Electromagnetic picking and making device of a projectile loom and control method thereof

Abstract

An electromagnetic shuttle insertion device for a rapier loom includes a rapier shuttle, a first permanent magnet array track, a first electromagnetic coil array track, and a three-axis moving suction cup. The first electromagnetic coil array track is arranged on both sides of the first permanent magnet array track. The coils on the first 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. The rapier shuttle includes a shuttle body and a Dewar container. The two sides of the shuttle body are symmetrically equipped with permanent magnet arrays that interact with the first electromagnetic coil array track to achieve shuttle insertion. A weft clamp is installed inside the shuttle body. The Dewar container is filled with liquid nitrogen, and a superconductor that interacts with the first permanent magnet array track to levitate the rapier shuttle is inserted at the bottom of the Dewar container. The Dewar container has through holes for injecting liquid nitrogen and venting liquid nitrogen vapors. This design not only achieves controllable weft insertion speed for the rapier shuttle but also improves the applicability of rapier shuttle weft insertion.

Description

Technical Field

[0001] This invention relates to the field of textile equipment technology, and in particular to an electromagnetic shuttle feeding and shutting device and its control method for a rapier loom. 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. Summary of the Invention

[0003] The purpose of this invention is to overcome the defects and problems of uncontrollable weft insertion speed and narrow applicability of the existing technology, and to provide an electromagnetic shuttle feeding and shuttle controlling device and its control method for a rapier loom with controllable weft insertion speed and wide applicability.

[0004] To achieve the above objectives, the technical solution of the present invention is: an electromagnetic shuttle-throwing device for a rapier loom, comprising a rapier shuttle, a first permanent magnet array track, a first electromagnetic coil array track, and a three-axis movable suction cup. The first electromagnetic coil array track is arranged on both sides of the first permanent magnet array track. The coils on the first 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 phase difference of 120 degrees. The three-axis movable suction cup is used to pick up the rapier shuttle and place it directly above the first permanent magnet array track. The device includes a shuttle body and a Dewar container. Symmetrical permanent magnet arrays are mounted on both sides of the shuttle body, interacting with the track of the first electromagnetic coil array to achieve the projection of the shuttle. A weft clamp for holding the weft thread is installed inside the shuttle body. The bottom of the shuttle body is connected to the top of the Dewar container, which is filled with liquid nitrogen. A superconductor that interacts with the track of the first permanent magnet array to levitate the shuttle is inserted into the bottom of the Dewar container. The superconductor is in contact with the liquid nitrogen. The Dewar container has through holes for injecting liquid nitrogen and venting the vaporized liquid nitrogen.

[0005] The shuttle body includes a shuttle body and a shuttle head. The shuttle body includes an upper shuttle body and a lower shuttle body arranged symmetrically. A first through groove is formed in the middle of the lower end face of the upper shuttle body along its length direction. A second through groove is formed in the middle of the upper end face of the lower shuttle body along its length direction. The second through groove and the first through groove form a through cavity. The weft clamp is installed in the through cavity. The gap between the two sides of the upper shuttle body and the two sides of the lower shuttle body forms a first mounting groove. The permanent magnet array is installed in the first mounting groove. The shuttle head is inserted into one end of the through cavity. The other end of the through cavity is used for the weft thread to pass through and be clamped by the weft clamp.

[0006] An upper mounting groove is formed on the lower end face of the upper shuttle body on both sides of the first through groove, and a lower mounting groove is formed on the upper end face of the lower shuttle body on both sides of the second through groove. The lower mounting groove and the upper mounting groove together form the second mounting groove, and a magnetic shielding block is installed in the second mounting groove.

[0007] The upper end face of the upper shuttle body and the lower end face of the lower shuttle body are both provided with rivet holes, and the upper shuttle body, the lower shuttle body, and the weft clamp are connected to each other through the rivet holes; the upper end face of the upper shuttle body and the lower end face of the lower shuttle body are both provided with round holes, and the round holes are used to insert the tapered rod that opens the weft clamp.

[0008] The Dewar container includes a Dewar top cover and a Dewar container body. The lower end face of the Dewar top cover has a blind hole, and the lower end face of the Dewar container body has a mounting through hole. The mounting through hole includes a first mounting hole and a second mounting hole that are connected to each other. The diameter of the first mounting hole is larger than the diameter of the second mounting hole. The superconductor has a cylindrical structure. 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. The through hole is provided on the side wall of the Dewar container body.

[0009] The electromagnetic shuttle device also includes a timing belt, which includes a first timing belt and a second timing belt. The first timing belt is located above and to the side of the second timing belt. A connecting plate is provided between the first timing belt and the second timing belt. A first liquid nitrogen pool matching the Dewar container is provided in the middle of the second timing belt. The three-axis moving suction cup is also used to pick up the shuttle and place it on the first timing belt and to remove the shuttle from the second timing belt.

[0010] The electromagnetic shuttle device also includes a cooling device, which comprises multiple No. 1 columns, multiple No. 2 columns, and a No. 2 liquid nitrogen pool matched with the superconductor. The multiple No. 1 columns are symmetrically distributed on both sides of the No. 2 liquid nitrogen pool, and the multiple No. 2 columns are symmetrically distributed on both sides of the No. 2 liquid nitrogen pool. The No. 2 columns are located between two adjacent No. 1 columns. The No. 2 columns are slidably connected to the support columns. Multiple triangular blocks for carrying the shuttle are hinged from top to bottom on the No. 1 columns and the No. 2 columns. The three-axis moving suction cup is also used to pick up the shuttle and move it back and forth on the No. 1 permanent magnet array track and the triangular blocks.

[0011] A control method for an electromagnetic shuttle insertion device of a rapier loom, the control method comprising the following steps: first, a rapier is picked up by a three-axis moving chuck, and then the rapier is moved directly above the first permanent magnet array track. At this time, the rapier is in a static suspended state under the action of the superconductor and the first permanent magnet array track. Then, current is passed through the first electromagnetic coil array track to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet arrays on both sides of the rapier to provide driving force for the rapier, pulling the rapier forward to accelerate. After the weft insertion movement is completed, liquid nitrogen is injected into the Dewar container through the through hole to cool the superconductor.

[0012] An electromagnetic shuttle-controlling device for a rapier loom includes a rapier, a second permanent magnet array track, a second electromagnetic coil array track, and a three-axis movable chuck. The second electromagnetic coil array track is arranged on both sides of the second permanent magnet array track. The coils on the second 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. The three-axis movable chuck is used to remove the rapier from directly above the second permanent magnet array track. The rapier includes a shuttle body and a Dewar container. The shuttle body is symmetrically equipped with permanent magnet arrays on both sides, which interact with the second electromagnetic coil array track to achieve shuttle braking. The shuttle body is equipped with a weft clamp for holding the weft thread. The bottom of the shuttle body is connected to the top of the Dewar container, which is filled with liquid nitrogen. A superconductor that interacts with the second permanent magnet array track to achieve shuttle levitation is inserted into the bottom of the Dewar container. The superconductor is in contact with the liquid nitrogen. The Dewar container has through holes for injecting liquid nitrogen and discharging liquid nitrogen vapor.

[0013] A control method for an electromagnetic shuttle-controlling device of a projectile loom, the control method comprising the following steps: when the projectile shuttle moves to directly above the second permanent magnet array track, the projectile shuttle is suspended under the action of the superconductor and the second permanent magnet array track. At the same time, current is passed through the second electromagnetic coil array track to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet arrays on both sides of the projectile shuttle to provide braking force to the projectile shuttle, which decelerates until it comes to a stop. Then, the projectile shuttle is removed from directly above the second permanent magnet array track by a three-axis moving chuck, and liquid nitrogen is injected into the Dewar container through a through hole to cool the superconductor.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. In the electromagnetic shuttle feeding and stopping device and control method for a rapier loom of the present invention, the rapier is moved directly above the first permanent magnet array track. At this time, under the action of the superconductor and the first permanent magnet array track, the rapier is in a static suspended state. Then, current is passed through the first electromagnetic coil array track to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet arrays on both sides of the rapier to provide driving force for the rapier, pulling the rapier forward and accelerating. When the rapier moves to directly above the second permanent magnet array track, the rapier is in a suspended state under the action of the superconductor and the second permanent magnet array track. At the same time, the second electromagnetic... A traveling wave magnetic field is generated by passing current through the coil array track. This traveling wave magnetic field interacts with the permanent magnet arrays on both sides of the shuttle, providing braking force to the shuttle, causing it to decelerate until it comes to a stop. Stable levitation of the shuttle is achieved through the interaction of the superconductor and the permanent magnet array track, ensuring that the shuttle remains suspended throughout the shuttle insertion and weft insertion processes. By changing the strength of the traveling wave magnetic field, the electromagnetic force between the traveling wave magnetic field and the shuttle is altered, allowing for control of the shuttle speed and enabling weft insertion at arbitrary speeds. Furthermore, controlling the speed of the shuttle in its suspended state allows for weft insertion of different fabrics, expanding the applicability of shuttle weft insertion. Therefore, this invention not only achieves controllable weft insertion speed for the shuttle but also improves its applicability.

[0016] 2. In the electromagnetic shuttle feeding and stopping device and its control method for a rapier loom of the present invention, the coils on the first and second electromagnetic coil array tracks 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. Each coil generates a corresponding magnetic field, and the magnetic fields superimpose to generate a traveling wave magnetic field. Whenever the rapier moves forward a 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, that is, the magnetic poles on the track change, thereby continuously pulling the rapier to accelerate forward or controlling the rapier to decelerate and stop. Therefore, the present invention is not only simple to operate, but also can realize the control of the rapier speed.

[0017] 3. In the electromagnetic shuttle feeding and holding device and its control method for a rapier loom of the present invention, the shuttle body includes an upper shuttle body and a lower shuttle body arranged symmetrically, which reduces the manufacturing difficulty of the rapier shuttle; a through cavity is opened in the middle of the shuttle body along its length, and a weft clamp is installed in the through cavity; the gap between the two sides of the upper shuttle body and the two sides of the lower shuttle body forms a first mounting groove, and a permanent magnet array is installed in the first mounting groove; the shuttle head is inserted into one end of the through cavity, and the other end of the through cavity is used for the weft thread to be clamped by the weft clamp after passing through; the shuttle body with the above structure is not only easy to install and disassemble, but also easy to use; an upper mounting groove is opened on the lower end face of the upper shuttle body at the part on both sides of the first through groove, and the lower shuttle... The upper surface of the shuttle body has lower mounting slots on both sides of the second through slot. These lower and upper mounting slots together form the second mounting slot. Magnetic shielding blocks are installed within the second mounting slot to reduce the mutual influence between magnetic fields, ensuring the permanent magnet array is only affected by the traveling wave magnetic field on one side, thus reducing the influence of the traveling wave magnetic field on the other side. Rivet holes are provided on the upper and lower surfaces of both the upper and lower shuttle bodies. The upper and lower shuttle bodies and the weft clamp are connected through these rivet holes, simplifying installation and disassembly and improving connection reliability. Circular holes are also provided on the upper and lower surfaces of both the upper and lower shuttle bodies. During use, inserting a conical rod into the circular hole opens the weft clamp. Therefore, this invention is easy to install and disassemble, convenient to use, easy to manufacture, and highly reliable.

[0018] 4. In the electromagnetic shuttle feeding and controlling device and its control method for a projectile loom of the present invention, a blind hole is provided on the lower end face of the Dewar cover, and a mounting through hole is provided on the lower end face of the Dewar container body. 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. The above design makes the installation and disassembly of the superconductor simple and has high installation reliability. A through hole is provided on the side wall of the Dewar container body to provide liquid nitrogen to the inside of the Dewar container, ensuring that the superconductor remains in a superconducting state in liquid nitrogen. Therefore, the present invention is simple to install and disassemble, has high installation reliability, and is convenient to use.

[0019] 5. In the electromagnetic shuttle feeding and stopping device and its control method for a projectile loom of the present invention, a first synchronous belt is located above and to the side of a second synchronous belt, and a connecting plate is provided between the first and second synchronous belts. A first liquid nitrogen pool matching a Dewar container is provided in the middle of the second synchronous belt. In use, a three-axis moving suction cup places the projectile shuttle on the first synchronous belt, and the first synchronous belt moves the projectile shuttle to the second synchronous belt. During the movement of the projectile shuttle by the second synchronous belt, the Dewar container is immersed in the first liquid nitrogen pool to replenish liquid nitrogen. Afterwards, the three-axis moving suction cup removes the projectile shuttle from the second synchronous belt. Therefore, the present invention has good cooling effect and is easy to operate.

[0020] 6. In the electromagnetic shuttle feeding and holding device and its control method for a projectile loom of the present invention, multiple No. 1 columns are symmetrically distributed on both sides of a No. 2 liquid nitrogen pool, and multiple No. 2 columns are symmetrically distributed on both sides of a No. 2 liquid nitrogen pool, with the No. 2 columns located between two adjacent No. 1 columns. The No. 2 columns are slidably connected to the support columns. Multiple triangular blocks for supporting the projectile shuttle are hinged from top to bottom on the No. 1 and No. 2 columns. In use, the projectile shuttle is first placed on the triangular blocks of the No. 2 columns by a three-axis moving suction cup. The No. 2 columns drive the projectile shuttle downward to immerse the Dewar container in the No. 2 liquid nitrogen pool to replenish liquid nitrogen. Then, the No. 2 columns drive the projectile shuttle upward so that the projectile shuttle is supported by the triangular blocks on the No. 1 columns. Finally, the projectile shuttle is removed from the triangular blocks by a three-axis moving suction cup. Therefore, the present invention has good cooling effect and is easy to operate. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the electromagnetic shuttle device in this invention.

[0022] Figure 2 This is a schematic diagram of the electromagnetic shuttle device in this invention.

[0023] Figure 3 This is a three-dimensional structural diagram of the shuttle from one perspective in this invention.

[0024] Figure 4 This is a three-dimensional structural diagram of the shuttle from another perspective in this invention.

[0025] Figure 5 This is a schematic diagram of the internal structure of the shuttle in this invention.

[0026] Figure 6 This is a schematic diagram of the shuttle body structure in this invention.

[0027] Figure 7 This is a schematic diagram of the upper and lower shuttle bodies in this invention.

[0028] Figure 8 This is a schematic diagram of the Dewar container in this invention.

[0029] Figure 9 This is a cross-sectional view of the Dewar container in this invention.

[0030] Figure 10 This is a schematic diagram of the structure of the rapier loom in Embodiment 4 of the present invention.

[0031] Figure 11 yes Figure 10 A schematic diagram of the structure of the synchronous belt.

[0032] Figure 12 yes Figure 10 Schematic diagram of the structure of permanent magnet array track No. 1, permanent magnet array track No. 2, and permanent magnet array track No. 3.

[0033] Figure 13 This is a schematic diagram of the structure of the rapier loom in Embodiment 5 of the present invention.

[0034] Figure 14 yes Figure 13 A schematic diagram of the intermediate cooling device.

[0035] Figure 15 yes Figure 14 A three-dimensional structural diagram of the intermediate cooling device from one perspective.

[0036] Figure 16 yes Figure 14 A three-dimensional structural diagram of the intermediate cooling device from another perspective.

[0037] Figure 17 yes Figure 16 Schematic diagram of the installation structure of the central triangular block.

[0038] In the diagram: 1. Shuttle 101, Shuttle Body 101, Dewar Container 102, Permanent Magnet Array 103, Weft Gripper 104, Superconductor 105, Through Hole 106, Shuttle Body 107, Shuttle Head 108, Through-Cavity 109, Mounting Slot 110, Upper Shuttle Body 111, Lower Shuttle Body 112, Through-Slot 113, Through-Slot 2 114, Upper Mounting Slot 115, Lower Mounting Slot 116, Mounting Slot 2 117, Magnetic Block 118, Rivet Hole 119, Round Hole 120, Dewar Top Cover 121, Dewar Container Body 122, Mounting Hole 2 123, Electromagnetic Shuttle Device 2, No. 1 permanent magnet array track 201, No. 1 electromagnetic coil array track 202, magnetic levitation weft insertion device 3, No. 3 permanent magnet array track 301, electromagnetic shuttle device 4, No. 2 permanent magnet array track 401, No. 2 electromagnetic coil array track 402, three-axis moving suction cup 5, synchronous belt 6, No. 1 synchronous belt 601, No. 2 synchronous belt 602, connecting plate 603, No. 1 liquid nitrogen pool 604, cooling device 7, No. 1 column 701, No. 2 column 702, No. 2 liquid nitrogen pool 703, support column 704, triangular block 705, weft line 8, warp line 9. Detailed Implementation

[0039] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0040] See Figures 1 to 17An electromagnetic shuttle-throwing device for a rapier loom includes a rapier shuttle 1, a first permanent magnet array track 201, a first electromagnetic coil array track 202, and a three-axis movable suction cup 5. The first electromagnetic coil array track 202 is arranged on both sides of the first permanent magnet array track 201. The coils on the first electromagnetic coil array track 202 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. The three-axis movable suction cup 5 is used to pick up the rapier shuttle 1 and place it directly above the first permanent magnet array track 201. The rapier shuttle 1 includes a shuttle body 101 and a Dewar container 102. The shuttle body 101... A permanent magnet array 103 is symmetrically installed on both sides, interacting with the first electromagnetic coil array track 202 to realize the projection of the shuttle 1. A weft clamp 104 for holding the weft thread 8 is installed inside the shuttle body 101. The bottom of the shuttle body 101 is connected to the top of the Dewar container 102. The Dewar container 102 is filled with liquid nitrogen. A superconductor 105 that interacts with the first permanent magnet array track 201 to realize the suspension of the shuttle 1 is inserted into the bottom of the Dewar container 102. The superconductor 105 is in contact with the liquid nitrogen. The Dewar container 102 has a through hole 106 for injecting liquid nitrogen and discharging liquid nitrogen volatilized gas.

[0041] The shuttle body 101 includes a shuttle body 107 and a shuttle head 108. The shuttle body 107 includes an upper shuttle body 111 and a lower shuttle body 112 arranged symmetrically. The lower end face of the upper shuttle body 111 has a first through groove 113 along its length direction. The upper end face of the lower shuttle body 112 has a second through groove 114 along its length direction. The second through groove 114 and the first through groove 113 form a through cavity 109. The weft clamp 104 is installed in the through cavity 109. The gap between the two sides of the upper shuttle body 111 and the two sides of the lower shuttle body 112 forms a first mounting groove 110. The permanent magnet array 103 is installed in the first mounting groove 110. The shuttle head 108 is inserted into one end of the through cavity 109. The other end of the through cavity 109 is used for the weft thread 8 to pass through and be clamped by the weft clamp 104.

[0042] An upper mounting groove 115 is provided on the lower end surface of the upper shuttle body 111 on both sides of the first through groove 113. A lower mounting groove 116 is provided on the upper end surface of the lower shuttle body 112 on both sides of the second through groove 114. The lower mounting groove 116 and the upper mounting groove 113 form a second mounting groove 117. A magnetic shielding block 118 is installed in the second mounting groove 117.

[0043] The upper end face of the upper shuttle body 111 and the lower end face of the lower shuttle body 112 are provided with rivet holes 119. The upper shuttle body 111, the lower shuttle body 112, and the weft clamp 104 are connected to each other through the rivet holes 119. The upper end face of the upper shuttle body 111 and the lower end face of the lower shuttle body 112 are provided with round holes 120. The round holes 120 are used to insert the tapered rod that opens the weft clamp 104.

[0044] The Dewar container 102 includes a Dewar top cover 121 and a Dewar container body 122. The lower end face of the Dewar top cover 121 has a blind hole, and the lower end face of the Dewar container body 122 has a mounting through hole. The mounting through hole includes a first mounting hole and a second mounting hole 123 that are connected. The diameter of the first mounting hole is larger than the diameter of the second mounting hole 123. The superconductor 105 has a cylindrical structure. One end of the superconductor 105 is installed in the blind hole, and the other end of the superconductor 105 is installed in the first mounting hole. The through hole 106 is provided on the side wall of the Dewar container body 122.

[0045] The electromagnetic shuttle device 2 also includes a synchronous belt 6, which includes a first synchronous belt 601 and a second synchronous belt 602. The first synchronous belt 601 is located above and to the side of the second synchronous belt 602. A connecting plate 603 is provided between the first synchronous belt 601 and the second synchronous belt 602. A first liquid nitrogen pool 604 matching the Dewar container 102 is provided in the middle of the second synchronous belt 602. The three-axis moving suction cup 5 is also used to pick up the shuttle 1 and place it on the first synchronous belt 601 and remove the shuttle 1 from the second synchronous belt 602.

[0046] The electromagnetic shuttle device 2 also includes a cooling device 7, which includes multiple first columns 701, multiple second columns 702, and a second liquid nitrogen pool 703 that matches the superconductor 105. The multiple first columns 701 are symmetrically distributed on both sides of the second liquid nitrogen pool 703, and the multiple second columns 702 are symmetrically distributed on both sides of the second liquid nitrogen pool 703. The second columns 702 are located between two adjacent first columns 701. The second columns 702 are slidably connected to the support column 704. Multiple triangular blocks 705 for carrying the shuttle 1 are hinged from top to bottom on the first columns 701 and the second columns 702. The three-axis moving suction cup 5 is also used to pick up the shuttle 1 and move it back and forth on the first permanent magnet array track 201 and the triangular blocks 705.

[0047] A control method for an electromagnetic shuttle insertion device of a rapier loom, the control method comprising the following steps: first, a rapier 1 is picked up by a three-axis moving suction cup 5, and then the rapier 1 is moved directly above a first permanent magnet array track 201. At this time, the rapier 1 is in a static suspended state under the action of the superconductor 105 and the first permanent magnet array track 201. Then, current is passed through the first electromagnetic coil array track 202 to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet arrays 103 on both sides of the rapier 1 to provide driving force for the rapier 1, pulling the rapier 1 forward to accelerate. After the weft insertion movement is completed, liquid nitrogen is injected into the Dewar container 102 through the through hole 106 to cool the superconductor 105.

[0048] An electromagnetic shuttle-controlling device for a rapier loom includes a rapier shuttle 1, a second permanent magnet array track 401, a second electromagnetic coil array track 402, and a three-axis movable suction cup 5. The second electromagnetic coil array track 402 is arranged on both sides of the second permanent magnet array track 401. The coils on the second electromagnetic coil array track 402 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. The three-axis movable suction cup 5 is used to remove the rapier shuttle 1 from directly above the second permanent magnet array track 401. The rapier shuttle 1 includes a shuttle body 101 and a Dewar container 102. The shuttle body 101... A permanent magnet array 103 is symmetrically installed on both sides, which interacts with the second electromagnetic coil array track 402 to brake the shuttle 1. A weft clamp 104 for holding the weft thread 8 is installed inside the shuttle body 101. The bottom of the shuttle body 101 is connected to the top of the Dewar container 102. The Dewar container 102 is filled with liquid nitrogen. A superconductor 105 that interacts with the second permanent magnet array track 401 to levitate the shuttle 1 is inserted into the bottom of the Dewar container 102. The superconductor 105 is in contact with the liquid nitrogen. The Dewar container 102 has a through hole 106 for injecting liquid nitrogen and discharging liquid nitrogen vapor.

[0049] A control method for an electromagnetic shuttle-controlling device of a rapier loom, the control method comprising the following steps: when the rapier 1 moves to the position directly above the second permanent magnet array track 401, the rapier 1 is suspended under the action of the superconductor 105 and the second permanent magnet array track 401. At the same time, current is passed through the second electromagnetic coil array track 402 to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet arrays 103 on both sides of the rapier 1 to provide braking force to the rapier 1, and the rapier 1 decelerates until it comes to a stop. Then, the rapier 1 is removed from the position directly above the second permanent magnet array track 401 by a three-axis moving suction cup 5, and liquid nitrogen is injected into the Dewar container 102 through the through hole 106 to cool the superconductor 105.

[0050] The principle of this invention is explained as follows:

[0051] In the electromagnetic shuttle launching device, electromagnetic coil tracks are distributed on both sides of the shuttle's movement path, while a permanent magnet array track is located directly below the shuttle's trajectory. The shuttle is transferred by a three-axis moving chuck to a position directly above the permanent magnet array track and released, remaining stationary and suspended. Then, a three-phase alternating current is passed through the electromagnetic coils, generating a moving traveling wave magnetic field that pulls the shuttle forward, accelerating it. It then relies on inertia to thread the weft through the fabric. By controlling the current in the electromagnetic coils, the speed of the shuttle during launch can be altered.

[0052] During weft insertion, the shuttle is accelerated by the electromagnetic coil track and continues to move forward due to inertia. When the shuttle brakes, the magnetic field generated by the current flowing through the electromagnetic coil interacts with the shuttle to create an electromagnetic force that opposes its movement, eventually causing it to decelerate and stop. Simultaneously, the permanent magnet array track also decelerates the shuttle. By changing the direction of the magnetic poles of the permanent magnet array track, the superconductor decelerates in this area due to the change in the direction of the magnetic field lines. After hovering on the track, the shuttle is attracted by a three-axis moving chuck and transferred to the synchronous belt. The shuttle is then transported by the synchronous belt to the weft insertion starting point. During this transport, the superconductor beneath the shuttle is cooled by a liquid nitrogen tank.

[0053] 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 in other solutions. Furthermore, the shuttle in this invention has permanent magnet arrays on both sides. When the shuttle is in a traveling wave magnetic field, the interaction between the permanent magnet arrays 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.

[0054] The bottom of the shuttle features an array of YBCO (yttrium barium copper oxide) superconductors. The unique pinning effect of superconductors allows the magnetic flux lines to be locked inside the superconductor when cooled in a magnetic field. This characteristic ensures stable vertical and lateral levitation of the superconductor on the permanent magnet array track. After being placed in a magnetic field and cooled with liquid nitrogen, the superconductor enters a superconducting state. Due to the numerous pinning centers inside, the magnetic field inside the superconductor differs slightly from 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 force. 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 is 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.

[0055] Example 1:

[0056] See Figure 1 , Figure 3 , Figure 4 , Figure 5 An electromagnetic shuttle-throwing device for a rapier loom includes a rapier shuttle 1, a first permanent magnet array track 201, a first electromagnetic coil array track 202, and a three-axis movable suction cup 5. The first electromagnetic coil array track 202 is arranged on both sides of the first permanent magnet array track 201. The coils on the first electromagnetic coil array track 202 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. The three-axis movable suction cup 5 is used to pick up the rapier shuttle 1 and place it directly above the first permanent magnet array track 201. The rapier shuttle 1 includes a shuttle body 101 and a Dewar container 102. The shuttle body 101... A permanent magnet array 103 is symmetrically installed on both sides, interacting with the first electromagnetic coil array track 202 to realize the projection of the shuttle 1. A weft clamp 104 for holding the weft thread 8 is installed inside the shuttle body 101. The bottom of the shuttle body 101 is connected to the top of the Dewar container 102. The Dewar container 102 is filled with liquid nitrogen. A superconductor 105 that interacts with the first permanent magnet array track 201 to realize the suspension of the shuttle 1 is inserted into the bottom of the Dewar container 102. The superconductor 105 is in contact with the liquid nitrogen. The Dewar container 102 has a through hole 106 for injecting liquid nitrogen and discharging liquid nitrogen volatilized gas.

[0057] According to the above scheme, a control method for an electromagnetic shuttle insertion device of a shuttle loom includes the following steps: first, the shuttle 1 is picked up by a three-axis moving suction cup 5, and then the shuttle 1 is moved to the position directly above the first permanent magnet array track 201. At this time, the shuttle 1 is in a static and suspended state under the action of the superconductor 105 and the first permanent magnet array track 201. Then, the first 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 arrays 103 on both sides of the shuttle 1 to provide driving force for the shuttle 1, pulling the shuttle 1 forward to accelerate. After the weft insertion movement is completed, liquid nitrogen is injected into the Dewar container 102 through the through hole 106 to cool the superconductor 105.

[0058] 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.

[0059] Example 2:

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

[0061] See Figures 3 to 7The shuttle body 101 includes a shuttle body 107 and a shuttle head 108. The shuttle body 107 includes an upper shuttle body 111 and a lower shuttle body 112 symmetrically arranged. A first through groove 113 is formed in the middle of the lower end face of the upper shuttle body 111 along its length direction. A second through groove 114 is formed in the middle of the upper end face of the lower shuttle body 112 along its length direction. The second through groove 114 and the first through groove 113 form a through cavity 109. The weft clamp 104 is installed in the through cavity 109. The gap between the two sides of the upper shuttle body 111 and the two sides of the lower shuttle body 112 forms a first mounting groove 110. The permanent magnet array 103 is installed in the first mounting groove 110. The shuttle head 108 is inserted into one end of the through cavity 109. The other end of the through cavity 109 is used for the weft thread 8 to pass through and be clamped. The weft clamp 104 is used for clamping; an upper mounting groove 115 is provided on the lower end face of the upper shuttle body 111 on both sides of the first through groove 113, and a lower mounting groove 116 is provided on the upper end face of the lower shuttle body 112 on both sides of the second through groove 114. The lower mounting groove 116 and the upper mounting groove 113 form a second mounting groove 117, and a magnetic shielding block 118 is installed in the second mounting groove 117; rivet holes 119 are provided on the upper end face of the upper shuttle body 111 and the lower end face of the lower shuttle body 112, and the upper shuttle body 111, the lower shuttle body 112, and the weft clamp 104 are connected to each other through the rivet holes 119; a round hole 120 is provided on the upper end face of the upper shuttle body 111 and the lower end face of the lower shuttle body 112, and the round hole 120 is used to insert a tapered rod to open the weft clamp 104.

[0062] Example 3:

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

[0064] See Figure 3 , Figure 4 , Figure 8 , Figure 9 The Dewar container 102 includes a Dewar top cover 121 and a Dewar container body 122. The lower end face of the Dewar top cover 121 has a blind hole, and the lower end face of the Dewar container body 122 has a mounting through hole. The mounting through hole includes a first mounting hole and a second mounting hole 123 that are connected. The diameter of the first mounting hole is larger than the diameter of the second mounting hole 123. The superconductor 105 has a cylindrical structure. One end of the superconductor 105 is installed in the blind hole, and the other end of the superconductor 105 is installed in the first mounting hole. The through hole 106 is provided on the side wall of the Dewar container body 122.

[0065] Example 4:

[0066] The basic content is the same as in Example 1, except that:

[0067] See Figure 3 , Figure 10 , Figure 11 The electromagnetic shuttle device 2 also includes a synchronous belt 6, which includes a first synchronous belt 601 and a second synchronous belt 602. The first synchronous belt 601 is located above and to the side of the second synchronous belt 602. A connecting plate 603 is provided between the first synchronous belt 601 and the second synchronous belt 602. A first liquid nitrogen pool 604 matching the Dewar container 102 is provided in the middle of the second synchronous belt 602. The three-axis moving suction cup 5 is also used to pick up the shuttle 1 and place it on the first synchronous belt 601 and remove the shuttle 1 from the second synchronous belt 602.

[0068] The synchronous belts are staggered, which is equivalent to the shuttle entering the liquid nitrogen pool from above. This method enables the superconductor to be immersed in liquid nitrogen while being transported. Since the liquid nitrogen pool is higher than the superconductor, it can also limit the shuttle when it reaches the end of the liquid nitrogen pool. 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.

[0069] Example 5:

[0070] The basic content is the same as in Example 1, except that:

[0071] See Figure 3 , Figure 13 , Figure 14 , Figure 15 , Figure 16 , Figure 17 The electromagnetic shuttle device 2 also includes a cooling device 7, which includes multiple first columns 701, multiple second columns 702, and a second liquid nitrogen pool 703 that matches the superconductor 105. The multiple first columns 701 are symmetrically distributed on both sides of the second liquid nitrogen pool 703, and the multiple second columns 702 are symmetrically distributed on both sides of the second liquid nitrogen pool 703. The second columns 702 are located between two adjacent first columns 701. The second columns 702 are slidably connected to the support column 704. Multiple triangular blocks 705 for carrying the shuttle 1 are hinged from top to bottom on the first columns 701 and the second columns 702. The three-axis moving suction cup 5 is also used to pick up the shuttle 1 and move it back and forth on the first permanent magnet array track 201 and the triangular blocks 705.

[0072] A triangular block is mounted on the surface of the column and fixed to the column via a rotating shaft. The triangular block remains convex outwards; under pressure, it can rotate around the shaft and enter the column, and when the force is removed, it will pop out. The triangular block is used to support a series of shuttles. The shuttles are continuously lifted upwards by the up-and-down movement of the column. After the top shuttle is removed by the three-axis moving suction cup, the next top shuttle is lifted to the top to await removal. The shuttles are placed on the triangular block, and the column first moves downwards a certain distance, immersing the Dewar container containing the superconductor below the shuttle into a liquid nitrogen pool. The Dewar container contains material that can absorb liquid nitrogen. After absorbing enough liquid nitrogen to ensure that the superconductor is cooled to the required temperature, the column moves upwards again, lifting the shuttle to the designated position. At this point, all the shuttles are lifted upwards.

[0073] Example 6:

[0074] See Figures 2 to 5 An electromagnetic shuttle-controlling device for a rapier loom includes a rapier shuttle 1, a second permanent magnet array track 401, a second electromagnetic coil array track 402, and a three-axis movable suction cup 5. The second electromagnetic coil array track 402 is arranged on both sides of the second permanent magnet array track 401. The coils on the second electromagnetic coil array track 402 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. The three-axis movable suction cup 5 is used to remove the rapier shuttle 1 from directly above the second permanent magnet array track 401. The rapier shuttle 1 includes a shuttle body 101 and a Dewar container 102. The shuttle 1 is symmetrically mounted on both sides with permanent magnet arrays 103 that interact with the second electromagnetic coil array track 402 to brake the shuttle 1. The shuttle body 101 is equipped with a weft clamp 104 for clamping the weft thread 8. The bottom of the shuttle body 101 is connected to the top of the Dewar container 102. The Dewar container 102 is filled with liquid nitrogen. A superconductor 105 that interacts with the second permanent magnet array track 401 to levitate the shuttle 1 is inserted into the bottom of the Dewar container 102. The superconductor 105 is in contact with the liquid nitrogen. The Dewar container 102 is provided with through holes 106 for injecting liquid nitrogen and discharging liquid nitrogen vapor.

[0075] According to the above scheme, a control method for an electromagnetic shuttle-controlling device of a rapier loom includes the following steps: when the rapier 1 moves to the position directly above the second permanent magnet array track 401, the rapier 1 is suspended under the action of the superconductor 105 and the second permanent magnet array track 401. At the same time, current is passed through the second electromagnetic coil array track 402 to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet arrays 103 on both sides of the rapier 1 to provide braking force to the rapier 1. The rapier 1 decelerates until it comes to a stop. Then, the rapier 1 is removed from the position directly above the second permanent magnet array track 401 by a three-axis moving suction cup 5, and liquid nitrogen is injected into the Dewar container 102 through the through hole 106 to cool the superconductor 105.

Claims

1. An electromagnetic picking device for a gripper weaving machine, characterized in that The system includes a shuttle (1), a first permanent magnet array track (201), a first electromagnetic coil array track (202), and a three-axis moving chuck (5). The first electromagnetic coil array track (202) is located on both sides of the first permanent magnet array track (201). The coils on the first electromagnetic coil array track (202) are arranged 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. The three-axis moving chuck (5) is used to pick up the shuttle (1) and place it directly above the first permanent magnet array track (201). The shuttle (1) includes a shuttle body (101) and a Dewar container (102). Symmetrically mounted on both sides of the shuttle body (101) are the same as those on the first permanent magnet array track (201). The interaction of the No. 1 electromagnetic coil array track (202) realizes the permanent magnet array (103) projected by the shuttle (1). The shuttle body (101) is equipped with a weft clamp (104) for clamping the weft thread (8). The bottom of the shuttle body (101) is connected to the top of the Dewar container (102). The Dewar container (102) is filled with liquid nitrogen. The bottom of the Dewar container (102) is fitted with a superconductor (105) that interacts with the No. 1 permanent magnet array track (201) to suspend the shuttle (1). The superconductor (105) is in contact with the liquid nitrogen. The Dewar container (102) is provided with a through hole (106) for injecting liquid nitrogen and discharging liquid nitrogen vapor. The Dewar container (102) includes a Dewar top cover (121) and a Dewar container body (122). The lower end face of the Dewar top cover (121) is provided with a blind hole, and the lower end face of the Dewar container body (122) is provided with a mounting through hole. The mounting through hole includes a first mounting hole and a second mounting hole (123) that are connected. The diameter of the first mounting hole is larger than the diameter of the second mounting hole (123). The superconductor (105) has a cylindrical structure. One end of the superconductor (105) is installed in the blind hole, and the other end of the superconductor (105) is installed in the first mounting hole. The through hole (106) is provided on the side wall of the Dewar container body (122). The electromagnetic shuttle device (2) also includes a synchronous belt (6), which includes a first synchronous belt (601) and a second synchronous belt (602). The first synchronous belt (601) is located above the second synchronous belt (602). A connecting plate (603) is provided between the first synchronous belt (601) and the second synchronous belt (602). A first liquid nitrogen pool (604) matching the Dewar container (102) is provided in the middle of the second synchronous belt (602). The three-axis moving suction cup (5) is also used to pick up the shuttle (1) and place it on the first synchronous belt (601) and remove the shuttle (1) from the second synchronous belt (602). The electromagnetic shuttle device (2) further includes a cooling device (7), which includes multiple first columns (701), multiple second columns (702), and a second liquid nitrogen pool (703) matching the superconductor (105). The multiple first columns (701) are symmetrically distributed on both sides of the second liquid nitrogen pool (703), and the multiple second columns (702) are symmetrically distributed on both sides of the second liquid nitrogen pool (703). 2) Located between two adjacent first columns (701), the second column (702) is slidably connected to the support column (704). Multiple triangular blocks (705) for carrying the shuttle (1) are hinged from top to bottom on the first column (701) and the second column (702). The three-axis moving suction cup (5) is also used to pick up the shuttle (1) and move it back and forth on the first permanent magnet array track (201) and the triangular blocks (705).

2. An electromagnetic picking device for a dobby loom according to claim 1, characterized in that: The shuttle body (101) includes a shuttle body (107) and a shuttle head (108). The shuttle body (107) includes an upper shuttle body (111) and a lower shuttle body (112) arranged symmetrically. A first through groove (113) is formed in the middle of the lower end face of the upper shuttle body (111) along its length direction. A second through groove (114) is formed in the middle of the upper end face of the lower shuttle body (112) along its length direction. The second through groove (114) and the first through groove (113) form a through cavity (1). 09), the weft clamp (104) is installed in the through cavity (109), the gap between the two sides of the upper shuttle body (111) and the two sides of the lower shuttle body (112) forms the first mounting groove (110), the permanent magnet array (103) is installed in the first mounting groove (110), the shuttle head (108) is inserted into one end of the through cavity (109), and the other end of the through cavity (109) is used for the weft thread (8) to pass through and be clamped by the weft clamp (104).

3. An electromagnetic picking device for a dobby loom according to claim 2, characterized in that: An upper mounting groove (115) is provided on the lower end face of the upper shuttle body (111) on both sides of the first through groove (113), and a lower mounting groove (116) is provided on the upper end face of the lower shuttle body (112) on both sides of the second through groove (114). The lower mounting groove (116) and the upper mounting groove (115) together form a second mounting groove (117), and a magnetic shielding block (118) is installed in the second mounting groove (117).

4. An electromagnetic picking device for a dobby loom according to claim 2, characterized in that: The upper end face of the upper shuttle body (111) and the lower end face of the lower shuttle body (112) are provided with rivet holes (119). The upper shuttle body (111), the lower shuttle body (112), and the weft clamp (104) are connected to each other through the rivet holes (119). The upper end face of the upper shuttle body (111) and the lower end face of the lower shuttle body (112) are provided with round holes (120). The round holes (120) are used to insert the conical rod that opens the weft clamp (104).

5. A control method of an electromagnetic picking device of a gripper weaving machine as claimed 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 chuck (5), and then the shuttle (1) is moved to the top of the first permanent magnet array track (201). At this time, the shuttle (1) is in a static suspension state under the action of the superconductor (105) and the first permanent magnet array track (201). Then, the first 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 both sides of the shuttle (1) to provide driving force to the shuttle (1) and pull the shuttle (1) forward to accelerate. After the weft insertion movement is completed, liquid nitrogen is injected into the Dewar container (102) through the through hole (106) to cool the superconductor (105).

6. An electromagnetic shedding device for a gripper weaving machine to cooperate with the electromagnetic picking device of claim 1, characterized in that, The system includes a shuttle (1), a second permanent magnet array track (401), a second electromagnetic coil array track (402), and a three-axis moving chuck (5). The second electromagnetic coil array track (402) is located on both sides of the second permanent magnet array track (401). The coils on the second electromagnetic coil array track (402) are arranged 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. The three-axis moving chuck (5) is used to remove the shuttle (1) from directly above the second permanent magnet array track (401). The shuttle (1) includes a shuttle body (101) and a Dewar container (102). Symmetrically mounted on both sides of the shuttle body (101) are the components corresponding to the components. The permanent magnet array (103) that achieves braking of the shuttle (1) through the interaction of the second electromagnetic coil array track (402) is provided. The shuttle body (101) is equipped with a weft clamp (104) for clamping the weft thread (8). The bottom of the shuttle body (101) is connected to the top of the Dewar container (102). The Dewar container (102) is filled with liquid nitrogen. A superconductor (105) that interacts with the second permanent magnet array track (401) to suspend the shuttle (1) is inserted at the bottom of the Dewar container (102). The superconductor (105) is in contact with the liquid nitrogen. The Dewar container (102) is provided with a through hole (106) for injecting liquid nitrogen and discharging liquid nitrogen vapor.

7. A control method of the electromagnetic shedding device of a gripper weaving machine as claimed in claim 6, characterized in that, The control method includes the following steps: when the shuttle (1) moves to the top of the second permanent magnet array track (401), the shuttle (1) is suspended under the action of the superconductor (105) and the second permanent magnet array track (401). At the same time, the second electromagnetic coil array track (402) is supplied with current to generate a traveling wave magnetic field. The traveling wave magnetic field interacts with the permanent magnet array (103) on both sides of the shuttle (1) to provide braking force to the shuttle (1). The shuttle (1) decelerates until it stops. Then, the shuttle (1) is taken away from the top of the second permanent magnet array track (401) by the three-axis moving chuck (5), and liquid nitrogen is injected into the Dewar container (102) through the through hole (106) to cool the superconductor (105).

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