A detaching roller driving method based on proportional hybrid drive of dual servo motors

Abstract

The present invention discloses a separation roller driving method based on proportional hybrid driving of dual servo motors, which belongs to the technical field of textile equipment transmission. The present invention uses two servo motors to hybrid drive the separation rollers of a cotton combing machine through a two-degree-of-freedom gear mechanism. The present invention adopts the servo motor as a power source, and can conveniently adjust the movement law of the separation roller to meet the separation and joining requirements of different fibers, thereby improving the quality of the combed strips. In addition, the rotation speeds of the two servo motors under this method are relatively low, which effectively avoids the problem of excessive motor power requirements.

Description

Technical Field

[0001] The invention belongs to the technical field of textile equipment transmission, and in particular relates to a separation roller driving method based on proportional hybrid driving of dual servo motors. Background Art

[0002] The detaching roller is the core component of the cotton combing machine. During the combing process, the detaching roller first reverses to pour the cotton net left over from the previous working cycle into the machine, so that it can be joined with the new cotton net clamped by the clamp mechanism. Then it moves forward to separate the fibers held by the detaching jaws from the cotton bundle, and finally remains stationary. The movement law of the detaching roller directly affects the process parameters of combing separation and joining, and thus affects the quality of the combed yarn.

[0003] The traditional separation roller drive mechanism is mainly a mechanical mechanism combining a multi-link mechanism or a cam mechanism with a differential gear train. The differential gear train synthesizes the movement of the multi-link mechanism or the variable speed movement output by the cam mechanism and the uniform speed movement on the cylinder shaft to achieve the periodic "reverse-forward-stop" of the separation roller. However, this method is difficult to change the movement law of the separation roller. Therefore, in actual production, it is difficult to adjust the process parameters of separation and joining. In addition, there are servo motor direct drive and dual servo motor unidirectional hybrid drive. However, both methods have high requirements for motor power.

[0004] Therefore, it is necessary to design a controllable driving method for the separation roller of a cotton combing machine to solve the above technical problems. Summary of the invention

[0005] The problem to be solved by the present invention is to provide a detaching roller driving method based on a proportional hybrid drive of dual servo motors, which can realize flexible output motion and reduce the power requirement for the motor.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a separation roller driving method based on proportional mixed drive of dual servo motors, comprising the following steps: using two servo motors to perform mixed drive on the separation rollers of the cotton combing machine through a two-degree-of-freedom gear mechanism, and the rotational speeds of the two servo motors always maintain a proportional relationship.

[0007] Furthermore, the motion patterns of the two servo motors are start, accelerate reverse, decelerate reverse, accelerate forward, decelerate forward, and stop, and the speed of one servo motor is always times the speed of the other servo motor. p times ( p is a constant).

[0008] Furthermore, the speeds of the two servo motors are related to the kinematic relationship of the two-degree-of-freedom gear mechanism and the motion law of the detaching roller. According to the kinematic relationship of the two-degree-of-freedom gear mechanism, the speed of the first servo motorn 9. Second servo motor speed n 10 Separating roller speed n 11 The relationship between them is:

[0009]

[0010] Among them, the first servo motor speed n 9. Second servo motor speed n 10 The relationship between n 9= pn 10 . The speeds of the two servo motors are obtained:

[0011]

[0012]

[0013] In the formula, z 1 is the number of teeth of the first sun gear; z 2 is the number of teeth on the first transmission gear; z 3 is the number of teeth of the first planetary gear; z 4 is the number of teeth on the planet carrier gear; z 5 is the number of teeth of the second sun gear; z 6 is the number of teeth of the second planetary gear; z 7 is the number of teeth of the second transmission gear; z 8 is the number of teeth on the driven gear.

[0014] The detaching roller of the cotton combing machine first reverses during operation, and the reverse displacement is s 1; Reversal displacement reaches s At 2 o'clock, the separation roller starts to rotate forward, and the forward displacement is s 3; Forward displacement reaches s At 4 o'clock, the separation roller is stationary for a period of time to complete a movement cycle.

[0015] Furthermore, the two servo motors include a first servo motor and a second servo motor.

[0016] Furthermore, the detaching roller comprises a first detaching roller and a second detaching roller.

[0017] Furthermore, the two-degree-of-freedom gear mechanism includes a first sun gear, a first transmission gear, a first planetary gear, a planetary carrier gear, a second sun gear, a second planetary gear, a second transmission gear and a driven gear.

[0018] Specifically, the first servo motor is connected to the first sun gear, the second servo motor is connected to the first transmission gear, the first transmission gear is externally meshed with the planetary carrier gear, the first sun gear is externally meshed with the first planetary gears, the first planetary gears and the second planetary gears are respectively installed on both sides of the planetary carrier gear, the second sun gear is externally meshed with the second planetary gears, the second sun gear is coaxial with the second transmission gear, and the second transmission gear is externally meshed with the driven gear.

[0019] The input motion of the first servo motor is transmitted to the first planetary gear through the first sun gear and the first planetary gear; the input motion of the second servo motor is transmitted to the planetary gear through the first transmission gear and the planetary gear. The first planetary gear and the second planetary gear both rotate according to the motion transmitted by the first servo motor and revolve according to the motion transmitted by the second servo motor, thereby synthesizing the input motion of the two servo motors, and then transmitting the motion to the first detaching roller and the second detaching roller through the second sun gear, the second transmission gear and the driven gear.

[0020] The specific effects of the present invention are as follows:

[0021] The present invention adopts two servo motors to respectively drive the two-degree-of-freedom gear mechanism in proportional hybrid manner, synthesizes the motions of the two servo motors through the two-degree-of-freedom gear mechanism, and then outputs them to the two separation rollers.

[0022] The present invention uses a servo motor as a power source, and can conveniently adjust the motion law of the separation roller to meet the separation and joining requirements of different fibers, thereby improving the quality of the combed sliver. In addition, the rotation speeds of the two servo motors under this method are both low, effectively avoiding the problem of excessive motor power requirements. The method of reducing the instantaneous power of the motor of the present invention is feasible and effective through experiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be described in detail below with reference to the accompanying drawings and in combination with examples, and the advantages and implementation methods of the present invention will become more obvious. The contents shown in the accompanying drawings are only used to explain the present invention and do not constitute any limitation to the present invention in any sense. In the accompanying drawings:

[0024] Figure 1 is a diagram of a dual servo motor proportional hybrid drive mechanism according to an embodiment of the present invention;

[0025] Figure 2 is a speed diagram of two servo motors according to an embodiment of the present invention;

[0026] Figure 3 is an instantaneous driving torque diagram of two servo motors according to an embodiment of the present invention;

[0027] Figure 4 1 is an instantaneous power diagram of two servo motors according to an embodiment of the present invention.

[0028] In the figure:

[0029] 1. First sun gear, 2. First transmission gear, 3. First planetary gear, 4. Planetary carrier gear, 5. Second sun gear, 6. Second planetary gear, 7. Second transmission gear, 8. Driven gear, 9. First servo motor, 10. Second servo motor, 11. First detaching roller, 12. First detaching roller. DETAILED DESCRIPTION

[0030] like Figure 1 As shown, the present invention provides a separation roller driving method based on a proportional hybrid drive of dual servo motors, comprising the following steps:

[0031] Two servo motors are used to hybrid drive the detaching rollers of a cotton combing machine through a two-degree-of-freedom gear mechanism, and the rotation speeds of the two servo motors always maintain a proportional relationship.

[0032] Furthermore, the motion patterns of the two servo motors are start, accelerate reverse, decelerate reverse, accelerate forward, decelerate forward, and stop, and the speed of one servo motor is always times the speed of the other servo motor. p times ( p is a constant).

[0033] Furthermore, the speed of the two servo motors is related to the kinematic relationship of the two-degree-of-freedom gear mechanism and the motion law of the detaching roller. According to the kinematic relationship of the two-degree-of-freedom gear mechanism, the speed of the first servo motor 9 is n 9. Speed ​​of the second servo motor 10 n 10 The first detaching roller speed n 11 And the second detaching roller speed n 12 The relationship between them is:

[0034]

[0035] Among them, the first servo motor 9 speed n 9. Speed ​​of the second servo motor 10 n 10 The relationship between n 9= pn 10 . The speeds of the two servo motors are obtained:

[0036]

[0037]

[0038] In the formula, z 1 is the number of teeth of the first sun gear 1; z 2 is the number of teeth of the first transmission gear 2; z 3 is the number of teeth of the first planetary gear 3; z 4 is the number of teeth on planet carrier gear 4; z 5 is the number of teeth of the second sun gear 5; z 6 is the number of teeth of the second planetary gear 6; z 7 is the number of teeth of the second transmission gear 7; z 8 is the number of teeth on the driven gear.

[0039] like Figure 1 As shown, the above method is implemented by a dual servo motor proportional hybrid drive mechanism, including a first servo motor 9, a second servo motor 10, a first separation roller 11, a second separation roller 12 and a two-degree-of-freedom gear mechanism, wherein the two-degree-of-freedom gear mechanism includes a first sun gear 1, a first transmission gear 2, a first planetary gear 3, a planetary carrier gear 4, a second sun gear 5, a second planetary gear 6, a second transmission gear 7 and a driven gear 8.

[0040] Specifically, the first servo motor 9 is connected to the first sun gear 1, the second servo motor 10 is connected to the first transmission gear 2, the first transmission gear 2 is externally meshed with the planetary carrier gear 4, the first sun gear 1 is externally meshed with the first planetary gear 3, the first planetary gear 3 and the second planetary gear 6 are respectively installed on both sides of the planetary carrier gear 4, the second sun gear 5 is externally meshed with the second planetary gear 6, the second sun gear 5 is coaxial with the second transmission gear 7, and the second transmission gear 7 is externally meshed with the driven gear 8.

[0041] The input motion of the first servo motor 9 is transmitted to the first planetary gear 3 through the first sun gear 1 and the first planetary gear 3; the input motion of the second servo motor 10 is transmitted to the planetary gear 4 through the first transmission gear 2 and the planetary gear 4. The first planetary gear 3 and the second planetary gear 6 rotate according to the motion transmitted by the first servo motor 9 and revolve according to the motion transmitted by the second servo motor 10, so as to synthesize the input motion of the two servo motors, and then transmit the motion to the first detaching roller 11 and the second detaching roller 12 through the second sun gear 5, the second transmission gear 7 and the driven gear 8.

[0042] In this embodiment, the following steps are specifically included:

[0043] S1. Two servo motors are used as the power source of the two-degree-of-freedom gear mechanism, which synchronously performs the cyclic motions of starting, accelerating reverse, decelerating reverse, accelerating forward, decelerating forward and stopping, and then the two-degree-of-freedom gear mechanism drives the detaching rollers of the cotton combing machine.

[0044] Two-degree-of-freedom gear mechanism first servo motor 9 speed n 9. Speed ​​of the second servo motor 10 n 10 The first detaching roller speed n 11 And the second detaching roller speed n 12 The relationship between them is:

[0045]

[0046] According to the design requirements of two-degree-of-freedom gear mechanism, z 1 is 39, z 2 for 80 、z 3 for 21 、z 4 for 95 、z 5 is 32 、z 6 for 28 、z 7 for 87 、z 8 is 28, so: n 11 =-5.05 n 9-1.64 n 10 .

[0047] S2, by controlling the speed of the two servo motors to control the movement of the separation roller, the speed of the two servo motors is proportional, the speed of the first servo motor 9 is set to the speed of the second servo motor 10 p times, that is n 9= pn 10 ( p is a constant), we get:

[0048]

[0049]

[0050] This embodiment takes p =2.9, i.e. the speed of the first servo motor 9 n 9 is the speed of the second servo motor 10 n 10 2.9 times of, then the rotation speed expressions of the two servos are:

[0051] n 9=-0.18 n 11

[0052] n 10 =-0.06 n 11

[0053] Since the first detaching roller 11 and the second detaching roller 12 have the same rotational speed, the rotational speed of the first detaching roller 11 is used to calculate the rotational speeds of the two servo motors.

[0054] The results are as follows Figure 2 As shown in the figure, it can be seen that the speed change trends of the two servo motors are always the same, the maximum speed of the first servo motor 9 is 397r / min, and the maximum speed of the second servo motor 10 is 136r / min, which are much smaller than the maximum speeds of the servo motors under the existing separation roller driving method of the conventional constant speed motor plus the servo motor hybrid drive and the separation roller driving method of the dual servo motor unidirectional hybrid drive (respectively 849r / min, 1261r / min and 465r / min, 1384r / min).

[0055] According to the dynamic equation of the two-degree-of-freedom gear mechanism, the driving torque of the two servo motors is calculated. The results are as follows: Figure 3 As shown in the figure, it can be seen that the maximum driving torque of the first servo motor 9 is 110N·m, and the maximum driving torque of the second servo motor 10 is 371N·m, which are between the maximum driving torques of the servo motors under the existing separation roller driving method of the constant speed motor plus the servo motor hybrid drive and the separation roller driving method of the double servo motor unidirectional hybrid drive (106N·m, 45N·m and 117N·m, 1357N·m respectively).

[0056] Then calculate the instantaneous power of the two servo motors based on the torque and speed. The results are as follows: Figure 4 As shown in the figure, it can be seen that the maximum instantaneous power of the first servo motor 9 is 2.76kW, and the maximum instantaneous power of the second servo motor 10 is 2.56kW, which is much smaller than the maximum instantaneous power of the servo motor under the existing separation roller driving method of the constant speed motor plus the servo motor hybrid drive and the separation roller driving method of the double servo motor unidirectional hybrid drive (respectively 6.85kW, 6.01kW and 3.99kW, 83.12kW).

[0057] According to the above-mentioned calculation results of the driving power, compared with the other two methods, the separation roller driving method based on the proportional mixed drive of dual servo motors proposed in the present invention can reduce the driving power of the first servo motor 9 by more than 59%, and reduce the driving power of the second servo motor 10 by more than 57%.

[0058] This shows that the purpose of improving the motion characteristics of the detaching roller and reducing the instantaneous power of the motor can be achieved under the mixed driving mode of the detaching rollers with proportional dual servo motors.

[0059] The embodiments of the present invention are described in detail above, but the contents described are only preferred embodiments of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of this patent.

Claims

1. A separation roller driving method based on proportional hybrid drive of dual servo motors, characterized in that: The following steps are involved: Two servo motors are used to hybrid drive the separation rollers of a cotton combing machine through a two-degree-of-freedom gear mechanism, and the speeds of the two servo motors always maintain a proportional relationship; the movement rules of the two servo motors are start, accelerate reverse, decelerate reverse, accelerate forward, decelerate forward, and stop; the speed of one of the two servo motors is always times the speed of the other servo motor p times; during operation, the detaching roller first reverses, then rotates forward, and then stops after rotating forward, completing a motion cycle; the two servo motors include a first servo motor and a second servo motor; the two-degree-of-freedom gear mechanism includes a first sun gear, a first transmission gear, a first planetary gear, a planetary carrier gear, a second sun gear, a second planetary gear, a second transmission gear and a driven gear; the first servo motor is connected to the first sun gear, the second servo motor is connected to the first transmission gear, the first transmission gear is externally meshed with the planetary carrier gear, the first sun gear is externally meshed with the first planetary gear, the first planetary gear and the second planetary gear are respectively installed on both sides of the planetary carrier gear, the second sun gear is externally meshed with the second planetary gear, the second sun gear is coaxial with the second transmission gear, and the second transmission gear is externally meshed with the driven gear; The first servo motor speed n 9. Second servo motor speed n 10 Separating roller speed n 11 The relationship between them is: Among them, the first servo motor speed n 9. Second servo motor speed n 10 The relationship between n 9= pn 10 , the speeds of the two servo motors are obtained: In the formula, z 1 is the number of teeth of the first sun gear; z 2 is the number of teeth on the first transmission gear; z 3 is the number of teeth of the first planetary gear; z 4 is the number of teeth on the planet carrier gear; z 5 is the number of teeth of the second sun gear; z 6 is the number of teeth of the second planetary gear; z 7 is the number of teeth of the second transmission gear; z 8 is the number of teeth on the driven gear.

Images