Nghiên cứu ảnh hưởng của độ chính xác khớp đến sai lệch vị trí đổ sợi của hệ thống đổ sợi tự động máy sợi con

NGHIEN CU'U - TRAO D O I ^NGHIEN CL L ANH HUONG CL A BO CHINH XAC KHOrp DEN SAI LECH VI TRI DO SQfl CUA HE T H O N G DO SOI TLT D O N G M\\ sgi CON A RESEARCH ON EFFECT OF JOINT ACCURACY ON ERROR OF DOFFING POSITION OF RING SPINNING'S AUTODOFFER Nguven Xuan Chung', Hoang \ an G g t \ Nguven Doan V' 'Trudng Dai hpc Cong nghidp Ha Npi -Vien Nghidn cuu Ca Bd Cdng Thuang 'Trudng Dai hpc Bach khoa Ha Ndi TOM TAT Chdt luong cua he thong sai tu dpng duoc ddnh gid hdng khd ndng ldm viec on djnh, Idu ddi d che dp ldm viec tdi iru De ddm bdo duoc chdi lupng ctia he thdng cdn dam bdo dp chinh xdc dgng hpc cua he co cdu co (cu the la dp chinh xdc vl tri cua ddm soi) Bdi bdo ndy trinh bdy mot nghien cuu thuc nghiem xir ly vd ddnh gid dnh hudng cua dp chinh xdc cdc kh&p ciia ca cdu phdng vd co cdu khdng gian cua he thdng soi tu dpng mdy sai den chinh xdc vi tri cua ddm sai bdng phuang phdp thong ke thdng qua cdc chi tieu ve chinh xdc lap a che dp lam viec thuc le voi khe hd khdp vd tdi trpng khac Tir khoa: Dp chinh xdc khdp: Do sol tu dpng: Sai lech vi tri soi; Mdy sai ABSTRACT The quality of an auto-doffer is estimated based on its consistency and long-life in optimized conditions In order to insure the quality of the svstem it is necessary lo remain the kinematic accuracy of the mechanism system, especially the position accuracy ofdoffer bar This article presents an experimental research on the effect of the accuracy of joints in planar and partial mechanism system of the auto-doffer system on the position accurac\ of doffer baf based on two parameters, the repeated accuracy in practical condition and the joint clearance in dijferent load modes Kevwords; Joint accuracy: Autodoffer: Dofling position deviation: Ring frame ISSN 6 - TAP CHi CO KHi V £ T N A \ L S nam 201 www.cokhh Ietnam.vn spinning NGHIEN CU'U-TRAO D O I I.DATVVN DE He thdng sgi tu ddng may sgi lam nhidm v u blip spi da quan day va nap ldi spi rong vao true chinh may spi [I] Trong so cac chi tidu chat lupng hoat dpng ciia he thdng, chi tieu chinh xac v i tri sgi la chi tidu quan trgng nhat Cd hai yeu to thudng dugc su dung dd danh gia linh chinh xac CLia mpt he thdng ca la cap chinh xac va dp chinh xac Cap chinh xac la kha nang dat dugc muc dp diing, hay ndi each khac la sai lech Idn nhat cua chuyen dpng quay hoac dich chuydn giOa hai diem pham vi khong gian lam vice ciia may Kha nang lap (dp chinh xac) la kha nang nhae lai diing nhidu lan, hay sai sd giira mpt sd lan thuc hien djch chuydn cdng ddn cimg mpt vi tri Ddi vdi h? dd spi tu dgng, dp chinh xac v j tri cita lam lay gap so vdi tam cua true chinh/chdt ciia may spi la ehi tieu quan trpng nhat phan anh dp chinh xac vi tri dd sgi Dp chinh \ac vj tri a day, dugc hicu la xac suat vj tri tay gap dat dugc vi tri chinh xac qua trinh hoat ddng Bai bao [2], da thidt lap dupc md hinh ly thuyet ciia sai sd v i tri ciia co cSu nang va quay lat Nghidn ciiu thyc nghiem sedua qui luat phan bd cung nhu tim dugc cac tham sd thdng kd cua dp chinh \ac vi tri ciia he thong spi ty dpng may sgi Hidn cd nhidu cdng trinh nghien cuu vd sai sd vj tri cua mav cdng cu va robot cong nghiep Bai bao [3] nghidn cim sai lech ITnh va dp chinh xac ciia may cdng cu C NC sir dung he thdng lazer va phep lap dd tim cac dac trung vd dp chinh xac mav Bai bao [4] da dua mdt phuong phap ly thuyet dd tinh loan dp chinh xac vi tri tay ciia robot cdng nghidp Tuy nhien, cac cdng trinh chu veu nham danh gia chinh xac cua thiet bj ma khdng neu dugc cu thd bang thyc nghipm cac anh hudng ciia chd dp lam v ipc cung nhu dp chinh xac chd tao Bai bao nav dua mpt phuang phap thyc nghidm xir ly ket qua va danh gia dupc dp chinh xac v i tri dd sgi Npi dung tap trung vao thidt ke che tao md hinh thi nghidm cung nhu he thdng ludng sai I^ch VI tri spi Thi nghiem ludng dp chinh xac (kha nang lap) \i tri thyc hien d hai che dp: Lap ghep cac khdp vdi khe hd nhd va khdng mang tai va che dp lap kem chinh xac han vdi tai trpng tuong duang vdi tai trpng lam vide cua he thdng thyc TRANG THIET HI \ A TRINH TV DO LUOfNG THL C NGHIEM 2.1 Trang thiet hi nghien cihi Md hinh thi nghidm dugc thidt kd theo mpt mo dun cua he thong sgi tu dgng may sgi Be dap ung dupc ydu cau dong dang va tuang ty, md hinh dugc thidt ke va chd tao theo ty le 1:1 Cac chd dp hoat dpng: Hanh trinh van tdc, tai trpng cua md hinh tuang ty nhu cac che dp hogt dpng ciia he thdng thyc a) He thong truyen ddn co khi: Dya theo he thong dd sgi tu dpng may spi con, la xav dyng so dd dpng hpc cua co cau quay-lai va nang - ha, nhu sau (hinh a vab): ISSN 0866-7056 TAP CHi CO KHi V1£T NAM, Sd nam 2016 www.cokhivietnam.vn NGHIEN CLCU - TRAO OOl i ~ ^ 'J- Hinh Sa dpng hoc ciia ca cdu quay-ldt (a) \dndng- hg (b) Chuydn dpng quay-lat: Bat dau tir dpng ca dien 1, qua bp truydn dai rang den bp truyen vit me-dai dc lam true chuvcn dpng tinh ticn Chuyen dpng linh tidn cua true lam quay lac khdp chir L quanh gdi dd qua tay don 7, khdp cau va truyen quay quanh tam mang dam spi quay lat Chuyen dpng nang tir dpng co dien 11 qua bo truyen dai tdi ca cau vit medai dc 13 lam true chinh 14 tjnh tidn Chuydn dpng tinh tidn cua true chinh 14 tam truydn 16 va 15 tao chuvcn dpng nang (ha dam sgi - ga k?p cupn chi) b) He thdng dieu khien vd he thong do: Nguyen ly hoat ddng ciia he thdng didu khidn (md ta tren ca sd chuc nang ciia md hinh) Hinh Sa khdi he ihdng dieu khiin: Serw Driver • BQ dieu khicn d(>ng iir CTHT - cang tdc hanh Irinh, CBQ (t.41 - cam bien tfuang icno ISSN 6 - TAP CHi CO KHi V I £ T NA.\L S.> gap trimg vdi tam true chinh ciia may spi (hinh 6) Du lieu vi tri dupe may tinh ghi lai d dinh dang ACII va sau ciing la xu Iv V a danh gia ket qua Dc dam bao dp tin cay ciia phep do, cin tinh loan so lan can thidt day, ta tinh toan sd lin theo phuang phap mau kep R Trudc tien, didu tra mot mau so bp kich t h u d c m > , H\={X^,X,, X,„)x\m phuang sai mau so bd: Hinh So I at dii}m di'nig cua ddu kep biip spi: 11 yitnnhabupsp: -t ' " " ' ' ' ! ' • " " I'l^ *•/' h Shuikfi'ildiisnagialntngguin JI i'hi' kip ''I K dung dupc dd thi vj tri ciia gia tri trung binh tai cac diem A va B {hai dau) ciia dam sgi (bang 3) va ham phan bd (PDF) sai lech V j tri dim spi {hinh 8a b c d) Tir cac kdt qua nay, ta cd thd xac dinh dupc dp chinh \ a c thuc nghiem ciia md hinh dd sgi va tir dd nitra dugc dp chinh xac vi tri dd spi ciia he thdng spi ty ddng may sai Hinh Dieu chmh cdc vi tri cua hi' thdng ludng vj tri Bdng So lieu vj tri ciia ddm sen a 34 Idn Khong tai, che dQ Tai tr^ng F =138 V, K h o n g tai, c h e d TT TT F9 che lap /i9 i i p ^ /7 Tai trpng F = 138 V, , F9 che ISp /7 Dau -0,044 0,024 Dau B -0,093 -0,193 Dau \ ' Diu B 0.019 -0,150 -0,128 0.051 Dau A -0.207 -0,069 Dau B -0,112 -0,150 Dau A -0,095 0,034 DiuB 18 19 0,204 0,064 0.065 O.OSO 20 0,047 -0,036 0,138 -0,084 0,033 0,049 0,107 -0,060 -0,220 -0,010 0,103 0,247 0,058 -0,045 -0.013 -0,037 -0,154 0,058 0,061 ' ().()94 -0,163 l O am 0,324 -0,03 14 15 16 17 -0,092 -0,191 -0.144 -0.045 0.132 -0.143 0.041 0,039 -0,082 -0,189 0,063 -0,047 0,029 -0,188 0.0-S 0.053 0,005 -0.05S -0.O46 -0,428 0,137 0,063 0,361 0,277 -0,08S -0,111 -0,114 27 28 29 30 31 32 33 34 -0,298 -0,048 -0,042 -0,050 -0.066 0,062 0,246 0.177 0,120 0,024 0.049 0,136 0,076 0,040 0,034 0.119 -0J41 0,066 -0,184 0.13-0.087 -0,163 0,310 0,071 0,067 0,005 -0,058 -0,046 -0,428 0.009 -0,009 -0,112 -0,111 -0.088 -0,111 -0,114 -0,298 dav ta dimg phuang phap v i tri v a d hai dau ciia dam spi v di sd Ian n, sau dd tinh toan cac tham sd thdng kd: Gia tri trung binh cua vi tri: -^ ,., (3) Phuang sai cua sai lech VI tri: _ ^ n [_ [ Bdng Bdng gid tri trung binh vd dp l^ch i^n Iham sii Daily Liiii khil _ chudn Dau \ ktiony tai Dau B khong tai | Dau \ co tai Dau B co tai Ph.in bo JuLin Phan ho chuan J Phan bo chuan Phan ho chuan -0.0(13^^)3'^ 41 0471(l.s6 Gia in iruML; hmh dOU.'Ui'-) U.0429702 Plim'iTj s.ii iin|3'->Mn" 0.015169 I OO^INh'-)" ^ 00101 Sir dung phan mdm Matlab xu ly sd lieu d bang theo trinh ty: Dpc dii lipu, su dung img di^ng Distribution Fitting, chgn mang dtr lieu, chia ldp, chpn dang phan bd va kdt xuit dir hdu dd thi Gia tri trung binh phuang sai cua phan bd cung nhu cac tham sd vd mau, sai lech dugc kdt xuat Bang 3, la bang gia tri tham sd va dang phan bd lya chpn lam khit Dd thi trdn hinh Sa.b.c.d la thj mat dp xac suat phan bd vi tri dd spi hai chd dp lap ghep va lai trpng nhu phan trdn da ndi ,'• \ :^-JU^ ISSN 0866 - 7056 TAP CHi CO KHi VIET NAM, Sd nam 2016 WW w.cokhivietnam.vn NGHIEN CUU - TRAO D O I c) d) Hinh 7, Dd thi hdm mat dc rac sudt ciia vi tri lap cua ddm sgi: a) Do tai ddu A, che dp lap khdng tdi: b) Do tgi ddu B che dp lap kfidngldi: • F9 F9 c) Do tai ddu A che lap cd tdi: d} Do ddu B che lap cd tdi /;9 h9 vj tri dd spi Tuy nhidn a vdi chd dp lap Ket qua cac thdng sd chinh \ac ghep \ac suat sai l?ch v; tri cua dam sai vj tri ciia h? thong co cau ca cd thd phan van nam gidi han cho phep (±0,2 mm anh dugc anh hudng ciia dp chinh xac co cau vdi mire tin cay 95" 0) CO Dang dudng cong phan bd cua kdl qua gan dung vdi dang dudng cong phan bd chuan Day cung la mpt nhung tinh chat quan trpng cua sai sd hinh hpc ciia he thdng may mdc cd chuyen ddng djnh vi (vi du nhu may cdng cu) anh hudng cua qua trinh ddng lyc hpc (gia tdc, nhiet, ma sal lai khdp dpng ) la khdng dang kc Ddi vdi chd dp lap (-77) khdng tai trgng, dang dudng cong phan bd rat gan v di phan bd chuan Tuy nhien d chd dp lap F9 ( — ) \ a lam v icc cd tai, dudng cong phan h9 bd bi bidn dang, mire phan tan tang, lech vd chidu ducmg ciia tryc hoanh (lech vd B) Nhu \.i> ta thay rang khe hd khdp cd anh huirny iian nhu quyet dmh den dp chinh xac KET l.l AN Tir ndi dung nghien ciiu tren, ta thay qua trinh thiet kd va che tao mo hinh cua he thdng dd sgi ty ddng may spi con, cung nhu vide thiel lap he thong ludng va xii Iy sd lieu thyc nghidm la mpt phucmg phap hidu qua vide danh gia dupc dp chinh xac V i tri sgi ciia he thdng thdng qua danh gia chi tidu chat lupng la dp chinh xac lap Viec thay ddi che dp lap ghep lam thay ddi khe hd cac khdp cua ca cau cung nhu thay ddi tai trpng cdng tac va tidn hanh ludng sai lech vj tri, eung ed thd dugc sir dung cho vide thidt kc, chd tao, khai thac, \ an hanh bao tri he thdng spi ty dpng may spi va md rdng cho cac he ea khac. dung... trung binh ciia v i tri; -^ Phuang sai cua sai lech v i tri: ^ (4) _ Bang Bdng gid Iri tnmg binh vd lech chudn Ten tham so Dang lam khit Gia tn trung binh Phuang sai Dau A khong tai Phan bo chuan