A novel rack drive type multi-shuttle ribbon loom and a weaving method thereof

Abstract

The application provides a novel rack drive type multi-shuttle ribbon loom. In the weft insertion mechanism of the ribbon loom, a lifting driver provides vertical lifting power for a shuttle storage body, a plurality of shuttles are arranged in the shuttle storage body, the back rack of the shuttle is engaged with a gear driving mechanism on a rack to realize horizontal transverse movement, the weft insertion can be flexibly realized, and the efficiency and the accuracy are improved, the crank rocker mechanism of the beating mechanism can independently swing forward and backward to drive the beating reed plate connected with the rotating shaft to synchronously rotate, the movement of the reed and the shuttle is different in position, the beating quality and stability are ensured, in addition, the application adopts modular design, the space is effectively utilized, the weaving of the ribbon loom can be efficiently and accurately completed, various high-quality fabrics can be produced, the large-scale production and personalized demand can be met, and the application has remarkable advantages and broad application prospect in the field of ribbon looms.

Description

Technical Field

[0001] This invention relates to the field of textile machinery technology, specifically to a novel rack-and-pinion driven multi-shuttle ribbon loom and its weaving method. Background Technology

[0002] In the field of ribbon looms, the demand for multi-color weft yarn weaving and complex fabric production is increasing. Existing technologies, such as Chinese patent CN52110564254, disclose a shuttle device capable of lifting and lowering motion. This device uses gear meshing to drive the shuttle to reciprocate on a support plate, achieving lifting and lowering switching of a four-layer weft insertion device.

[0003] However, the applicant discovered that such equipment has a defect in operation. In traditional multi-shuttle ribbon looms, the weft insertion motion (shuttle reciprocating laterally), the weft striking motion (reed oscillating back and forth), and the shuttle body motion are forcibly bound to the same moving component. The drive gear is usually located at the bottom of the shuttle, and the gear meshes with a rack for transmission. The entire shuttle body needs to oscillate back and forth during weft striking. This motion coupling relationship leads to: The coupling of the kinematic chain limits the number of shuttles. Increasing the number of shuttles leads to increased load on the shuttle box, increased inertia, and ultimately, limited loom speed. Several transmission mechanisms, operating in the limited space below the shuttles, typically only support a maximum of four shuttles weaving the same strip. The motion coupling between weft insertion and weft insertion increases mechanical complexity. Because the reed's beating motion is linked to the shuttle box, the entire shuttle box needs to swing back and forth. This not only increases the inertia of the motion, but also causes the weft yarn to be pulled out and rub against the wooden foot during the swing, affecting the weaving quality. At the same time, this linkage structure limits the increase of the loom speed.

[0004] In traditional methods, multiple shuttles occupy the weaving position simultaneously, and switching between different shuttles requires a complex mechanical shuttle changing mechanism or machine stop operation, making it impossible to achieve rapid and continuous weaving of multi-colored weft yarns.

[0005] In summary, the fundamental problem with existing technologies is not simply insufficient structural space, but rather the strong coupling of the kinematic chain topology between the weft insertion motion, the beating motion, and the shuttle switching motion, which fundamentally restricts the expansion of the number of shuttles and the improvement of weaving speed. Summary of the Invention

[0006] To address the shortcomings of the existing technology, the present invention aims to provide a novel rack-and-pinion driven multi-shuttle ribbon loom and its weaving method.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a novel rack-and-pinion driven multi-shuttle ribbon weaving machine, comprising: a frame, and a support frame serving as the ribbon weaving machine. Weft insertion mechanisms include: The lifting drive is fixedly installed on the frame and is used to provide vertical lifting power to the shuttle storage body so as to vertically lift the shuttles in different shuttle channels to the weaving position. The shuttle storage body is movably mounted on the lifting drive, and multiple shuttles are arranged longitudinally side by side inside; The shuttle has a rack on its back, and the rack meshes with a gear drive mechanism. A gear drive mechanism, mounted on the frame and staggered with the lifting drive, transmits power to the meshing rack through rotational motion, thereby driving the shuttle to move horizontally. The weft insertion mechanism includes multiple shuttles arranged longitudinally side-by-side in the shuttle storage body. The shuttle storage body contains n shuttle channels, n>4, preferably 6-12, with each shuttle channel equally spaced, and the spacing d is 50-80 mm.

[0008] Each shuttle has a rack embedded in its back, the teeth of which are parallel to the direction of shuttle movement. This back-drive layout is based on the principle of spatial misalignment, moving the drive mechanism from the bottom to the back, freeing up bottom space, and thus removing the limitation on the number of shuttles by vertical space.

[0009] The lifting stroke S of the storage shuttle body satisfies: S = (n-1) × d; The lifting drive is connected to the shuttle body and drives the shuttle body to perform linear lifting motion based on the principle of precision displacement control.

[0010] A crank-rocker mechanism is located inside the frame and can swing independently back and forth; A rotating shaft is connected to the crank-rocker mechanism and has a fixed reed board. Driven by the crank-rocker mechanism, the rotating shaft reciprocates and drives the reed board to rotate synchronously. Reed: Fixed to the end of the reed board away from the rotating shaft, and its movement is in phase with the movement of the shuttle. When the reed moves to the back center position, the shuttle performs the weft insertion movement; after the shuttle completes the weft insertion, the reed swings forward past the shuttle to beat the weft.

[0011] As a preferred embodiment of this application, a clearance groove is provided on the storage shuttle body. The width of the clearance groove is greater than the tooth width of the drive gear, which is used to avoid spatial interference during the lifting and lowering process.

[0012] As a preferred embodiment of this application, the horizontal movement distance of the shuttle is... The distance between the reed length L and the distance d between adjacent shuttle bodies must meet the following requirements: =W+d+2δ1; Where: W is the length of the shuttle storage body, and δ1 is the safety clearance between the reed (9) and the adjacent shuttle storage body (3). Considering the positioning error of the shuttle, the transmission clearance and thermal deformation, it is usually taken as ≥5mm, ensuring that the shuttle has a safe stopping space in the shuttle storage body, preventing end face collisions caused by positioning errors or dynamic deformation, while the shuttle completely enters the adjacent shuttle storage body.

[0013] As a preferred embodiment of this application, to ensure the effectiveness of the weft insertion mechanism's movement, the reed length L must satisfy the following: L=d-2 That is, the area covered by the reed is smaller than the spacing between the storage shuttles; >d>L.

[0014] Where: d is the distance between the shuttle bodies, that is, the installation distance between the two shuttle bodies; To account for the weft insertion allowance, considering the slack range of the weft yarn during the weft insertion process and the oscillation trajectory of the reed, it is usually taken as... ≥10mm, ensuring that the effective weft insertion area of ​​the reed completely covers the entire weft insertion area from one side of the shuttle storage body to the other during the weft insertion process, preventing missed weft insertion defects. >d: Ensure that the shuttle can move completely from one side of the shuttle storage body and enter the interior of the adjacent shuttle storage body to achieve stable docking; d>L: Ensure that the length of the reed is less than the spacing between the shuttle bodies, so that the reed will not collide or interfere with the shuttle bodies when it swings during weft insertion; L=d-2δ2: Ensure that the effective weft insertion area of ​​the reed completely covers the weft insertion opening area between the two shuttle bodies to prevent missed weft insertion while maintaining a safe gap.

[0015] This hierarchical relationship, where "the shuttle travels the longest distance, followed by the distance between the shuttle storage bodies, and the reed length is the shortest," fundamentally eliminates the risk of interference between weft insertion and weft striking, while ensuring the reliability of weft insertion and the integrity of weft striking.

[0016] As a preferred embodiment of this application, the lifting driver includes: The servo motor, mounted on the frame, provides power for the lifting drive; A ball screw drive component, connected to the servo motor, is used to convert the rotary motion of the servo motor into linear motion. A slide block is mounted on the ball screw drive component and is fixedly connected to the shuttle storage body. Driven by the servo motor, the slide block drives the shuttle storage body to reciprocate up and down along the ball screw drive component.

[0017] As a preferred embodiment of this application, the gear drive mechanism includes: The main drive motor is fixedly mounted on the frame and serves as the power source; The transmission rod is horizontally connected to the power output end of the drive motor via a coupling. The transmission gearbox has at least two gearboxes, which are arranged sequentially along the length of the transmission rod; The drive shaft is correspondingly located at the bottom of the transmission gearbox and can rotate vertically. Each drive shaft is connected to the corresponding transmission gearbox through a set of bevel gears to convert the horizontal axis rotation into vertical axis rotation. Each drive shaft is located between adjacent lifting drives and is arranged in an alternating manner with the adjacent lifting drives. A drive gear is fixedly sleeved on the transmission shaft and meshes with the rack to realize the horizontal movement of the shuttle driven by the circumferential rotation of the gear; A bearing housing is located at the bottom of the drive shaft and is used to fix the drive shaft to the frame.

[0018] As a preferred embodiment of this application, the crank-rocker mechanism includes: A rotary motor is fixed at the bottom of the frame and serves as a power source; The transmission component is connected to the power source of the rotary motor and is horizontally rotatable within the frame. Under the drive of the rotary motor, it rotates circumferentially. Two crank components are provided, each sleeved on the end of the transmission component, and their rotation direction is the same as that of the transmission component. A connecting rod, one end of which is hinged to the end of the corresponding crank member away from the transmission member; A rocker arm is rotatably mounted on the frame via a bearing and is fixedly connected to the end of the connecting rod away from the crank to achieve rotation, and the rotating shaft is fixedly connected to the rocker arm.

[0019] As a preferred embodiment of this application, the crank-rocker mechanism (6) must satisfy the following conditions during operation: The principle of maximizing the transmission angle: the minimum transmission angle γ_min ≥ 45°, to ensure the efficiency of force transmission; Approximate resting characteristic: The resting angle Δφ after the dead center is ≥15°, ensuring that the angular velocity of the reed at the dead center position is close to zero, providing a sufficient time window for weft insertion.

[0020] Based on key geometric parameter constraints and the principle of mechanism motion coordination, the oscillation of the reed and the motion of the shuttle are coordinated by a phase difference: When the reed moves to the rear dead center position (crank angle 0°-15°), the shuttle begins the weft insertion motion; After the shuttle completes the weft insertion (crank angle 240°), the reed swings forward past the shuttle to perform weft insertion.

[0021] A weaving method for a novel rack-and-pinion driven multi-shuttle ribbon weaving machine, specifically implemented using the novel rack-and-pinion driven multi-shuttle ribbon weaving machine described in the above technical solution, includes the following steps: S1. Selective Engagement Stage: According to the fabric weaving process requirements, the lifting module drives the shuttle storage body to rise and fall according to the discrete position control algorithm, raising the shuttle in the selected shuttle channel to the weaving position, so that the rack on the back of the shuttle engages with the drive gear; the discrete position control algorithm calculates the target position coordinates according to the target shuttle channel number i: ; in As the reference position, This refers to the shuttle track spacing; S2, Weft insertion stage: The drive gear (8) meshes with the rack (2) to drive the shuttle (1) to move horizontally back and forth between the two shuttle storage bodies (3) with a distance of d, and the moving distance is The shuttle (1) completes the weft insertion action; the speed v of the shuttle (1) is determined according to the loom speed n and the weft insertion time window: ; S3, Sequential weft insertion stage: When the reed (9) moves to the near resting area of ​​the back dead center position, the shuttle (4) performs weft insertion. When the shuttle (4) completes weft insertion, the reed (9) moves forward and swings past the shuttle, and the swing of the reed (9) and the movement of the shuttle (4) satisfy the phase difference matching.

[0022] S4, Cyclic Switching Stage: The lifting module (7) drives the shuttle storage body (3) to rise and fall again, and switches to the shuttle (1) of the next shuttle based on the timing logic control, repeating steps S1-S3 to realize the periodic cyclic weaving of multi-color weft yarn.

[0023] Furthermore, in S3, the timing coordination between the oscillation of the reed and the movement of the shuttle is achieved through an electronic control system; the electronic control system is based on the feedback signal of the main shaft encoder, with a resolution of 4096 pulses / revolution, and monitors the angular position of the crank in real time.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention innovatively places the drive rack on the back of the shuttle, forming a back-meshing transmission with the gear drive mechanism. Compared with the traditional bottom drive layout, this effectively frees up space below the shuttle. Multiple shuttles are arranged longitudinally side by side inside the shuttle storage body. The number of shuttles is no longer limited by the space occupied by the bottom drive mechanism. More shuttles can be flexibly configured according to process requirements, significantly improving the multi-color weaving capability of the ribbon loom and meeting the production needs of complex patterned fabrics. The gear drive mechanism and the lifting drive are arranged alternately on the frame, avoiding each other in space while working together, making the overall structure more compact. This layout ensures that the lifting drive can independently drive the shuttle storage body, while also achieving precise transmission of the shuttle by the gear drive mechanism. It optimizes the utilization of the internal space of the frame and creates conditions for the miniaturization design of the equipment. The rack and pinion mechanism on the back of the shuttle meshes directly with the gear drive mechanism, and the driving force acts on the back of the shuttle. This results in a short transmission path and high rigidity, avoiding the cumulative errors caused by the excessively long transmission chain in traditional bottom-driven systems. The meshing transmission between the rack and pinion has a definite transmission ratio, enabling precise control of the horizontal movement of the shuttle. The weft insertion action is smooth and reliable, effectively improving the weft yarn positioning accuracy. The beat-up mechanism uses a crank-rocker mechanism to achieve the back-and-forth swing of the reed. This mechanism has quick-return and near-pause characteristics, providing ample time for the weft insertion movement at the back center position. The phase difference between the reed and shuttle movements ensures coordinated and orderly weft insertion and beat-up actions, avoiding motion interference between mechanisms and guaranteeing the continuity and stability of the weaving process. Attached Figure Description

[0025] Other features, objects, and advantages of the invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a schematic diagram of the main structure of the present invention; Figure 2 for Figure 1 Enlarged structural diagram of section A in the middle; Figure 3 This is a schematic diagram of the structure of the shuttle body in this invention; Figure 4 This is a schematic diagram of the installation position of the frame after the back plate is removed in this invention; Figure 5 This is a schematic diagram showing the installation positions of the weft insertion mechanism and the weft beating mechanism in this invention; Figure 6 This is an enlarged schematic diagram showing the distance relationship between the shuttle, reed, and shuttle storage body in this invention.

[0026] In the diagram: 1. Frame; 2. Lifting driver; 21. Servo motor; 22. Ball screw transmission element; 23. Slide; 3. Shuttle storage body; 31. Alternating groove; 4. Shuttle; 41. Rack; 5. Gear drive mechanism; 51. Main drive motor; 52. Transmission rod; 53. Transmission gearbox; 54. Transmission shaft; 55. Bevel gear set; 56. Drive gear; 57. Bearing housing; 6. Crank-rocker mechanism; 61. Rotary motor; 62. Transmission component; 63. Crank component; 64. Connecting rod; 7. Rotating shaft; 8. Reed plate; 9. Steel reed. Detailed Implementation

[0027] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0028] like Figure 1-6 As shown, a novel rack-and-pinion driven multi-shuttle ribbon weaving machine includes: a frame and a support frame for the weaving machine. Weft insertion mechanisms include: The lifting drive is fixedly installed on the frame and is used to provide vertical lifting power to the shuttle storage body so as to vertically lift the shuttles in different shuttle channels to the weaving position. The shuttle storage body is movably mounted on the lifting drive, and multiple shuttles are arranged longitudinally side by side inside; The shuttle has a rack on its back, which meshes with a gear drive mechanism, with each rack corresponding to a different colored weft yarn. Each shuttle has a flat rectangular structure, and a mounting groove is provided on the back of the shuttle, into which the rack is fixedly embedded by countersunk screws. A gear drive mechanism, located at the top of the frame and staggered with the lifting drive, transmits power to the meshing rack through rotational motion, thereby driving the shuttle to move horizontally. (The weft insertion mechanism includes multiple shuttles arranged longitudinally side-by-side in the shuttle storage body. The shuttle storage body has n shuttle channels, n>4, preferably 6-12, with each shuttle channel equally spaced, and the spacing d is 50-80mm.)

[0029] Each shuttle has a rack embedded in its back, the teeth of which are parallel to the direction of shuttle movement. This back-drive layout is based on the principle of spatial misalignment, moving the drive mechanism from the bottom to the back, freeing up bottom space, and thus removing the limitation on the number of shuttles by vertical space.

[0030] The lifting stroke S of the storage shuttle body satisfies: S = (n-1) × d, where m is the number of shuttles and d is the distance between equally spaced shuttle tracks. The lifting drive is connected to the shuttle body and drives the shuttle body to perform linear lifting motion based on the principle of precision displacement control.

[0031] A crank-rocker mechanism is located at the bottom of the frame and can swing independently back and forth; A rotating shaft is horizontally arranged and connected to the crank-rocker mechanism, and a reed board is fixed thereon. Driven by the crank-rocker mechanism, the rotating shaft reciprocates and drives the reed board to rotate synchronously. Steel reed: Fixed on the end of the reed board away from the rotating shaft, and in phase with the movement of the shuttle. When the steel reed moves to the back center position, the shuttle performs the weft insertion movement; after the shuttle completes the weft insertion, the steel reed swings forward past the shuttle to beat the weft.

[0032] A position-avoiding groove is provided on the shuttle storage body, and the width of the position-avoiding groove is greater than the tooth width of the driving gear. When the shuttle storage body rises and falls to switch the shuttle track, the position-avoiding groove rises and falls synchronously with the shuttle storage body, and forms a spatial dislocation with the stationary driving gear during the rising and falling process, so as to avoid spatial interference during the rising and falling process.

[0033] Among them, the horizontal movement distance of the shuttle , the length L of the reed and the distance d between adjacent shuttle storage bodies need to satisfy: =W + + 2 ; Among them: W is the length of the shuttle storage body, is the safety gap between the reed (9) and the adjacent shuttle storage body (3).

[0034] That is: d < LS (the distance between shuttle storage bodies is less than the movement distance of the shuttle because the shuttle needs to completely enter the adjacent shuttle storage body), and during actual operation, W > d, ensuring that the shuttle stably docks in the shuttle storage body, will not escape, and at the same time ensuring that the shuttle moves smoothly back and forth between the two shuttle storage bodies; Among them: is the safety gap, considering the positioning error of the shuttle. Transmission clearance and thermal deformation, usually take ≥5mm, ensuring that the shuttle has a safe docking space in the shuttle storage body, preventing end face collision caused by positioning error or dynamic deformation.

[0035] To ensure the effectiveness of the beating-up mechanism movement, the length L of the reed needs to satisfy: L = d - 2 Among them: d: the distance between shuttle storage bodies, that is, the installation distance between the two side shuttle storage bodies; is the beating-up coverage allowance, considering the relaxation range of the weft yarn during the weft insertion process and the swinging trajectory of the reed, usually take ≥10mm, ensuring that during the beating-up process of the reed, its effective beating-up area completely covers the entire weft insertion area from one side shuttle storage body to the other side shuttle storage body, preventing the defect of missed beating-up, > d: ensuring that the shuttle can completely move from one side shuttle storage body and enter the adjacent shuttle storage body interior to achieve stable docking; d > L: ensuring that the length of the reed is less than the distance between shuttle storage bodies, and the reed will not collide and interfere with the shuttle storage body during the beating-up swing; L = d - 2δ2: ensuring that the effective beating-up area of the reed completely covers the weft insertion opening area between the two shuttle storage bodies, preventing missed beating-up, and at the same time maintaining the safety gap.

[0036] This hierarchical relationship, where "the shuttle travels the longest distance, followed by the distance between the shuttle storage bodies, and the reed length is the shortest," fundamentally eliminates the risk of interference between weft insertion and weft striking, while ensuring the reliability of weft insertion and the integrity of weft striking, thus guaranteeing the weft striking effect.

[0037] In actual operation, this embodiment can be equipped with several lifting drives according to production needs. These drives can be operated independently by one or more power sources. Specific solutions include: Solution 1, a single power source mechanical synchronization solution, which uses a single servo motor to drive the ball screw transmission components on both sides simultaneously through a mechanical transmission component to achieve rigid synchronous lifting of the double-sided shuttle body.

[0038] Specific structure: Servo motor (1 unit, centrally located), output shaft connected to active synchronous pulley, synchronous belt drive system, active synchronous pulley (1 unit, connected to the servo motor), driven synchronous pulleys (2 units, symmetrically arranged on both sides), synchronous belt (open belt or ring belt, model: Gates PolyChainGTCarbon14M), tension pulleys (2 units, for adjusting the tension of the synchronous belt). Left ball screw drive components: screw shaft (connected to the left driven synchronous belt pulley via a coupling), nut pair, slide block (fixed to the left shuttle body). Right-side ball screw drive components: screw shaft (connected to the right-side driven synchronous pulley via a coupling), nut pair, slide block (fixed to the right-side shuttle body).

[0039] Synchronization principle: Rigid connection synchronization: The rotational motion of a single servo motor is simultaneously transmitted to the ball screws on both sides through a synchronous belt drive system. The ball screws on both sides obtain the same speed and angle, which fundamentally ensures the synchronization of motion. Measures to eliminate gaps: Preloaded ball screws (preload force is 10% of the rated dynamic load) are used to eliminate axial backlash; The synchronous belt uses high-modulus carbon fiber cord with an elongation of <0.1%, ensuring transmission accuracy. The coupling uses a diaphragm coupling (model: R+dSK5) for zero backlash transmission; Error compensation mechanism: The lead error of the two lead screws is controlled by pairing and screening (lead error difference ≤ 0.005mm / 100mm) to ensure the consistency of displacement on both sides.

[0040] Option 2: Dual Power Source Electrical Synchronization Solution Left lifting drive unit: servo motor A (with absolute encoder), servo driver A, ball screw transmission A, slide A (fixed to the left shuttle body). Right-side lifting drive unit: Servo motor B (with absolute encoder), servo driver B, ball screw transmission component B, slide B (fixed to the right-side shuttle body). Synchronous control unit (PLC or motion controller): high-speed pulse output module, high-speed counting input module, EtherCAT / Profinet communication module.

[0041] Synchronization control strategy Dual-axis synchronization is achieved using a master-slave follower control mode: 1. Speed ​​synchronization mode (coarse synchronization) The main controller sends the same speed command to servo drives A and B; Servo motors A and B operate at the same speed, driving the lead screws on both sides to rotate synchronously. Suitable for uniform speed operation, with fast response and synchronization accuracy of ±0.5mm.

[0042] 2. Location synchronization mode (precise synchronization) Define servo motor A as the master axis and servo motor B as the slave axis; The master spindle position command is P_master, and the slave spindle position command is P_slave=P_master; The axis compares its own position feedback P_feedback with the master axis position P_master in real time, and eliminates the deviation through position closure; Position synchronization accuracy can reach ±0.02mm.

[0043] Option 3: Mechanical-Electrical Hybrid Synchronization Scheme (Preferred Scheme in this Application) By combining the mechanical synchronization of Scheme 1 and the electrical monitoring of Scheme 2, a dual guarantee of "mechanical rigid synchronization + electrical error monitoring" is achieved.

[0044] The main servo motor (1 unit, centrally located) drives the lead screws on both sides via a synchronous belt (same as in Option 1), and the mechanical synchronous transmission system (same as in Option 1). Left-side ball screw drive components: screw shaft, nut pair, slide (fixed to the left-side shuttle body), absolute encoder A (installed at the end of the screw shaft to detect the actual position). Right-side ball screw drive components: screw shaft, nut pair, slide (fixed to the right-side shuttle body), absolute encoder B (installed at the end of the screw shaft to detect the actual position). Monitoring and compensation controller: comparator (to calculate the position difference between the two sides), compensation algorithm module, fine-tuning actuator (such as magnetic powder brake or small linear motor).

[0045] 1. Main synchronization: Mechanical rigid synchronization Similar to Option 1, a single servo motor ensures basic synchronization on both sides via a synchronous belt; 2. Auxiliary Synchronization: Electrical Error Monitoring and Fine-tuning Compensation Absolute encoders A and B detect the actual position of the lead screws on both sides in real time. The monitoring controller calculates the position deviation ΔP; If |ΔP| < 0.05 mm: No action is taken, only data is recorded; If 0.05mm ≤ |ΔP| < 0.2mm: Initiate fine-tuning compensation. The deviation is eliminated by applying a small damping force to the leading side or a small assist force to the lagging side using a magnetic powder brake. If |ΔP|≥0.2mm: alarm and stop the machine, check for mechanical faults.

[0046] The gear drive mechanism includes: The main drive motor is fixedly mounted on the top of the frame and serves as the power source; The transmission rod is horizontally connected to the power output end of the drive motor via a coupling and is located above the lifting drive. The transmission gearbox has at least two gearboxes, which are arranged sequentially along the length of the transmission rod and symmetrically between the two shuttle storage bodies; The drive shaft is correspondingly located at the bottom of the transmission gearbox and can rotate vertically. Each drive shaft is connected to the corresponding transmission gearbox through a set of bevel gears to convert the horizontal axis rotation into vertical axis rotation. Each drive shaft is located between adjacent lifting drives and is arranged in an alternating manner with the adjacent lifting drives. A drive gear is fixedly sleeved on the transmission shaft and meshes with the rack to realize the horizontal movement of the shuttle driven by the circumferential rotation of the gear; A bearing housing is located at the bottom of the drive shaft and is used to fix the drive shaft to the frame.

[0047] The crank-rocker mechanism includes: A rotary motor is fixed at the bottom of the frame and serves as a power source; The transmission component is connected to the power source of the rotary motor and is horizontally rotatable within the frame. Under the drive of the rotary motor, it rotates circumferentially. Two crank components are provided, each sleeved on the end of the transmission component, and their rotation direction is the same as that of the transmission component. A connecting rod, one end of which is hinged to the end of the corresponding crank member away from the transmission member; The rocker arm is rotatably mounted on the frame via a bearing and is fixedly connected to the end of the connecting rod away from the crank assembly to achieve rotation. The rotating shaft is fixedly connected to the rocker arm and is driven by the crank-rocker mechanism. The rotating shaft reciprocates synchronously with the rocker arm and drives the reed plate and the reed to rotate synchronously, forming a phase difference with the movement of the shuttle.

[0048] The crank-rocker mechanism must meet the following requirements during operation: The principle of maximizing the transmission angle: the minimum transmission angle γ_min ≥ 45°, to ensure the efficiency of force transmission; Approximate resting characteristic: The resting angle Δφ after the dead center is ≥15°, ensuring that the angular velocity of the reed at the dead center position is close to zero, providing a sufficient time window for weft insertion.

[0049] Timing coordination mechanism Based on key geometric parameter constraints and the principle of mechanism motion coordination, the oscillation of the reed and the motion of the shuttle are coordinated by a phase difference: When the reed moves to the rear dead center position (crank angle 0°-15°), the shuttle begins the weft insertion motion; After the shuttle completes the weft insertion (crank angle 240°), the reed swings forward past the shuttle to perform weft insertion.

[0050] A weaving method for a novel rack-and-pinion driven multi-shuttle ribbon loom, implemented using the aforementioned novel rack-and-pinion driven multi-shuttle ribbon loom, includes the following steps: S1. Selective Engagement Stage: According to the fabric weaving process requirements, the lifting module drives the shuttle storage body to rise and fall according to the discrete position control algorithm, raising the shuttle in the selected shuttle channel to the weaving position, so that the rack on the back of the shuttle engages with the drive gear; the discrete position control algorithm calculates the target position coordinates according to the target shuttle channel number i: ; in As the reference position, This refers to the shuttle track spacing; Specifically, based on the fabric weave process requirements (such as the weft yarn cycle sequence 1-2-3-4-5-6-7-8-7-6-5-4-3-2-1), the main controller calculates the target position coordinates using a discrete position control algorithm. Taking the 5th shuttle (i=5) as an example: Reference position P_base=50mm; The target position P_target = P_base + (i-1) × d = 50 + (5-1) × 60 = 290 mm.

[0051] The servo motor of the lifting drive drives the storage shuttle 3 to rise and fall from the current position to the target position P5=290mm at a speed of v_lift=100mm / s. After positioning, the back rack of the shuttle in the 5th shuttle path precisely meshes with the drive gear, and the meshing depth is the full tooth height (3.375mm).

[0052] S2, Weft insertion stage: The drive gear meshes with the rack, driving the shuttle to move horizontally at a constant speed between the two shuttle storage bodies with a distance of d, and the distance traveled is... The shuttle's movement speed v is determined based on the loom speed n and the weft insertion time window. ; The main drive motor starts, driving the drive gear to rotate via the transmission rod, transmission gearbox, bevel gear set, and transmission shaft. The drive gear meshes with the rack and pinion, driving the shuttle to move horizontally and at a constant speed between the two shuttle storage bodies.

[0053] Calculation of shuttle motion parameters: The loom speed n = 600 r / min (i.e., 10 r / s); The weft insertion time window corresponds to a crank angle of 15° (i.e., 1 / 3 revolution, time t=33.3ms). Shuttle travel distance L S =640mm; The speed of the shuttle is v=L S / t=640mm / 0.0333s≈19.2m / s.

[0054] In actual operation, the drive gear adopts S-curve acceleration and deceleration control, with a maximum speed v_max=5m / s, an average speed v_avg=18m / s, and a weft insertion completion time of approximately 35.6ms.

[0055] S3, Timing-based weft insertion stage: That is, the oscillation of the reed and the movement of the shuttle satisfy a strict phase difference match: Between 0° and 180° of crank rotation: the reed is in the near-resting zone after the dead center, with an angular velocity ω≈0, and shuttle 1 performs weft insertion motion; Crank angle 180°-240°: The reed swings forward and accelerates, while the shuttle continues to move; Crank angle 240°: The shuttle reaches the target position Ls±2mm (confirmed by laser displacement sensor), weft insertion is complete; Crank angle 240°-360° / 0°: The reed 10 continues to swing forward, passing the shuttle (the shuttle is already stationary in the shuttle storage body), and the weft yarn is driven into the weft opening 13 based on the inertial weft-driving principle.

[0056] The timing coordination is precisely achieved through the electronic control system: the spindle encoder provides real-time feedback on the crank angle. When the angle is detected to be within ±5° of the back center position, a weft insertion permission signal is issued. When the shuttle is detected to have completed weft insertion (reaching the target position Ls±2mm), a weft insertion completion signal is confirmed, and the reed is controlled to continue swinging forward to complete the weft insertion, ensuring zero-interference operation.

[0057] S4, Cyclic Switching Stage: The lifting module drives the shuttle storage body to rise and fall again, and switches to the shuttle of the next shuttle bed based on timing logic control. Steps S1-S3 are repeated to realize the periodic cyclic weaving of multi-color weft yarns. After the weft insertion is completed, the crank angle returns to around 0°, and the reed 10 is once again in the dead center position. The main controller calculates the new target shuttle number i according to the color of the next weft yarn required by the fabric weave process. The lifting and lowering drive drives the shuttle storage body to rise and fall again, switching to the shuttle of the next shuttle. Steps S1-S3 are repeated to realize the periodic cyclic weaving of multi-colored weft yarns.

[0058] In step S2, the horizontal movement distance L of the shuttle S Real-time monitoring and compensation of the shuttle body spacing d and reed length L are achieved through displacement sensors and spindle encoders. When the deviation between the actual and theoretical positions of the shuttle exceeds ±3mm, the system automatically adjusts the speed of the drive gear or issues a stop alarm to ensure the continuous satisfaction of geometric constraints. In S3, the timing coordination between the reed's oscillation and the shuttle's movement is achieved through an electronic control system. The electronic control system, based on the spindle encoder feedback signal with a resolution of 4096 pulses / revolution, monitors the crank's angular position in real time. When the crank-rocker mechanism's angular position is within the range of 15°±10°, it issues a weft insertion permission signal, and the shuttle begins to drive. When the crank-rocker mechanism rotates within the range of 240°±10° and the shuttle has completed weft insertion, the signal confirming the completion of weft insertion is activated, and the reed is controlled to swing forward to complete weft insertion. The specific angles of 15° and 240° can be adjusted according to actual working conditions to ensure zero-interference operation.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A novel rack-and-pinion driven multi-shuttle ribbon weaving machine, characterized in that, include: The frame (1) serves as the support frame for the ribbon weaving machine. Weft insertion mechanisms include: The lifting drive (2) is fixedly installed on the frame (1) and is used to provide vertical lifting power for the provided shuttle body (3); The shuttle storage body (3) is movably mounted on the lifting drive (2), and multiple shuttles (4) are arranged longitudinally side by side inside. The shuttle (4) has a rack (41) on its back side, and the rack (41) meshes with the gear drive mechanism (5). The gear drive mechanism (5) is set on the frame (1) and is arranged alternately with the lifting drive (2). It transmits power to the rack (41) that meshes with it by driving the rotational motion, thereby driving the shuttle (4) to move horizontally. weft insertion agencies include: The crank-rocker mechanism (6) is located inside the frame (1) and can swing independently back and forth; The rotating shaft (7) is connected to the crank-rocker mechanism (6) and has a fixed reed plate (8). Driven by the crank-rocker mechanism (6), the rotating shaft (7) reciprocates and drives the reed plate (8) to rotate synchronously. Steel reed (9): Fixed on the end of the reed plate (8) away from the rotating shaft, and in phase with the movement of the shuttle (4).

2. The novel rack-and-pinion driven multi-shuttle ribbon weaving machine as described in claim 1, characterized in that, An avoidance groove (31) is provided on the storage shuttle body (3), and the width of the avoidance groove (31) is greater than the tooth width of the drive gear (56).

3. A novel rack-and-pinion driven multi-shuttle ribbon weaving machine as described in claim 2, characterized in that, The shuttle (4) moves horizontally a distance The distance d between the adjacent storage shuttle (3) and the adjacent storage shuttle body (3) must satisfy: =W+ +2 ; Where: W is the length of the storage shuttle body. This is the safety clearance between the reed (9) and the adjacent storage shuttle (3).

4. A novel rack-and-pinion driven multi-shuttle ribbon weaving machine as described in claim 3, characterized in that, The length L of the reed (9), the spacing d between adjacent shuttle storage bodies (3), and the moving distance of the shuttle (4) are all related to the length L of the reed (9). Must meet: L=d-2 ; in, This is for the allowance of weft coverage.

5. A novel rack-and-pinion driven multi-shuttle ribbon weaving machine as described in claim 1, characterized in that, The lifting drive (2) includes: A servo motor (21) is mounted on the frame (1) to provide power for the lifting drive; The ball screw drive element (22) is connected to the servo motor (21) and is used to convert the rotational motion of the servo motor (21) into linear motion. The slide (23) is mounted on the ball screw transmission element (22) and is fixedly connected to the shuttle body (3). Under the drive of the servo motor (21), the slide (23) drives the shuttle body (3) to reciprocate up and down along the ball screw transmission element (22).

6. A novel rack-and-pinion driven multi-shuttle ribbon weaving machine as described in claim 1, characterized in that, The gear drive mechanism (5) includes: The main drive motor (51) is fixedly mounted on the frame (1) as a power source; The transmission rod (52) is horizontally connected to the power output end of the drive motor via a coupling. The transmission gearbox (53) has at least two gearboxes, which are arranged sequentially along the length of the transmission rod (52); The drive shaft (54) is correspondingly set at the bottom of the transmission gearbox (53) and can rotate vertically. Each drive shaft (54) is connected to the corresponding transmission gearbox (53) through a bevel gear set (55) to convert the horizontal axis rotation into the vertical axis rotation. Each drive shaft (54) is located between adjacent lifting drives (2) and is staggered with the adjacent lifting drives (2). The drive gear (56) is fixedly sleeved on the transmission shaft (54) and meshes with the rack (41) to realize the horizontal movement of the shuttle (4) driven by the circumferential rotation of the gear; A bearing housing (57) is provided at the bottom of the drive shaft (54) for fixing the drive shaft (54) onto the frame (1).

7. A novel rack-and-pinion driven multi-shuttle ribbon weaving machine as described in claim 1, characterized in that, The crank-rocker mechanism (6) includes: A rotary motor (61) is fixed at the bottom of the frame (1) as a power source; The transmission component (62) is connected to the power source of the rotary motor (61) and is horizontally rotatably mounted inside the frame (1). Under the drive of the rotary motor (61), it rotates circumferentially. Two crank components (63) are provided, which are respectively sleeved on the end of the transmission component (62) and their rotation direction is the same as that of the transmission component (62); The connecting rod (64) has one end hinged to the end of the corresponding crank (63) away from the transmission (62); the other end is fixedly connected to the rotating shaft (7).

8. A novel rack-and-pinion driven multi-shuttle ribbon weaving machine as described in claim 7, characterized in that, The crank-rocker mechanism (6) must meet the following requirements during operation: Minimum transmission angle γ_min ≥ 45°; The resting angle after death is Δφ ≥ 15°.

9. A weaving method for a novel rack-and-pinion driven multi-shuttle ribbon loom, characterized in that, The novel rack-and-pinion driven multi-shuttle ribbon weaving machine described in any one of claims 1-8 specifically includes the following steps: S1, Selective Engagement Stage: According to the material placement process requirements, the lifting module drives the shuttle storage body (3) to rise and fall according to the discrete position control algorithm, raising the shuttle (4) in the selected shuttle channel to the weaving position, so that the rack (41) on the back of the shuttle (4) engages with the drive gear (56); the discrete position control algorithm calculates the target position coordinates according to the target shuttle channel number i: ； in As the reference position, This refers to the shuttle track spacing; S2, Weft insertion stage: The drive gear (56) meshes with the rack (41), driving the shuttle (4) to move horizontally back and forth between the two shuttle storage bodies (3) with a distance of d, and the moving distance is The weft insertion action is completed; the speed v of the shuttle (4) is determined according to the rotational speed n of the crank-rocker mechanism (6) and the weft insertion time window: ； S3, Sequential weft insertion stage: When the reed (9) moves to the near resting area of ​​the back dead center position, the shuttle (4) performs weft insertion movement. When the shuttle (4) completes weft insertion, the reed (9) moves forward and swings past the shuttle, and the swing of the reed (9) and the movement of the shuttle (4) satisfy the phase difference coordination. S4, Cyclic Switching Stage: The lifting module drives the shuttle storage body (3) to rise and fall again, and switches to the shuttle (4) of the next shuttle based on the timing logic control, repeating steps S1-S3 to realize the periodic cyclic weaving of multi-color weft yarn.

10. The weaving method of a novel rack-and-pinion driven multi-shuttle ribbon loom as described in claim 9, characterized in that, In S3, the timing coordination between the swing of the reed (9) and the movement of the shuttle (4) is achieved by an electronic control system; the electronic control system monitors the rotational position of the crank rocker mechanism (6) in real time based on the feedback signal of the main shaft encoder.

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