基于柔性丝袋定形的汽灯纱罩自动加工系统研究
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摘要
本文针对汽灯纱罩自动加工过程中的翻边、穿线和扎口操作,建立了汽灯纱罩原料筒形丝袋的柔性物体力学模型,对其在特定条件下的受力和变形规律进行了理论分析和仿真计算,通过加载对柔性丝袋定形,成功研制了汽灯纱罩自动加工样机。
筒形丝袋是典型的高柔性物体,目前尚没有成熟的建模方法。为了解筒形丝袋在特定受力条件下的变形规律,取构成筒形丝袋的最小单元四点铰接的“菱形”作为研究对象,首先建立片状丝袋在两垂直方向均匀拉力作用条件下的力学模型,仿真计算得到片状丝袋在均布外力作用下形状由两方向拉力大小之比决定的结论;然后建立筒形丝袋在汽灯纱罩加工时所必需的内置定形芯块、长度方向拉伸条件下的力学模型,仿真计算得到筒形丝袋内置芯块受拉时的形状在与芯块接触的区域保持与芯块的外形一致的结论。
以筒形丝袋定形为基础,以穿线和扎口两个操作为核心设计柔性丝袋自动加工样机。采取先穿线后扎口的流程,设计了基于上料、穿线和扎口的三工位操作方案,并通过2套专门的转位机构在工位间转移丝袋。整机驱动以气缸为主,共计36个气缸,1个步进电机,选用PLC作为主控制器设计整机的控制系统,触摸屏实现人机交互。控制方式分手动、半自动、自动3种运行模式。目前已对设备的前三个工位进行了精心调试,设备运行正常,实现了汽灯纱罩的自动上料和穿线。
该样机的研制成功是对柔性材料加工的一次尝试,对于柔性材料特性有了深入的了解和认识,解决了柔性材料诸多理论分析和加工难题,为柔性材料加工自动化的后续研究及相关产品如自动化服装加工、海带自动打结等具有一定的指导意义。
In this paper, aim at gas lamp mantle of flanging, threading, and welting processing. of was established shade silk bags, we established the flexible cylindrical object simulation model of raw materials tube-shaped silk bag, under certain conditions of its force and deformation law of the theoretical analysis and simulation was done, developed the gas lamp mantle automatic production lines successfully.
Cylindrical wire bag is a typical high-wire flexible objects, there is currently no mature modeling. To understand the cylindrical silk bags in particular under the force deformation, cylindrical sild bags pose to take the smallest element four pinned the“diamond”as a study object, first create two sheets silk bag in terms of the role of vertical uniform tension the mechanical model, the simulation calculated sheet silk bag in the shape under uniform external force pulling in two directions by the ratio of the size of the conclusions of the decision; then establishing cylindrical silk bags in the gas lamp mantles processing time required for the built-shaped pellets. Under the direction of stretching the length of the mechanical model simulation are cylindrical silk bags of pellets embedded in tension when the shape of the pellets in contact with the region to maintain consistency with the core conclusions of the block shape.
Base on silk bag shaped, threading, and welting two gas lamps designed to operate at the core mantle line. After taking the first welting then threading process, was designed based on the material, threading, and welting Three stations operating programs, and through two sets of specialized translocation transferred between institutions in the station silk bag. Machine driven by the main cylinder, a total of 36 cylinders, 1 stepper motor, controller design for use as the main machine PLC control system, touch-screen realization of human-computer interaction. Sub-manual, semi-automatic operation mode to prepare three kinds of control procedures. Till now, the material, threading station was well-commissioning, equipment operating normally, a shade to achieve the automatic loading and threading.
The successful development of the device is a flexible material processing an attempt, for flexible material properties have in-depth knowledge and understanding to solve many of the flexible material processing problems for flexible automation of follow-up study of materials processing, such as garment processing, automation, auto-play kelp knot has some significance.
筒形丝袋是典型的高柔性物体,目前尚没有成熟的建模方法。为了解筒形丝袋在特定受力条件下的变形规律,取构成筒形丝袋的最小单元四点铰接的“菱形”作为研究对象,首先建立片状丝袋在两垂直方向均匀拉力作用条件下的力学模型,仿真计算得到片状丝袋在均布外力作用下形状由两方向拉力大小之比决定的结论;然后建立筒形丝袋在汽灯纱罩加工时所必需的内置定形芯块、长度方向拉伸条件下的力学模型,仿真计算得到筒形丝袋内置芯块受拉时的形状在与芯块接触的区域保持与芯块的外形一致的结论。
以筒形丝袋定形为基础,以穿线和扎口两个操作为核心设计柔性丝袋自动加工样机。采取先穿线后扎口的流程,设计了基于上料、穿线和扎口的三工位操作方案,并通过2套专门的转位机构在工位间转移丝袋。整机驱动以气缸为主,共计36个气缸,1个步进电机,选用PLC作为主控制器设计整机的控制系统,触摸屏实现人机交互。控制方式分手动、半自动、自动3种运行模式。目前已对设备的前三个工位进行了精心调试,设备运行正常,实现了汽灯纱罩的自动上料和穿线。
该样机的研制成功是对柔性材料加工的一次尝试,对于柔性材料特性有了深入的了解和认识,解决了柔性材料诸多理论分析和加工难题,为柔性材料加工自动化的后续研究及相关产品如自动化服装加工、海带自动打结等具有一定的指导意义。
In this paper, aim at gas lamp mantle of flanging, threading, and welting processing. of was established shade silk bags, we established the flexible cylindrical object simulation model of raw materials tube-shaped silk bag, under certain conditions of its force and deformation law of the theoretical analysis and simulation was done, developed the gas lamp mantle automatic production lines successfully.
Cylindrical wire bag is a typical high-wire flexible objects, there is currently no mature modeling. To understand the cylindrical silk bags in particular under the force deformation, cylindrical sild bags pose to take the smallest element four pinned the“diamond”as a study object, first create two sheets silk bag in terms of the role of vertical uniform tension the mechanical model, the simulation calculated sheet silk bag in the shape under uniform external force pulling in two directions by the ratio of the size of the conclusions of the decision; then establishing cylindrical silk bags in the gas lamp mantles processing time required for the built-shaped pellets. Under the direction of stretching the length of the mechanical model simulation are cylindrical silk bags of pellets embedded in tension when the shape of the pellets in contact with the region to maintain consistency with the core conclusions of the block shape.
Base on silk bag shaped, threading, and welting two gas lamps designed to operate at the core mantle line. After taking the first welting then threading process, was designed based on the material, threading, and welting Three stations operating programs, and through two sets of specialized translocation transferred between institutions in the station silk bag. Machine driven by the main cylinder, a total of 36 cylinders, 1 stepper motor, controller design for use as the main machine PLC control system, touch-screen realization of human-computer interaction. Sub-manual, semi-automatic operation mode to prepare three kinds of control procedures. Till now, the material, threading station was well-commissioning, equipment operating normally, a shade to achieve the automatic loading and threading.
The successful development of the device is a flexible material processing an attempt, for flexible material properties have in-depth knowledge and understanding to solve many of the flexible material processing problems for flexible automation of follow-up study of materials processing, such as garment processing, automation, auto-play kelp knot has some significance.
引文
1姜汝福,丁金龙等.某汽灯纱罩厂生产过程中的放射卫生评价.中国辐射卫生期刊. 1996,6(3): 153~154
2周小亚,周舜元等.汽灯纱罩生产过程中的放射防护评价.中华放射医学与防护杂志. 1995,15(4): 269~271
3郁新森.纱罩行业的危害与防护.职业与健康. 1992(03): 22~24
4张友九,周小亚.汽灯纱罩生产厂空气中子体α潜能和所致有效剂量.江苏预防医学. 1997(02):8~9
5 http://www.leapfrog-eu.org/LeapfrogIP/main.asp?pg=rmb_results#Reconfigurab- le20robotic%20handling%20devices
6王瑞鑫.海带打结原理及机构动态特性研究.哈尔滨工业大学硕士学位论文. 2008: 9~21
7李哲.自动海带打结机.中国专利: 03111924, 2004-09-01
8 M. Jonathan. Kaldor, L.D. James, M. Setven. Simulating Knitted Cloth at the Yarn Level. ACM Transactions on Graphics, 2008,3(27), 65: 1~9
9张明敏,糜庆丰等.基于组织结构的纺织品各向异性建模方法.计算机辅助设计与图形学学报. 2008,20(09):1246~1252
10 Y. T. Zhang, S. G. Ren and R. X. Du. Buckling Analysis of Plain-knitted Fabric UnderUniaxial Tension in Arbitrary Direction. The textile Institute 2007,98(2): 147~154
11 H. Ng. R.L. Gramsal. GEOFF-A Geometrical Editor for Fold Formation. Lecture Notes in Computer Science Vo1.1024: Image Analysis Applications and Computer Graphics, R .Chin et al ,Springer-Verlag, Berlin. 1995:124~131
12 H. Ng. Fast Techniques for the Modeling and Visualization of Cloth. doctoral Dissertation, Center for VLSI and Computer Graphics, University of Sussex, U K. 1996:187~195
13 C. Feynman. Modeling the Apperence of Clot. master's thesis. Dept. of EEcs, Massachusetts Inst. of Technology. 1986: 78~88
14 T. L. Kunii, H .Gotoda. Singularity Theoretical Modeling and Animation of Garment Wrinkle Formation Process. Visual Computer. 1990:32 6~336
15 C. Feynman. Modeling the Appearance of Cloth. Computer Graphics. 1991: 213~219
16 F. Taillefer. Mixed Modeling. Proc. Computer Grophics1991:467~478
17 J. Weil. The Synthesis of Cloth Objects. Computer Graphics. 1986: 49~54
18肖秦.基于混合方法的柔性材料建模的研究与实现.西安电子科技大学. 2002:14~18
19 D. Terzopoulos etal. Elastically Deformable Models. Computer Graphics. 1987:205-214
20 Y. T. Zhang, Y. B. Fu. A Micro-Mechanical Model of Woven Fabric and Its Application to the Analysis of Buckling Under Uniaxial Tension. Part 2: Buckling Analysis. International Journal of Engineering Science 39(2001): 1~13
21 Y. T. Zhang, C.Y. Liu, R.X. Du. Buckling Analysis of Plain Knitted Fabric Sheets Under Simple Shear in an Arbitrary Direction. International Journal of solids and Structures 44(2007): 7049~7060
22 D. E. Breen, A Partical-Based Model for Simulating the Draping Behavior of Woven Cloth, Computer Graphics. 1987:182~196
23 H.R. Karimi, Ali. A.A, Jeddi and A. Rastgoo. Theoretical analysis of load-extention behaviour of plain-weft-knitted fabric: 2~5
24 Y.T. Zhang, Y.B Fu. A Micromechanical Model of Woven Fabric and Its Application to the Analysis of Buckling Under Uniaxial Tension Part1. the micromechanical model. Inter J Engng Sci, 2000, 38(17): 1895～1906: 1~8
25 Y.T. Zhang, Y.B Fu. A Micromechanical Model of Woven Fabric and Its Application to the Analysis of Buckling Under Uniaxial Tension Part2: Buckling analysis. Inter J Engng Sci, 2001, 39(1): 1~13
26 D.E. Breen, D.H. House, M.J. Wozny. Predicting the Drapc of Woven Cloth Using Interacting Particles. Computer Graphics Proceedings Annual Conference Scries, ACM SIGGRAPH, Orlando,1994:365~372
27张建英,张方强,织物机构的数学建模与虚拟成像技术.全国第15届计算机科学与应用学术会议. 2003.9
28张义同.织物中的力学问题.力学与实践. 2002, 24:76~77
29张义同.织物力学研究的新进展.力学进展. 2003, 33(02): 217~226
30 I. L. Rudomin. Simulating Cloth using a Mixed Geometry- Physical Method, doctoral dissertation, Dept. of Computer and Information Science, Univ of Pennsylvania. 1990:128~136
31 T. L. Kunni, H .Gotoda. Singularity Theoretical Modeling and Animation of Garment Wrinkle Formation Process. Visual Computer. 1990:326~ 336
32 A.C. Leenhouts. Predictions and Measurement of the Pullout Torque in Step Motor System. The 23rd Symosium of Incremental Motion Control System and Devices(IMCSD). San JoseI, 1994 :1～9
33 Natick, Ma01760, Simulink User's Guide, The Math Works Inc. 1993: 47~52
34乔云.气缸的阀控缓冲和速度测试方法的实验研究及理论分析.清华大学硕士论文. 1984: 45~62
35李建藩,邓晓星.惯性负载对气缸运动特性的影响.液压与气动. 1987 (4): 66～79
36王沫然. Simulink 4建模与动态仿真.电子工业出版社, 2002.1:9, 15~87
37邱晓琳.基于MATLAB的动态模型与系统仿真工具Simulink 3.0/4.X.西安交通大学出版社, 2003: 7~9
38姚俊,马松辉. Simulink建模与仿真.西北电子科技大学出版社, 2002:13, 18~35
39 A.C. Leenhouts. Predictions and Measurement of the Pullout Torque in Step Motor System. The 23rd Symosium of Incremental Motion Control System and Devices(IMCSD). San JoseI, 1994: 1～9
40熊伟.气压传动系统计算机辅助设计与仿真研究.哈尔滨工业大学博士论文. 2001:28~35, 35~42
41王惠刚,王挺,程志群.计算机仿真原理及应用.国防科技大学出版社, 2004:1~2, 24~33
42杨黎明,杨志勤.机构选型与运动设计.国防工业出版社, 2007: 25~75
43漆汉宏. PLC电气控制技术.机械工业出版社, 2007: 12~43
2周小亚,周舜元等.汽灯纱罩生产过程中的放射防护评价.中华放射医学与防护杂志. 1995,15(4): 269~271
3郁新森.纱罩行业的危害与防护.职业与健康. 1992(03): 22~24
4张友九,周小亚.汽灯纱罩生产厂空气中子体α潜能和所致有效剂量.江苏预防医学. 1997(02):8~9
5 http://www.leapfrog-eu.org/LeapfrogIP/main.asp?pg=rmb_results#Reconfigurab- le20robotic%20handling%20devices
6王瑞鑫.海带打结原理及机构动态特性研究.哈尔滨工业大学硕士学位论文. 2008: 9~21
7李哲.自动海带打结机.中国专利: 03111924, 2004-09-01
8 M. Jonathan. Kaldor, L.D. James, M. Setven. Simulating Knitted Cloth at the Yarn Level. ACM Transactions on Graphics, 2008,3(27), 65: 1~9
9张明敏,糜庆丰等.基于组织结构的纺织品各向异性建模方法.计算机辅助设计与图形学学报. 2008,20(09):1246~1252
10 Y. T. Zhang, S. G. Ren and R. X. Du. Buckling Analysis of Plain-knitted Fabric UnderUniaxial Tension in Arbitrary Direction. The textile Institute 2007,98(2): 147~154
11 H. Ng. R.L. Gramsal. GEOFF-A Geometrical Editor for Fold Formation. Lecture Notes in Computer Science Vo1.1024: Image Analysis Applications and Computer Graphics, R .Chin et al ,Springer-Verlag, Berlin. 1995:124~131
12 H. Ng. Fast Techniques for the Modeling and Visualization of Cloth. doctoral Dissertation, Center for VLSI and Computer Graphics, University of Sussex, U K. 1996:187~195
13 C. Feynman. Modeling the Apperence of Clot. master's thesis. Dept. of EEcs, Massachusetts Inst. of Technology. 1986: 78~88
14 T. L. Kunii, H .Gotoda. Singularity Theoretical Modeling and Animation of Garment Wrinkle Formation Process. Visual Computer. 1990:32 6~336
15 C. Feynman. Modeling the Appearance of Cloth. Computer Graphics. 1991: 213~219
16 F. Taillefer. Mixed Modeling. Proc. Computer Grophics1991:467~478
17 J. Weil. The Synthesis of Cloth Objects. Computer Graphics. 1986: 49~54
18肖秦.基于混合方法的柔性材料建模的研究与实现.西安电子科技大学. 2002:14~18
19 D. Terzopoulos etal. Elastically Deformable Models. Computer Graphics. 1987:205-214
20 Y. T. Zhang, Y. B. Fu. A Micro-Mechanical Model of Woven Fabric and Its Application to the Analysis of Buckling Under Uniaxial Tension. Part 2: Buckling Analysis. International Journal of Engineering Science 39(2001): 1~13
21 Y. T. Zhang, C.Y. Liu, R.X. Du. Buckling Analysis of Plain Knitted Fabric Sheets Under Simple Shear in an Arbitrary Direction. International Journal of solids and Structures 44(2007): 7049~7060
22 D. E. Breen, A Partical-Based Model for Simulating the Draping Behavior of Woven Cloth, Computer Graphics. 1987:182~196
23 H.R. Karimi, Ali. A.A, Jeddi and A. Rastgoo. Theoretical analysis of load-extention behaviour of plain-weft-knitted fabric: 2~5
24 Y.T. Zhang, Y.B Fu. A Micromechanical Model of Woven Fabric and Its Application to the Analysis of Buckling Under Uniaxial Tension Part1. the micromechanical model. Inter J Engng Sci, 2000, 38(17): 1895～1906: 1~8
25 Y.T. Zhang, Y.B Fu. A Micromechanical Model of Woven Fabric and Its Application to the Analysis of Buckling Under Uniaxial Tension Part2: Buckling analysis. Inter J Engng Sci, 2001, 39(1): 1~13
26 D.E. Breen, D.H. House, M.J. Wozny. Predicting the Drapc of Woven Cloth Using Interacting Particles. Computer Graphics Proceedings Annual Conference Scries, ACM SIGGRAPH, Orlando,1994:365~372
27张建英,张方强,织物机构的数学建模与虚拟成像技术.全国第15届计算机科学与应用学术会议. 2003.9
28张义同.织物中的力学问题.力学与实践. 2002, 24:76~77
29张义同.织物力学研究的新进展.力学进展. 2003, 33(02): 217~226
30 I. L. Rudomin. Simulating Cloth using a Mixed Geometry- Physical Method, doctoral dissertation, Dept. of Computer and Information Science, Univ of Pennsylvania. 1990:128~136
31 T. L. Kunni, H .Gotoda. Singularity Theoretical Modeling and Animation of Garment Wrinkle Formation Process. Visual Computer. 1990:326~ 336
32 A.C. Leenhouts. Predictions and Measurement of the Pullout Torque in Step Motor System. The 23rd Symosium of Incremental Motion Control System and Devices(IMCSD). San JoseI, 1994 :1～9
33 Natick, Ma01760, Simulink User's Guide, The Math Works Inc. 1993: 47~52
34乔云.气缸的阀控缓冲和速度测试方法的实验研究及理论分析.清华大学硕士论文. 1984: 45~62
35李建藩,邓晓星.惯性负载对气缸运动特性的影响.液压与气动. 1987 (4): 66～79
36王沫然. Simulink 4建模与动态仿真.电子工业出版社, 2002.1:9, 15~87
37邱晓琳.基于MATLAB的动态模型与系统仿真工具Simulink 3.0/4.X.西安交通大学出版社, 2003: 7~9
38姚俊,马松辉. Simulink建模与仿真.西北电子科技大学出版社, 2002:13, 18~35
39 A.C. Leenhouts. Predictions and Measurement of the Pullout Torque in Step Motor System. The 23rd Symosium of Incremental Motion Control System and Devices(IMCSD). San JoseI, 1994: 1～9
40熊伟.气压传动系统计算机辅助设计与仿真研究.哈尔滨工业大学博士论文. 2001:28~35, 35~42
41王惠刚,王挺,程志群.计算机仿真原理及应用.国防科技大学出版社, 2004:1~2, 24~33
42杨黎明,杨志勤.机构选型与运动设计.国防工业出版社, 2007: 25~75
43漆汉宏. PLC电气控制技术.机械工业出版社, 2007: 12~43