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喷丝板微孔清理机器人的研究.docx
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喷丝板微孔清理机器人的研究.docx
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摘 要
喷丝板是化纤行业纺丝机中不可缺少的精密零件,在涤纶长丝高
速纺生产工艺中,熔体中存在的机械杂质、凝胶、碳化、热裂等微粒,
往往会堵塞喷丝板的微孔,从而造成纺制出来的丝纤度不匀和产生
“柱头丝”、“细丝”、“毛丝”等疵点,因此要定期对喷丝板及其他组
件进行清洗。
本文首先介绍了国内外喷丝板清洗和检测的现状与发展,喷丝板
经过现有的全部清洗工艺清洗并使用专用设备检测后仍然会发现含
有杂质的微孔。本文分析了 ASPEX 公司的 SpinTrak 喷丝板检测系统
的压空清理功能和国内工厂人工针具清理方法的缺点,提出了实现喷
丝板微孔自动化清理的目标。
其次,本文对喷丝板微孔清理机器人系统进行了总体方案设计。
针对喷丝板微孔人工针具清理效率低、清理均一性差和易损伤微孔等
问题,提出采用压缩空气与清理针具组合自动化清理的方法;针对从
大批量喷丝板的检测数据中快速提取相应的喷丝板的检测数据的问
题,提出了在喷丝板侧面钻盲孔来加工能被机器识别的机器码的方
法;为了增加喷丝板微孔清理系统的智能化程度,本文提出了开发喷
丝板气动抓取机械手来解决搬运喷丝板至目标位置问题的方法。本文
I
还对系统的整体布局和系统的控制系统方案进行了设计。
再次,针对喷丝板清理模块,本文对喷丝板微孔的自动定位进行
了研究,采用 XY 水平运动平台和 Z 轴电动平移台组合式三维空间喷
丝板微孔清理定位系统。在人工针具清理时,如果规格使用不恰当、
或通孔方向不正确、或者用力过猛都会挫伤孔口,针对此问题,采用
了针具竖直旋转刮擦的清理方法并设计了曲柄滑块式旋转清理机构。
然后,针对喷丝板抓取模块,采用三指竖直外夹式的喷丝板夹持
方式,并对喷丝板抓取机械手进行了详细设计。针对喷丝板机器码识
别模块,本文开发了一套能被电脑扫描识别的喷丝板机器码,并在此
基础上对识别该机器码的喷丝板机器码自动识别系统进行了研发。
最后,在上述研究的基础上,研制出了集喷丝板微孔清理功能、
喷丝板机器码识别功能、喷丝板自动抓取功能于一体的喷丝板微孔清
理机器人样机并进行了实验研究。实验表明,该系统提高了喷丝板微
孔清理的均一性和工作效率,填补了国内喷丝板微孔自动化清理领域
的空白,为喷丝板清洗、检测、清理“无人化”工厂作业奠定了基础。
关键词:喷丝板,微孔,清理,机器码识别,机械手抓取
II
RESEARCH ON ORIFICE-CLEANING ROBOT
OF SPINNERET
ABSTRACT
Spinneret is the precision part which is indispensable to the spinning machine used in
chemical fiber profession. In the production process of polyester filament high-speed spinning,
mechanical impurities, gel , carbide, hot tear and other particles that exist in the melt tend to jam
the orifices of spinneret, resulting in some defects of silk , such as "stigma silk", "filaments",
"fuzz" and "denier uneven". So It is necessary to clean spinneret and other components regularly.
First, this paper introduced the present situation and the development of the cleaning and
inspection of spinneret. The orifices of spinneret containing dirt would be found after all the
existing cleaning process, using special equipment to detect. The defects, of compressed air
cleaning of SpinTrak spinneret detection system of ASPEX company and artificial needle cleaning
in domestic, were analyzed in detail in this paper. The goal was presented that spinneret's orifices
can be cleaned automatically.
Second, the overall scheme of the robot system about spinneret orifices cleaning was
designed in this paper. Artificial needle cleaning of spinneret orifices has some defects, such as
low efficiency, poor homogeneity of cleaning results and tend to scratch orifices. For this problem,
the automatic cleaning of spinneret orifices way combining the compressed air and needle was
determined. For the problem extracting required quickly detection date of spinneret from the large
quantities of testing data of spinneret , the method , machining spinneret machine code can be
identified by machine by means of drilling blind holes on the side of the spinneret, was proposed.
In order to increase the intelligent degree of cleaning system of spinneret orifices, the method was
proposed that spinneret fetching manipulator need to developed to solve the problem transporting
one spinneret to the target location. The overall layout and control scheme of the system were also
designed in this paper.
Third, for the spinneret orifices cleaning module, the spinneret orifices automatic
III
positioning is studied. The three-dimensional spinneret cleaning positioning system, combining
the XY horizontal motion platform and Z axis electric translational platform, was determined. For
artificial needle cleaning, if the not appropriate specifications needles were used, or the cleaning
direction was not correct, or the strength was used hardly, the orifice would be bruised. Aiming at
this problem, the vertical rotating scrape cleaning way was applied and the rotary clearing
mechanism detailed ,similar to the slider-crank mechanism, was designed.
Then, for grabbing spinneret module, the spinneret holding way of three-point vertical
external clip-on way was determined. The spinneret grabbing manipulator was designed in detail.
For the spinneret machine code recognition module, a set of machine code, which can be the
scanned and identified by computer, had been developed in this paper. On this basis, the
identification system of spinneret machine code was developed.
Finally, on the basis of the above research, the robot prototype about spinneret orifices
cleaning, contains the cleaning function of spinneret orifices, the recognition function of spinneret
machine code and automatic grabbing function, had been developed in this paper and the
experimental research about this robot prototype had been done.The experimental results showed
that the system improves the uniformity and efficiency of spinneret orifices cleaning and had filled
the domestic blank in the field of in spinneret orifices automatic cleaning. It also laid the
foundation for "unmanned" factory work of cleaning, detection and clearing of spinneret.
Fu Hui(Mechanical Design and Theory)
Supervised by Yang Chongchang
KEY WORDS: spinneret, orifice, cleaning, machine code identification, manipulator grab
IV
目录
摘 要 ..............................................................................................................................I
ABSTRACT.................................................................................................................III
第一章 绪论..................................................................................................................1
1.1 课题研究背景 ......................................................................................................1
1.1.1 喷丝板简介...................................................................................................1
1.1.2 国内外喷丝板清洗现状...............................................................................2
1.2 课题的来源及研究意义 ......................................................................................5
1.3 课题的难点、研究方法及实现目标 ..................................................................6
1.3.1 课题的难点....................................................................................................6
1.3.2 课题的研究方法...........................................................................................6
1.3.3 课题的实现目标...........................................................................................6
1.4 本章小结..............................................................................................................6
第二章 喷丝板微孔清理机器人的总体方案设计......................................................7
2.1 系统的需求分析..................................................................................................7
2.1.1 喷丝板微孔清理需求分析...........................................................................7
2.1.2 喷丝板自动抓取需求分析...........................................................................8
2.1.3 喷丝板自动识别需求分析...........................................................................8
2.2 系统的功能方案设计..........................................................................................9
2.2.1 系统功能分析...............................................................................................9
2.2.2 喷丝板清理模块方案设计.........................................................................10
2.2.3 喷丝板抓取模块方案设计.........................................................................18
2.2.4 喷丝板机器码识别模块方案设计.............................................................19
2.2.5 控制系统方案设计.....................................................................................20
2.3 本章小结............................................................................................................22
第三章 喷丝板微孔清理系统分析与详细设计........................................................23
3.1 喷丝板微孔自动定位的研究............................................................................23
3.1.1 喷丝板微孔定位的硬件实现.....................................................................23
3.1.2 喷丝板微孔定位的软件实现.....................................................................27
3.2 喷丝板微孔清理装置详细设计........................................................................28
3.2.1 喷丝板微孔清理工艺详细分析.................................................................28
3.2.2 喷丝板微孔清理装置详细设计.................................................................29
3.3 本章小结............................................................................................................34
第四章 喷丝板抓取机械手与机器码识别系统的开发............................................35
4.1 喷丝板抓取机械手详细设计与制作................................................................35
4.1.1 喷丝板定位夹具设计与制作.....................................................................35
4.1.2 喷丝板抓取机械手末端执行器设计与制作.............................................36
4.1.3 喷丝板抓取机械手转动支架制作.............................................................44
4.1.4 喷丝板抓取机械手工作流程设计与控制.................................................45
4.2 喷丝板机器码自动识别系统的开发................................................................46
4.3 本章小结............................................................................................................49
V
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