Dobby loom for heavy wide fabric weft insertion and control method thereof

Abstract

A projectile loom for weft insertion of heavy-duty wide-width fabrics includes a projectile shuttle, a weft insertion track, and three-axis moving suction cups. The weft insertion track includes a permanent magnet array track and an electromagnetic coil array track, with the permanent magnet array track positioned on both sides of the electromagnetic coil array track. Three-axis moving suction cups are located at both ends of the weft insertion track, and a synchronous belt is positioned between the three-axis moving suction cups. The projectile shuttle includes a shuttle body, a superconductor, a permanent magnet array, and a weft clamp. A permanent magnet array is installed in the middle of the lower end face of the shuttle body, interacting with the electromagnetic coil array track to achieve the weft insertion movement of the projectile shuttle. A weft clamp for holding the weft yarn is installed inside the shuttle body. A first through-cavity is opened on both sides of the shuttle body, and a first groove is opened on both sides of the shuttle body communicating with the first through-cavity. A superconductor that interacts with the permanent magnet array track to levitate the projectile shuttle is inserted into the first through-cavity. This design not only achieves weft insertion of heavy-duty wide-width fabrics but also improves the adaptability of the weft yarn.

Description

Technical Field

[0001] This invention relates to the field of textile equipment technology, and in particular to a rapier loom for inserting weft into heavy-duty wide-width fabrics and its control method. Background Technology

[0002] In existing electromagnetic weft insertion technologies, the shuttle is mostly made of non-magnetic metallic conductors. In an alternating magnetic field, the shuttle first generates an induced current, then a magnetic field. The shuttle then interacts with an external electromagnetic coil, achieving drive, braking, and levitation. However, this process involves complex calculations and control. The strength of the magnetic field generated by the shuttle cannot be directly obtained; it requires calculations involving two conversions: magnetization to electricity and electricity to magnetization. First, the induced current generated by the shuttle in the alternating magnetic field is calculated, involving changes in the magnetic field and the shuttle's speed. Then, the induced magnetic field is calculated from the induced current to obtain the strength of the magnetic field. This calculation process is complex and lacks precision, making the shuttle speed uncontrollable. Furthermore, the shuttle is still driven on a track. While this solves the problems of high impact and noise associated with traditional torsion shaft projection, friction still exists during drive, limiting the applicability of shuttle weft insertion.

[0003] Currently, in the field of wide-width projector looms, the common solution to achieve wider widths is to increase the launch speed of the projector shuttle. The higher the speed, the farther the projector shuttle travels in a short time. For traditional torsion beam projector projector looms, the impact resistance of the projector shuttle is limited by the strength of the shuttle material, resulting in a certain upper limit on the speed and making it difficult to further increase the width. For the newly emerging electromagnetic shuttle launching technology, higher speeds mean a greater current is required, and the coil's carrying capacity also has an upper limit, limiting the current that can be passed through. The shuttle launching speed cannot be further increased, thus limiting the width. At the same time, passing through a larger current also generates more heat. In addition, for weft yarns, higher speeds also make weft breakage more likely. Therefore, higher launch speeds also limit the strength of the weft yarns, allowing only the introduction of stronger weft yarns. For the introduction of weft yarns for heavy-duty fabrics, the large weight of the fabric causes the projector shuttle speed to drop rapidly, greatly limiting the application of projector looms in the introduction of weft yarns for heavy-duty wide-width fabrics. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects and problems of existing technologies that cannot be applied to weft insertion of heavy-duty wide-width fabrics and have narrow weft adaptability, and to provide a rapier loom and its control method that are suitable for weft insertion of heavy-duty wide-width fabrics and have wide weft adaptability.

[0005] To achieve the above objectives, the technical solution of the present invention is: a shuttle loom for weft insertion of heavy-duty wide-width fabrics, comprising a shuttle, a weft insertion track, and a three-axis moving suction cup. The weft insertion track includes a permanent magnet array track and an electromagnetic coil array track. The permanent magnet array track is arranged on both sides of the electromagnetic coil array track. The three-axis moving suction cup is arranged at both ends of the weft insertion track. A synchronous belt is arranged between the three-axis moving suction cups. The three-axis moving suction cup is used to pick up the shuttle and move it back and forth above the weft insertion track and on the synchronous belt. The shuttle comprises a shuttle body, a superconductor, a permanent magnet array, and a weft clamp. The permanent magnet array, which interacts with the electromagnetic coil array track to realize the weft insertion movement of the shuttle, is installed in the middle of the lower end face of the shuttle body. The weft clamp, which is used to hold the weft thread, is installed inside the shuttle body. A first through cavity is opened on both sides of the shuttle body. A first groove, which communicates with the first through cavity, is opened on both sides of the shuttle body. The superconductor, which interacts with the permanent magnet array track to realize the levitation of the shuttle, is inserted in the first through cavity.

[0006] The coils on the electromagnetic coil array track are grouped in sets of three, with each group carrying a three-phase alternating current, and each coil carrying an alternating current with a phase difference of 120 degrees.

[0007] The shuttle body includes a shuttle body and a shuttle head. A second through cavity is formed in the middle of the shuttle body along its length. The weft clamp is installed in the second through cavity. A first through cavity is symmetrically arranged on both sides of the second through cavity. The shuttle head is inserted into one end of the second through cavity. The other end of the second through cavity is used for the weft thread to pass through and be clamped by the weft clamp.

[0008] The upper end face of the shuttle body is provided with a rivet hole that communicates with the second through cavity, and the shuttle body and the weft clamp are connected to each other through the rivet hole.

[0009] Both the upper and lower ends of the shuttle body are provided with circular holes that communicate with the second through cavity. The circular holes are used to insert the tapered rod that opens the weft clamp.

[0010] The permanent magnet array is installed in the middle of the lower end face of the shuttle body along the length direction of the shuttle body, and magnetic shielding blocks are installed on both sides of the lower end face of the shuttle body located on the permanent magnet array.

[0011] Multiple superconductors are installed along the length of the first through cavity. The superconductors in two first through cavities are arranged symmetrically. The superconductors have a cylindrical structure. A mounting through hole is opened on the top surface of the first through cavity, and a blind hole is opened on the bottom surface of the first through cavity. The mounting through hole includes a first mounting hole and a second mounting hole that are connected. The diameter of the first mounting hole is larger than the diameter of the second mounting hole. One end of the superconductor is installed in the blind hole, and the other end of the superconductor is installed in the first mounting hole.

[0012] The synchronization belt includes a first synchronization belt and a second synchronization belt. The first synchronization belt is arranged at a downward angle, and the second synchronization belt is arranged horizontally. Liquid nitrogen pools for cooling the superconductor through the first groove are provided on both sides of the second synchronization belt. The ends of the liquid nitrogen pools extend to both sides of the first synchronization belt. The three-axis moving chuck is also used to place the shuttle on the first synchronization belt and remove the shuttle from the second synchronization belt.

[0013] The lower end face of the shuttle body is provided with two grooves located on both sides of the permanent magnet array. The two grooves are arranged along the length of the shuttle body and are respectively matched with the side walls of the two liquid nitrogen pools.

[0014] A control method for a rapier loom used for weft insertion of heavy-duty wide-width fabrics, the control method comprising the following steps:

[0015] First, the shuttle is picked up by the three-axis chuck at the head end and moved to directly above the head end of the weft insertion track. At this time, under the action of the superconductors on both sides of the shuttle and the permanent magnet array track directly below, the shuttle is in a static and suspended state. Then, the electromagnetic coil array track is controlled to pass current to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array on the lower end face of the shuttle to provide driving force for the shuttle, pulling the shuttle forward. When the shuttle moves to directly above the end of the weft insertion track, the electromagnetic coil array track is passed current in the opposite direction to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array on the lower end face of the shuttle to provide braking force for the shuttle, which decelerates until it comes to a stop. Then, the shuttle is picked up by the three-axis chuck at the end and placed on the synchronous belt. The synchronous belt transports the shuttle to the three-axis chuck at the head end. During the transport process, liquid nitrogen is injected into the first through cavity through the first groove to cool the superconductor. Finally, the shuttle is moved to directly above the head end of the weft insertion track by the three-axis chuck at the head end for the next weft insertion.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. In this invention, a rapier loom for weft insertion of heavy-duty wide-width fabrics and its control method are disclosed. The weft insertion track includes a permanent magnet array track and an electromagnetic coil array track. The permanent magnet array track is arranged on both sides of the electromagnetic coil array track. Under the action of the superconductors on both sides of the rapier and the permanent magnet array track directly below, a larger and more stable levitation force can be provided to achieve stable levitation of the rapier, making it suitable for weft insertion of heavy-duty fabrics. Current is passed through the electromagnetic coil array track to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array on the lower end face of the rapier to provide driving force for the rapier, thus pulling it. The shuttle moves forward. When the shuttle reaches directly above the end of the weft insertion track, a current opposite to the previous current is applied to the electromagnetic coil array track, generating a traveling wave magnetic field. This traveling wave magnetic field interacts with the permanent magnet array on the lower end face of the shuttle, providing braking force. The shuttle decelerates until it comes to a stop. By changing the intensity of the traveling wave magnetic field, the electromagnetic force between the traveling wave magnetic field and the shuttle is altered, thus controlling the shuttle speed. Simultaneously, controlling the speed of the shuttle in its suspended state allows for wider weft insertion, broadening its applicability to weft yarns. Furthermore, by controlling the speed at any point, weft breakage is less likely to occur. Therefore, this invention not only enables weft insertion for heavy-duty wide-width fabrics but also improves the adaptability of weft yarns.

[0018] 2. In this invention, a shuttle loom for heavy-duty wide-width fabric weft insertion and its control method are described. The coils on the electromagnetic coil array track are grouped in sets of three, with each group receiving a three-phase alternating current, and each coil receiving an alternating current with a 120-degree phase difference. Each coil generates a corresponding magnetic field, and these magnetic fields superimpose to create a traveling wave magnetic field. Each time the shuttle moves forward by the distance of one magnetic pole, the direction of the traveling wave magnetic field changes. As the alternating current changes, the traveling wave magnetic field moves horizontally, meaning the magnetic poles on the track change, thereby continuously pulling the shuttle forward at an accelerated speed. Therefore, this invention is not only simple to operate but also allows for control of the shuttle speed.

[0019] 3. In the present invention, a rapier loom for inserting weft threads into heavy-duty wide-width fabrics and its control method, the shuttle body includes a shuttle body and a shuttle head. A second through-cavity is formed along the length of the shuttle body in its middle section. A weft clamp is installed in the second through-cavity. A first through-cavity is symmetrically arranged on both sides of the second through-cavity. The shuttle head is inserted into one end of the second through-cavity, and the other end of the second through-cavity is used for the weft thread to pass through and be clamped by the weft clamp. The shuttle body with the above structure is not only easy to install and disassemble, but also easy to use. A rivet hole communicating with the second through-cavity is formed on the upper end face of the shuttle body. The shuttle body and the weft clamp are connected to each other through the rivet hole. This design not only simplifies installation and disassembly but also improves connection reliability. Both the upper and lower ends of the shuttle body have circular holes communicating with the second through-cavity. These holes are used to insert a tapered rod to open the weft clamp; simply insert the tapered rod into the hole to open the weft clamp. The permanent magnet array is installed along the length of the shuttle body at the center of the lower end face. Magnetic isolation blocks are installed on both sides of the permanent magnet array on the lower end face of the shuttle body. These blocks reduce the mutual influence between magnetic fields, ensuring that the permanent magnet array is only affected by the electromagnetic coil array track directly below it, and not by the permanent magnet arrays on either side. Therefore, this invention is easy to install and disassemble, convenient to use, and highly reliable.

[0020] 4. In the present invention, a projectile loom for weft insertion of heavy-duty wide-width fabrics and its control method, multiple superconductors are installed along the length of the first through-cavity. The superconductors in two first through-cavities are symmetrically arranged to achieve stable levitation of the projectile shuttle. The top surface of the first through-cavity has a mounting through-hole, and the bottom surface has a blind hole. The mounting through-hole includes a first mounting hole and a second mounting hole that are connected. One end of the superconductor is installed in the blind hole, and the other end of the superconductor is installed in the first mounting hole. This design simplifies the installation and disassembly of the superconductors and ensures high installation reliability. Therefore, the present invention is simple to install and disassemble and has high reliability.

[0021] 5. In this invention, a projectile loom for weft insertion of heavy-duty wide-width fabrics and its control method, the synchronous belts include a first synchronous belt and a second synchronous belt. The first synchronous belt is arranged downwards at an angle, and the second synchronous belt is arranged horizontally. Liquid nitrogen pools are provided on both sides of the second synchronous belt, with the ends of the liquid nitrogen pools extending to both sides of the first synchronous belt. In use, a three-axis moving suction cup places the projectile shuttle on the first synchronous belt, which then moves the projectile shuttle to the second synchronous belt. During the movement of the projectile shuttle by the second synchronous belt, liquid nitrogen in the liquid nitrogen pools flows into the first through-cavity through the first groove. Afterward, the three-axis moving suction cup removes the projectile shuttle from the second synchronous belt. Second grooves are provided on the lower end face of the shuttle body, located on both sides of the permanent magnet array. The two second grooves respectively match the sidewalls of the two liquid nitrogen pools, ensuring not only stable operation of the projectile shuttle but also ensuring that liquid nitrogen in the liquid nitrogen pools flows into the first through-cavity through the first groove. Therefore, this invention has good cooling effect, high reliability, and simple operation. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of the present invention.

[0023] Figure 2 This is a schematic diagram of the latitude-guiding track in this invention.

[0024] Figure 3 This is a schematic diagram of the shuttle throwing state in this invention.

[0025] Figure 4 This is a schematic diagram of the shuttle-making state in this invention.

[0026] Figure 5 This is a three-dimensional structural diagram of the shuttle from one perspective in this invention.

[0027] Figure 6 This is a three-dimensional structural diagram of the shuttle from another perspective in this invention.

[0028] Figure 7 This is a schematic diagram of the internal structure of the shuttle in this invention.

[0029] Figure 8 This is a side view of the shuttle in this invention.

[0030] Figure 9 This is a schematic diagram of the synchronous belt structure in this invention.

[0031] Figure 10 This is a schematic diagram of the shuttle being transported from the first synchronous belt to the second synchronous belt in this invention.

[0032] Figure 11 This is a schematic diagram of the movement of the shuttle on the second synchronous belt in this invention.

[0033] In the diagram: 1. Shuttle 101, Shuttle body 102, Superconductor 103, Permanent magnet array 104, Weft clamp 104, No. 1 through cavity 105, No. 1 groove 106, Shuttle body 107, Shuttle head 108, No. 2 through cavity 109, Rivet hole 110, Round hole 111, Magnetic shielding block 112, No. 2 mounting hole 113, No. 2 groove 114, Weft insertion track 2, Permanent magnet array track 201, Electromagnetic coil array track 202, Three-axis moving chuck 3, Synchronous belt 4, No. 1 synchronous belt 401, No. 2 synchronous belt 402, Liquid nitrogen pool 403. Detailed Implementation

[0034] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] See Figures 1 to 11A projectile loom for weft insertion of heavy-duty wide-width fabrics includes a projectile shuttle 1, a weft insertion track 2, and a three-axis moving suction cup 3. The weft insertion track 2 includes a permanent magnet array track 201 and an electromagnetic coil array track 202. The permanent magnet array track 201 is disposed on both sides of the electromagnetic coil array track 202. The three-axis moving suction cup 3 is disposed at both ends of the weft insertion track 2, and a synchronous belt 4 is disposed between the three-axis moving suction cups 3. The three-axis moving suction cup 3 is used to pick up the projectile shuttle 1 and move it back and forth on the weft insertion track 2 and the synchronous belt 4. The projectile shuttle 1 includes a shuttle body 101, a superconductor 102, and a permanent magnet array track 201. The shuttle body 101 has a magnetic array 103 and a weft clamp 104. The permanent magnet array 103 is installed in the middle of the lower end face of the shuttle body 101. It interacts with the electromagnetic coil array track 202 to realize the weft insertion movement of the shuttle 1. The weft clamp 104 for clamping the weft is installed inside the shuttle body 101. A first through cavity 105 is opened on both sides of the shuttle body 101. A first groove 106 communicating with the first through cavity 105 is opened on both sides of the shuttle body 101. The superconductor 102 that interacts with the permanent magnet array track 201 to realize the levitation of the shuttle 1 is inserted in the first through cavity 105.

[0036] The coils on the electromagnetic coil array track 202 are grouped in groups of three, with each group carrying a three-phase alternating current, and each coil carrying an alternating current with a phase difference of 120 degrees.

[0037] The shuttle body 101 includes a shuttle body 107 and a shuttle head 108. The middle part of the shuttle body 107 has a second through cavity 109 along its length. The weft clamp 104 is installed in the second through cavity 109. The first through cavity 105 is symmetrically arranged on both sides of the second through cavity 109. The shuttle head 108 is inserted into one end of the second through cavity 109. The other end of the second through cavity 109 is used for the weft thread to pass through and be clamped by the weft clamp 104.

[0038] The upper end face of the shuttle body 107 is provided with a rivet hole 110 that communicates with the second through cavity 109. The shuttle body 107 and the weft clamp 104 are connected to each other through the rivet hole 110.

[0039] Both the upper and lower end faces of the shuttle body 107 are provided with circular holes 111 that communicate with the second through cavity 109. The circular holes 111 are used to insert the tapered rod that opens the weft clamp 104.

[0040] The permanent magnet array 103 is installed in the middle of the lower end face of the shuttle body 101 along the length direction of the shuttle body 101, and magnetic shielding blocks 112 are installed on both sides of the lower end face of the shuttle body 101 located on the permanent magnet array 103.

[0041] Multiple superconductors 102 are installed along the length of the first through cavity 105. The superconductors 102 in the two first through cavities 105 are arranged symmetrically. The superconductors 102 have a cylindrical structure. The top surface of the first through cavity 105 has a mounting through hole, and the bottom surface of the first through cavity 105 has a blind hole. The mounting through hole includes a first mounting hole and a second mounting hole 113 that are connected. The diameter of the first mounting hole is larger than the diameter of the second mounting hole 113. One end of the superconductor 102 is installed in the blind hole, and the other end of the superconductor 102 is installed in the first mounting hole.

[0042] The synchronous belt 4 includes a first synchronous belt 401 and a second synchronous belt 402. The first synchronous belt 401 is arranged at a downward angle, and the second synchronous belt 402 is arranged horizontally. Liquid nitrogen pools 403 for cooling the superconductor 102 through the first groove 106 are provided on both sides of the second synchronous belt 402. The ends of the liquid nitrogen pools 403 extend to both sides of the first synchronous belt 401. The three-axis moving suction cup 3 is also used to place the shuttle 1 on the first synchronous belt 401 and to remove the shuttle 1 from the second synchronous belt 402.

[0043] The lower end face of the shuttle body 101 is provided with two grooves 114 located on both sides of the permanent magnet array 103. The two grooves 114 are arranged along the length of the shuttle body 101 and are respectively matched with the sidewalls of the two liquid nitrogen pools 403.

[0044] A control method for a rapier loom used for weft insertion of heavy-duty wide-width fabrics, the control method comprising the following steps:

[0045] First, the shuttle 1 is picked up by the three-axis moving suction cup 3 at the head end and moved to directly above the head end of the weft insertion track 2. At this time, under the action of the superconductors 102 on both sides of the shuttle 1 and the permanent magnet array track 201 directly below it, the shuttle 1 is in a static and suspended state. Then, the electromagnetic coil array track 202 is controlled to pass current to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array 103 on the lower end face of the shuttle 1 to provide driving force for the shuttle 1, pulling the shuttle 1 forward. When the shuttle 1 moves to directly above the end of the weft insertion track 2, the electromagnetic coil array track 202 is connected to the current that was previously passed to the weft insertion track 2. The opposite current generates a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array 103 on the lower end face of the shuttle 1 to provide braking force to the shuttle 1. The shuttle 1 decelerates until it comes to a stop. Then, the shuttle 1 is picked up by the three-axis moving chuck 3 at the end and placed on the synchronous belt 4. The synchronous belt 4 transports the shuttle 1 to the three-axis moving chuck 3 at the beginning. During the transport process, liquid nitrogen is injected into the first through cavity 105 through the first groove 106 to cool the superconductor 102. Finally, the shuttle 1 is moved to the top of the weft insertion track 2 by the three-axis moving chuck 3 at the beginning for the next weft insertion.

[0046] The principle of this invention is explained as follows:

[0047] The shuttle designed in this invention allows the entire weft insertion process, including shuttle throwing, weft insertion, and shuttle control, to be completed during suspension, eliminating the friction between the shuttle and the track during shuttle throwing as in other solutions. Furthermore, the shuttle's driving and braking are achieved through a permanent magnet array set at the bottom of the shuttle. When the shuttle is in a traveling wave magnetic field, the interaction between the permanent magnet array and the traveling wave magnetic field provides the shuttle with a forward thrust, and can also act in the opposite direction to brake when weft insertion is about to be completed. The driving and braking processes of the shuttle do not require complex control, and the electromagnetic force on the shuttle does not need to undergo complex conversion calculations. It is only necessary to calculate the magnitude of the magnetic field strength generated by the electromagnetic coil based on the current, and then calculate the electromagnetic force between the electromagnetic coil and the permanent magnet on the shuttle.

[0048] The unique pinning effect of superconductors allows them to lock magnetic flux lines within themselves when cooled in a magnetic field. This characteristic ensures stable vertical and lateral levitation of the superconductor on a permanent magnet array track. After being placed in a magnetic field and cooled with liquid nitrogen, the superconductor enters the superconducting state. Due to the numerous pinning centers within the superconductor, the internal magnetic field differs slightly from that before cooling, but the external magnetic field remains largely unaffected. In other words, as long as there is no relative motion between the superconductor and the permanent magnet, the superconductor will not be affected by magnetic forces. If the superconductor is released, it will move towards the permanent magnet under the influence of gravity. At this point, the interaction between the superconductor and the permanent magnet exhibits a repulsive force, preventing it from moving towards the permanent magnet, until the repulsive force and gravity equalize, reaching an equilibrium position and achieving vertical levitation. When the shuttle motion deviates laterally, the magnetic field of the superconductor below also deviates. Due to the magnetic flux pinning property of the superconductor, the magnetic flux lines are bound inside the superconductor, hindering the change of the magnetic flux lines. Macroscopically, this becomes a constraint force opposite to the direction of the superconductor's deflection, which hinders the lateral deflection of the superconductor, thereby achieving the stable levitation of the superconductor.

[0049] Example 1:

[0050] See Figures 1 to 8 A projectile loom for weft insertion of heavy-duty wide-width fabrics includes a projectile shuttle 1, a weft insertion track 2, and a three-axis moving suction cup 3. The weft insertion track 2 includes a permanent magnet array track 201 and an electromagnetic coil array track 202 (the weft insertion track area covers the entire width of the fabric). The permanent magnet array track 201 is arranged on both sides of the electromagnetic coil array track 202. The three-axis moving suction cup 3 is arranged at both ends of the weft insertion track 2, and a synchronous belt 4 is arranged between the three-axis moving suction cups 3. The three-axis moving suction cup 3 is used to pick up the projectile shuttle 1 and move it back and forth on the weft insertion track 2 and the synchronous belt 4. The projectile shuttle 1 includes a shuttle body 101 and a super... The device comprises a conductor 102, a permanent magnet array 103, and a weft clamp 104. The permanent magnet array 103, which interacts with the electromagnetic coil array track 202 to achieve the weft insertion movement of the shuttle 1, is installed in the middle of the lower end face of the shuttle body 101. The weft clamp 104 for holding the weft thread is installed inside the shuttle body 101. A first through cavity 105 is opened on both sides of the shuttle body 101. A first groove 106 communicating with the first through cavity 105 is opened on both sides of the shuttle body 101. The superconductor 102, which interacts with the permanent magnet array track 201 to achieve the levitation of the shuttle 1, is inserted in the first through cavity 105.

[0051] According to the above scheme, a control method for a rapier loom used for weft insertion of heavy-duty wide-width fabrics includes the following steps: First, the rapier 1 is picked up by the three-axis moving suction cup 3 at the beginning end and moved to directly above the beginning end of the weft insertion track 2. At this time, under the action of the superconductors 102 on both sides of the rapier 1 and the permanent magnet array track 201 directly below it, the rapier 1 is in a static and suspended state. Then, current is passed through the electromagnetic coil array track 202 to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array 103 on the lower end face of the rapier 1 to provide driving force for the rapier 1, pulling the rapier 1 forward. When the rapier 1 moves to the end of the weft insertion track 2, the rapier 1 continues to move forward. When directly above, the electromagnetic coil array track 202 is supplied with a current opposite to that before, generating a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array 103 on the lower end face of the shuttle 1, providing braking force to the shuttle 1. The shuttle 1 decelerates until it comes to a stop, and then the shuttle 1 is picked up by the three-axis moving chuck 3 at the end and placed on the synchronous belt 4. The synchronous belt 4 transports the shuttle 1 to the three-axis moving chuck 3 at the beginning. During the transport process, liquid nitrogen is injected into the first through cavity 105 through the first groove 106 to cool the superconductor 102. Finally, the shuttle 1 is moved to directly above the beginning of the weft insertion track 2 by the three-axis moving chuck 3 at the beginning for the next weft insertion.

[0052] Example 2:

[0053] The basic content is the same as in Example 1, except that:

[0054] The coils on the electromagnetic coil array track 202 are grouped in groups of three, with each group carrying a three-phase alternating current, and each coil carrying an alternating current with a phase difference of 120 degrees.

[0055] Each coil generates a corresponding magnetic field, and the superposition of these magnetic fields produces a traveling wave magnetic field. This traveling wave magnetic field interacts with the permanent magnet array on the shuttle, providing the driving force for the shuttle's motion. The direction of the traveling wave magnetic field is controlled by feedback from the shuttle's position to the current phase. Each time the shuttle moves forward a distance equal to the distance of one magnetic pole, the direction of the traveling wave magnetic field needs to be changed. As the alternating current changes, the traveling wave magnetic field moves horizontally, meaning the magnetic poles on the track change, thus continuously pulling the shuttle forward at an accelerated speed. Controlling the magnitude of the coil current changes the strength of the traveling wave magnetic field, thereby altering the electromagnetic force between the magnetic field and the shuttle, and thus controlling the shuttle's speed.

[0056] Example 3:

[0057] The basic content is the same as in Example 1, except that:

[0058] See Figures 5 to 8The shuttle body 101 includes a shuttle body 107 and a shuttle head 108. A second through-cavity 109 is formed along the length of the shuttle body 107. The weft clamp 104 is installed inside the second through-cavity 109. A first through-cavity 105 is symmetrically arranged on both sides of the second through-cavity 109. The shuttle head 108 is inserted into one end of the second through-cavity 109, and the other end of the second through-cavity 109 is used for the weft thread to pass through and be clamped by the weft clamp 104. The upper end face of the shuttle body 107 has a portion that connects to the second through-cavity 108. The shuttle body 107 and the weft clamp 104 are interconnected through the rivet holes 110. The upper and lower end faces of the shuttle body 107 are provided with circular holes 111 that communicate with the second through cavity 109. The circular holes 111 are used to insert the tapered rod that opens the weft clamp 104. The permanent magnet array 103 is installed in the middle of the lower end face of the shuttle body 101 along the length direction of the shuttle body 101. Magnetic shielding blocks 112 are installed on both sides of the permanent magnet array 103 on the lower end face of the shuttle body 101.

[0059] Example 4:

[0060] The basic content is the same as in Example 1, except that:

[0061] See Figure 5 , Figure 7 , Figure 8 Multiple superconductors 102 are installed along the length of the first through cavity 105. The superconductors 102 in the two first through cavities 105 are arranged symmetrically. The superconductors 102 have a cylindrical structure. The top surface of the first through cavity 105 is provided with a mounting through hole, and the bottom surface of the first through cavity 105 is provided with a blind hole. The mounting through hole includes a first mounting hole and a second mounting hole 113 that are connected. The diameter of the first mounting hole is larger than the diameter of the second mounting hole 113. One end of the superconductor 102 is installed in the blind hole, and the other end of the superconductor 102 is installed in the first mounting hole.

[0062] Example 5:

[0063] The basic content is the same as in Example 1, except that:

[0064] See Figure 1 , Figure 9 , Figure 10 , Figure 11The synchronous belt 4 includes a first synchronous belt 401 and a second synchronous belt 402. The first synchronous belt 401 is arranged at a downward angle, and the second synchronous belt 402 is arranged horizontally. Liquid nitrogen pools 403 for cooling the superconductor 102 through the first groove 106 are provided on both sides of the second synchronous belt 402. The ends of the liquid nitrogen pools 403 extend to both sides of the first synchronous belt 401. The three-axis moving suction cup 3 is also used to place the shuttle 1 on the first synchronous belt 401 and to remove the shuttle 1 from the second synchronous belt 402. The shuttle body 101 has a second groove 114 on the lower end surface located on both sides of the permanent magnet array 103. The two second grooves 114 are arranged along the length direction of the shuttle body 101 and are respectively matched with the sidewalls of the two liquid nitrogen pools 403.

[0065] The shuttle is transported to the weft insertion starting point via a synchronous belt. During transport, the shuttle passes through a liquid nitrogen zone, where it is cooled simultaneously. Two sets of synchronous belts are used: one set is horizontally installed, and the other is inclined. Liquid nitrogen pools are located on both sides of the horizontal synchronous belt. When the shuttle reaches the junction of the two sets of synchronous belts, it is positioned directly above the liquid nitrogen pools. As the shuttle moves onto the horizontal conveyor belt, the first through-cavities on both sides and the superconductor enter the liquid nitrogen pools, where they are cooled as they move forward, ensuring the superconducting properties of the superconductor.

[0066] The synchronous belt adopts the above structure, which is equivalent to the shuttle entering the liquid nitrogen pool from above. This method can achieve the simultaneous transport and immersion of the superconductor in liquid nitrogen. Since the liquid nitrogen pool is higher than the superconductor, when the shuttle reaches the end of the liquid nitrogen pool, the liquid nitrogen pool can also limit the shuttle. The shuttle stops at a fixed position and waits for the three-axis moving chuck to pick up the shuttle and transfer it to the permanent magnet array track for the next weft insertion.

Claims

1. A projectile weaving machine for the insertion of heavy wide fabrics, characterized in that, The device includes a shuttle (1), a weft insertion track (2), and a three-axis moving suction cup (3). The weft insertion track (2) includes a permanent magnet array track (201) and an electromagnetic coil array track (202). The permanent magnet array track (201) is located on both sides of the electromagnetic coil array track (202). The three-axis moving suction cup (3) is located at both ends of the weft insertion track (2). A synchronous belt (4) is located between the three-axis moving suction cups (3). The three-axis moving suction cup (3) is used to pick up the shuttle (1) and move it back and forth above the weft insertion track (2) and on the synchronous belt (4). The shuttle (1) includes a shuttle body (101), a superconductor (102), and a permanent magnet array (103). The shuttle body (101) is equipped with a weft clamp (104) and a permanent magnet array (103) that interacts with the electromagnetic coil array track (202) to achieve the weft insertion movement of the shuttle (1). The shuttle body (101) is equipped with a weft clamp (104) for clamping the weft thread inside. The shuttle body (101) has a first through cavity (105) on both sides. The shuttle body (101) has a first groove (106) on both sides that communicates with the first through cavity (105). The first through cavity (105) is filled with a superconductor (102) that interacts with the permanent magnet array track (201) to achieve the levitation of the shuttle (1). The coils on the electromagnetic coil array track (202) are grouped in groups of three, each group is supplied with three-phase alternating current, and each coil is supplied with alternating current with a phase difference of 120 degrees. The permanent magnet array (103) is installed in the middle of the lower end face of the shuttle body (101) along the length direction of the shuttle body (101), and magnetic shielding blocks (112) are installed on both sides of the permanent magnet array (103) on the lower end face of the shuttle body (101). Multiple superconductors (102) are installed along the length of the first through cavity (105). The superconductors (102) in the two first through cavities (105) are arranged symmetrically. The superconductors (102) are cylindrical. The top surface of the first through cavity (105) is provided with a mounting through hole, and the bottom surface of the first through cavity (105) is provided with a blind hole. The mounting through hole includes a first mounting hole and a second mounting hole (113) that are connected. The diameter of the first mounting hole is larger than the diameter of the second mounting hole (113). One end of the superconductor (102) is installed in the blind hole, and the other end of the superconductor (102) is installed in the first mounting hole. The synchronization belt (4) includes a first synchronization belt (401) and a second synchronization belt (402). The first synchronization belt (401) is arranged at a downward angle, and the second synchronization belt (402) is arranged horizontally. Liquid nitrogen pools (403) for cooling the superconductor (102) through the first groove (106) are provided on both sides of the second synchronization belt (402). The ends of the liquid nitrogen pools (403) extend to both sides of the first synchronization belt (401). The three-axis moving suction cup (3) is also used to place the shuttle (1) on the first synchronization belt (401) and to remove the shuttle (1) from the second synchronization belt (402).

2. A projectile weaving machine for the insertion of heavy and wide fabrics according to claim 1, characterized in that: The shuttle body (101) includes a shuttle body (107) and a shuttle head (108). A second through cavity (109) is provided in the middle of the shuttle body (107) along its length. The weft clamp (104) is installed in the second through cavity (109). A first through cavity (105) is symmetrically arranged on both sides of the second through cavity (109). The shuttle head (108) is inserted into one end of the second through cavity (109). The other end of the second through cavity (109) is used for the weft thread to pass through and be clamped by the weft clamp (104).

3. A projectile weaving machine for the insertion of heavy and wide fabrics according to claim 2, characterized in that: The upper end face of the shuttle body (107) is provided with a rivet hole (110) that communicates with the second through cavity (109). The shuttle body (107) and the weft clamp (104) are connected to each other through the rivet hole (110).

4. A sheet shuttle loom for heavy duty wide fabric weft insertion according to claim 2, characterized in that: The upper and lower end faces of the shuttle body (107) are provided with circular holes (111) that communicate with the second through cavity (109). The circular holes (111) are used to insert the conical rod that opens the weft clamp (104).

5. A sheet shuttle loom for heavy duty wide fabric weft insertion according to claim 1, characterized in that: The shuttle body (101) has two grooves (114) on the lower end surface located on both sides of the permanent magnet array (103). The two grooves (114) are arranged along the length of the shuttle body (101) and are respectively matched with the sidewalls of the two liquid nitrogen pools (403).

6. A control method for a rapier loom for weft insertion of heavy-duty wide-width fabrics as described in claim 1, characterized in that, The control method includes the following steps: First, the shuttle (1) is picked up by the three-axis moving suction cup (3) at the head end, and the shuttle (1) is moved to the top of the weft insertion track (2). At this time, under the action of the superconductors (102) on both sides of the shuttle (1) and the permanent magnet array track (201) directly below it, the shuttle (1) is in a static and suspended state. Then, the electromagnetic coil array track (202) is controlled to pass current to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array (103) on the lower end face of the shuttle (1) to provide driving force for the shuttle (1) and pull the shuttle (1) forward. When the shuttle (1) moves to the top of the end of the weft insertion track (2), the electromagnetic coil array track (202) is connected to the current that was previously connected to the current. The reverse current generates a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array (103) on the lower end face of the shuttle (1) to provide braking force to the shuttle (1). The shuttle (1) decelerates until it stops. Then, the shuttle (1) is picked up by the three-axis moving chuck (3) at the end and placed on the synchronous belt (4). The synchronous belt (4) transports the shuttle (1) to the three-axis moving chuck (3) at the beginning. During the transport process, liquid nitrogen is injected into the first through cavity (105) through the first groove (106) to cool the superconductor (102). Finally, the shuttle (1) is moved to the top of the weft insertion track (2) by the three-axis moving chuck (3) at the beginning for the next weft insertion.

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