 26.8 345.140 186.327 276.710
90.0 24.6 344.933 208.192 277.160
93.0 24.3 345.415 226.274 277.214

Fig. 6

Movement trajectory of reed"

Fig. 7

Reed rotation angle error curve"

Tab. 4

Optimization results of mechanism parameters"

φ10/(°) φ1j/(°) l1/mm l2/mm l3/mm O 15 x/mm O 15 y/mm
85.5 27.0 346 177 277 190.68 75.27

Tab. 5

Comparison of reed motion pathsmm"

钢筘
位置		 规划值 实际值
x - j y - j xj yj
P1 204.147 508.933 204.147 508.933
P2 284.147 493.568 285.829 492.112
P3 364.147 453.189 364.611 451.324

Tab. 6

Fourier coefficients"

系数 数值 系数 数值
a0 0.189 81 a1 -0.345 65
a2 0.255 95 a3 -0.150 34
a4 0.063 23 a5 -0.012 41
a6 -0.006 21 a7 0.007 13
a8 -0.003 31 a9 0.000 74

Fig. 8

Motion law of cam follower"

Fig. 9

Acceleration-like acceleration at different K values"

Fig. 10

Actual profile of cam"

Fig. 11

Virtual prototype of parallel beating-up mechanism"

Fig. 12

Speed curves of reed beating-up (N=240 r/min)"

Fig. 13

Acceleration curves of reed beating-up (N=240 r/min)"

Fig. 14

Application of parallel beating-up mechanism. (a) Conjugate cam; (b) Four-bar mechanism; (c) Limit position of reed"

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