A rapier weft insertion method and device for weaving a three-dimensional curved fabric

Abstract

This invention belongs to the field of textile technology and relates to a rapier weft insertion method and implementation device for weaving three-dimensional curved surface woven fabrics. The rapier weft insertion method involves continuous weft supply from the start of weft insertion to the end of weft beating, so that the weft yarn length after entering the shed dynamically changes with the weft beating process. The implementation device includes a weft supply mechanism, a reed, a reed seat, a rapier, and a rapier head. The weft supply mechanism includes a weft feeder, a weft yarn clamping device, and a weft yarn shear arranged at intervals. The device also includes a weft fixer located between the weft yarn shear and the rapier. The weft fixer and the weft yarn clamping device are located on both sides of the reed. The weft fixer is used to fix one end of the weft yarn segment entering the shed, and the weft yarn clamping device is used to clamp and hold the other end of the weft yarn segment entering the shed. The weft supply mechanism, the reed, and the weft fixer are all rigidly connected to the reed seat. This invention extends the continuous yarn supply time, solves the problem of insufficient weft yarn length and large-scale warp yarn slippage during the three-dimensional curved surface forming stage, and avoids the possibility of weft yarn falling off from the weft selector after weft cutting.

Description

Technical Field

[0001] This invention belongs to the field of textile technology and relates to a rapier weft insertion method and implementation device for weaving three-dimensional curved woven fabrics. Background Technology

[0002] Curved woven fabrics are often woven on rapier looms and are widely used in the rapid production of shaped textile products such as knees and shoe toes.

[0003] In conventional shuttleless looms, such as rapier looms, the positions of the weft feeding mechanism, weft yarn feeding device, yarn cutter, or weft splicer are relatively fixed. Once the weft yarn is straightened under tension and enters the shed, the length of the weft yarn entering the shed remains almost constant during the fabric forming process.

[0004] However, for three-dimensional curved fabrics, if a traditional shuttleless weft insertion system such as a rapier is used, the weft yarn remains straight under tension as it passes through the shed. The weft yarn entering the shed is separated from the weft feeding mechanism before beating. During the beating process, the weft yarn gradually changes from a planar straight state when entering the shed to a curved and bent state in the three-dimensional curved fabric. At this time, the distribution density of the warp yarn in the width direction and the width of the reed are theoretically unchanged. However, due to the change in the shape of the weft yarn, the selvage warp yarn may slip off. If a shuttle weft insertion system is used, the weft yarn is wound and stored on the weft tube. When it gradually changes from a planar straight state when introduced to a curved and bent state, although the frictional gripping force between the weft yarn and the warp yarn entering the shed can continue to pull the weft yarn out of the shuttle to a certain extent, the warp yarn tends to maintain its warp position under tension. This results in the pulling and feeding of the weft yarn, causing severe friction between the warp and weft yarns and the selvage warp yarn moving towards the center of the fabric. This leads to problems such as yarn fuzzing or even breakage, and poor fabric formation where the selvage warp density is higher than the fabric body.

[0005] Existing technologies employ contoured surface accessories for weaving curved fabrics, which is an assisted shaping weaving principle. The contoured surface accessories constrain the warp yarns at the weft insertion point to achieve a three-dimensional curved surface distribution, while the reed pushes the weft yarns entering the shed parallel to the weft insertion point to achieve warp and weft yarn interlacing and shaping. For example, patent application CN112680863A discloses a 3D fabric and its preparation method, proposing a warp-oriented contoured sheet-assisted forming technology for three-dimensional curved fabrics and a method for adjusting warp yarn feed during weaving; patent application CN116657311A discloses an in-situ net-forming weaving method for three-dimensional curved woven fabrics, proposing a weft-oriented contoured sheet-assisted forming technology for three-dimensional curved fabrics and a method for adjusting warp yarn feed. However, the technical solutions described in these two patent applications still employ conventional weft insertion methods. When the weft yarns entering the shed change from an initially straight state to a curved state, because their length usually remains unchanged, problems such as warp yarn decoupling, unstable width, or even weft yarn breakage still exist during the weft insertion process.

[0006] It is evident that the currently disclosed methods for forming three-dimensional curved fabrics cannot meet the dynamic changes in the weft supply length during the weft-beating process, resulting in defects such as warp yarn slippage at the fabric edge, high yarn wear, or uneven warp density distribution. These defects severely reduce the feasibility of continuous weaving and the integrity of the fabric structure.

[0007] Therefore, it is still necessary to develop a weft insertion method and device that can meet the dynamic changes in weft supply length during the weft insertion process of three-dimensional curved woven fabrics, so as to adapt to the principle of auxiliary shaping weaving. Summary of the Invention

[0008] The purpose of this invention is to solve the problems existing in the prior art and to provide a rapier weft insertion method and implementation device for weaving three-dimensional curved surface woven fabrics.

[0009] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0010] A rapier weft insertion method for weaving and forming three-dimensional curved woven fabrics involves continuous weft supply from the start of weft insertion to the end of weft beat-up, so that the weft yarn length dynamically changes with the weft beat-up process after entering the shed. Existing technologies only provide continuous weft supply from the start of weft insertion to the start of weft beat-up, and the weft yarn length remains unchanged after entering the shed, resulting in insufficient weft yarn length and a large amount of warp yarn slippage during the three-dimensional curved surface forming stage. This invention extends the continuous weft supply time, thereby solving the problems existing in the prior art.

[0011] As a preferred technical solution:

[0012] The rapier weft insertion method for weaving three-dimensional curved woven fabrics, as described above, involves the following process: After the weft yarn is fed into the shed, a weft retainer is used to fix the weft yarn on the weft-joining side, keeping the weft yarn entering the shed connected to the weft-feeding mechanism for beat-up. During beat-up, the weft-feeding mechanism and the weft retainer move synchronously with the reed to the plane where the weft is located. After beat-up, the connection between the weft yarn and the weft-feeding mechanism and the weft retainer is simultaneously disconnected. Unlike this invention, in the prior art, after the weft yarn is fed into the shed, the weft yarn is not fixed on the weft-joining side, and the connection between the weft yarn in the shed and the weft-feeding mechanism is disconnected before beat-up. Therefore, the length of the weft yarn remains unchanged after entering the shed.

[0013] The present invention also provides an apparatus for implementing the rapier weft insertion method for weaving a three-dimensional curved woven fabric as described above, comprising a weft feeding mechanism, a reed, a reed seat, a rapier, and a rapier head. The weft feeding mechanism includes a weft feeder, a weft yarn clamping device, and a weft yarn shear arranged in sequence at intervals. The apparatus also includes a weft fixing device (Airtac solenoid valve 4V210-08+SMC JCDMBZ20, or Qingze 4V210-08+Sody CDJ2B10-15) located between the weft yarn shear and the rapier.

[0014] The weft fastener and weft yarn clamping device are located on both sides of the reed; the weft fastener is used to fix one end of the weft yarn segment entering the shed, and the weft yarn clamping device is used to clamp and hold the other end of the weft yarn segment entering the shed.

[0015] The weft feeding mechanism, reed, and weft fixing device are all rigidly connected to the reed holder and maintain the same movement state as the reed holder;

[0016] Because the weft yarn on the weft insertion side is fixed by the weft retainer, and the weft supply mechanism and the weft retainer move synchronously with the reed seat, the weft supply mechanism will continuously supply the weft yarn during the process of pushing the weft yarn from the shed to the weft opening. In the existing technology, there is no weft retainer on the weft insertion side, and the weft supply mechanism is installed separately from the reed seat. The weft supply mechanism remains stationary during the weft beating process, and it is impossible to achieve continuous weft supply from the start of weft insertion to the end of weft beating.

[0017] As a preferred technical solution:

[0018] As described above, the weft feeder is a yarn disc, the central axis of which is perpendicular to both the reed arrangement direction and the reed length direction. The yarn disc is used to wind and store weft yarn, providing passive weft feeding. In the prior art, the component with the same function as the yarn disc of this invention is a bobbin or yarn tube, which provides weft feeding by axial unwinding. Each unwinding turn increases the twist of the weft yarn by one degree. This invention uses a yarn disc to provide weft feeding by warp unwinding, which can avoid weft yarn fuzzing caused by weft yarn twisting and friction between the unwinding section yarn and the bobbin yarn during the unwinding process.

[0019] As described above, the weft yarn gripping device consists of a pneumatic weft clamp and a weft gripper. The weft gripper is located between the pneumatic weft clamp and the weft yarn cutter. The pneumatic weft clamp is used to grip the other end of the weft yarn segment entering the shed, and the weft gripper is used to hold the other end of the weft yarn segment entering the shed. In the prior art, the component with the same function as the weft yarn gripping device of the present invention is a weft selector. The weft yarn passes through the yarn guide hole at the end of the weft selector and is gripped by friction between the weft yarn and the yarn guide hole. After weft cutting, the weft yarn may fall off the weft selector. The weft yarn gripping device of the present invention can eliminate the possibility of the weft yarn falling off the weft selector after weft cutting.

[0020] As described above, the weft feeding mechanism also includes a tension regulator and a weft breakage sensor located between the weft feeder and the weft yarn clamping device. The tension regulator and weft breakage sensor are used to monitor the weft yarn tension, regulate the tension fluctuation during the weft insertion process, and detect whether the weft yarn is broken. The existing technology uses packaged yarn or yarn tube for weft feeding, combined with the pre-weft feeding function of the weft feeder, that is, the cylinder of the weft feeder pre-wound a certain length of yarn to eliminate the weft yarn tension fluctuation caused by the different unwinding height or the different unwinding circumference of each turn when the weft yarn is unwound directly from different positions of the packaged yarn or yarn tube, so as to achieve the effect of coordinated weft feeding and regulation of weft yarn tension.

[0021] The present invention also provides a rapier weft insertion method for weaving three-dimensional curved woven fabrics using the apparatus described above, comprising the following steps:

[0022] Step 1: The weft yarn is drawn out from the weft feeder and passes through the tension regulator and weft break sensor, pneumatic weft clamp and weft holder in sequence. The pneumatic weft clamp holds the weft yarn, and the weft holder holds the weft yarn, which makes it easier for the rapier to hold the weft yarn in the subsequent process.

[0023] Step 2: The rapier extends and passes through the weft holder. After the rapier tip clamps the weft yarn extending from the weft holder, the pneumatic weft holder releases the weft yarn, and the rapier returns to its original position. During this process, the weft holder always holds the weft yarn, causing the weft yarn to move along the weft direction.

[0024] Step 3: The weft yarn is fixed by the weft fixer and the weft yarn is released by the rapier head;

[0025] Step 4: The reed pushes the weft yarn to the weft end. At this time, the weft feeding mechanism and the weft holder move synchronously. During this process, the weft holder always holds the weft yarn, causing the weft yarn to move along the weft direction.

[0026] Step 5: Interweave once, that is, the upper and lower warp yarns exchange once, and hold the current weft yarn;

[0027] Step 6: The weft clamp releases the weft yarn, the weft yarn shears cut the weft yarn, and the pneumatic weft clamp holds the weft yarn.

[0028] Step 7: The weft feeding mechanism, reed, weft holder, and reed seat are all moved back to their initial positions. This completes one weft insertion weaving cycle.

[0029] Repeat the above steps until the fabric is woven.

[0030] In this invention, the weft yarn is fixed by a weft fixer before the rapier releases the weft yarn; in the prior art, the weft yarn is not fixed before the rapier releases the weft yarn. In this invention, the weft yarn cutting time and weft yarn release time on the weft supply side are after the weft yarn has been pushed to the weft insertion point and interlaced during the beating process; in the prior art, the weft yarn cutting time on the weft supply side is before the rapier pulls the weft yarn through the shed and the beating process begins. Therefore, the weft yarn entering the shed in this invention is a continuous weft yarn in a controlled state, with the front end fixed by the weft fixer and the rear end still wound on the yarn spool, which provides a guarantee for continuous dynamic weft supply during subsequent beating and interlacing processes. In the prior art, the weft yarn entering the shed is a section of weft yarn that has detached from the weft feeder, with both ends in an uncontrolled state, and its length remains unchanged during subsequent beating and interlacing processes.

[0031] As a preferred technical solution:

[0032] In the rapier weft insertion method for weaving three-dimensional curved woven fabrics as described above, in the second step, the length of the weft yarn extending from the weft holder is 0.8~1.2cm, depending on the bending length of the weft yarn and the installation position of the weft yarn shear.

[0033] Beneficial effects:

[0034] (1) The device for the rapier weft insertion method for three-dimensional curved woven fabrics of the present invention, since the weft yarn on the weft insertion side is held by the weft retainer, and the weft supply mechanism and the weft retainer move synchronously with the reed seat, the weft supply mechanism will continuously supply the weft yarn during the process of pushing the weft yarn from the shed to the weft opening; at the same time, the yarn tray is used as the weft storage device to avoid weft yarn fuzzing caused by the twisting of the weft yarn and the friction between the unwound section yarn and the bobbin during the unwinding process, and the weft yarn clamping device used in the present invention can eliminate the possibility of the weft yarn falling off from the weft selector after the weft is cut.

[0035] (2) The rapier weft insertion method for forming three-dimensional curved woven fabrics of the present invention extends the continuous yarn supply time and solves the problem of a large number of warp yarns falling off due to insufficient weft yarn length in the three-dimensional curved forming stage. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the apparatus for implementing the rapier weft insertion method for weaving three-dimensional curved woven fabrics according to the present invention;

[0037] Figure 2 This is a schematic diagram of the weft yarn clamping device of the present invention;

[0038] Figure 3 This is a schematic diagram of the weft fixing device of the present invention;

[0039] Figure 4 This is a schematic diagram showing the state of the yarn and various components during weft insertion preparation according to the present invention;

[0040] Figure 5 This is a schematic diagram of the invention, showing the rapier extending to pull the weft yarn into the shed;

[0041] Figure 6 This is a schematic diagram of the present invention, in which the weft yarn releases the yarn end after passing through the shed and the weft yarn is fixed by the weft retainer.

[0042] Figure 7 This is a schematic diagram of the present invention, showing the weft yarn positioned behind the shed in preparation for weft insertion;

[0043] Figure 8 This is a schematic diagram illustrating the process of pushing the weft yarn to the weft insertion point in this invention.

[0044] Figure 9 This is a schematic diagram illustrating the interlacing of the upper and lower warp yarns with the weft yarns after one exchange of their positions according to the present invention.

[0045] Figure 10 This is a schematic diagram illustrating the weft yarn cutting process after interlacing, the weft yarn clamping process, and the weft yarn release process of the present invention.

[0046] Figure 11 This is a schematic diagram of the weft feeding mechanism-weft fixing device-reed seat linkage device of the present invention returning to the weft insertion position;

[0047] Figure 12 A schematic diagram of a conventional single-sided rapier weft insertion device;

[0048] Among them, 1-yarn disc, 1'-weft yarn, 2-tension adjustment and weft breakage sensor, 3-pneumatic weft clamp, 3'-weft gripper, 4-weft yarn shear, 5-steel reed, 6-reed seat, 7-weft fixer, 8-rapier, 9-rapier head, 10-cylinder, 11-weft selector. Detailed Implementation

[0049] The present invention will be further described below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of the invention. Furthermore, it should be understood that after reading the teachings of this invention, those skilled in the art can make various alterations or modifications to the invention, and these equivalent forms also fall within the scope defined by the appended claims.

[0050] A rapier weft insertion method for weaving three-dimensional curved woven fabrics involves continuous weft supply from the start of weft insertion to the end of weft beat-up, so that the length of the weft yarn after entering the shed changes dynamically with the weft beat-up process. The specific process is as follows: after the weft yarn is fed into the shed by weft insertion, a weft fixer is used to fix the weft yarn on the weft insertion side, keeping the weft yarn entering the shed connected to the weft supply mechanism for weft beat-up. During the weft beat-up process, the weft supply mechanism and the weft fixer move synchronously with the reed to the plane where the weft is located. After the weft beat-up is completed, the connection between the weft yarn and the weft supply mechanism and the weft fixer is simultaneously disconnected.

[0051] The apparatus for implementing the rapier weft insertion method for weaving the above-mentioned three-dimensional curved surface woven fabric, such as... Figure 1 , Figure 2 As shown, it includes a weft feeding mechanism, a steel reed 5, a reed seat 6, a weft fixing device 7, a rapier 8, and a rapier head 9;

[0052] The weft feeding mechanism, reed 5, and weft fixing device 7 are all rigidly connected to the reed seat 6;

[0053] The weft feeding mechanism includes yarn discs 1 arranged at intervals (the central axis of yarn disc 1 is perpendicular to both the reed arrangement direction and the reed length direction), tension adjustment and weft breakage sensor 2, pneumatic weft clamp 3, weft holder 3', and weft yarn cutter 4.

[0054] like Figure 3 As shown, the weft fixing device 7 is located between the weft yarn shear 4 and the rapier 8;

[0055] The weft clamp 7 is located on one side of the reed 5. The weft clamp 7 is used to fix one end of the weft yarn segment entering the shed. The pneumatic weft clamp 3 and the weft holder 3' are located on the other side of the reed 5. The pneumatic weft clamp 3 is used to clamp the other end of the weft yarn segment entering the shed, and the weft holder 3' is used to hold the other end of the weft yarn segment entering the shed.

[0056] The steps of the rapier weft insertion method for weaving three-dimensional curved woven fabrics using the above-mentioned implementation device are as follows:

[0057] (1) such as Figure 4 As shown, the weft yarn 1' is drawn out from the yarn tray 1 and passes sequentially through the tension adjustment and weft break sensor 2, the pneumatic weft clamp 3, and the weft holder 3'. The pneumatic weft clamp 3 clamps the weft yarn, and the weft holder 3' holds the weft yarn. The length of the weft yarn extending from the weft holder 3' is 0.8~1.2cm.

[0058] (2) such as Figure 5 As shown, the rapier 8 extends and passes through the weft clamp 7. After the rapier tip 9 on the rapier 8 clamps the weft yarn extending from the weft holder 3', the pneumatic weft clamp 3 releases the weft yarn, and the rapier 8 returns to its original position.

[0059] (3) such as Figure 6 As shown, the weft retainer 7 fixes the weft yarn, and the rapier 9 releases the weft yarn;

[0060] (4) Push the weft yarn to the weft end with the reed, as follows: Figure 7 , Figure 8 As shown;

[0061] (5) One interlacing, that is, the upper and lower warp yarns are exchanged once, holding the current weft yarn, such as Figure 9 As shown;

[0062] (6) The weft retainer 7 releases the weft yarn, the weft yarn cutter 4 cuts the weft yarn, and the pneumatic weft clamp 3 holds the weft yarn, such as Figure 10 As shown;

[0063] (7) The weft feeding mechanism, reed 5, weft holder 7, and reed seat 6 retract together to their initial positions, thus completing one weft insertion weaving cycle. Figure 11 As shown;

[0064] (8) Repeat steps (1) to (7) until the fabric is woven.

[0065] To demonstrate that the present invention can avoid defects such as warp yarn slippage, high yarn wear, or uneven warp density due to the inability to meet the dynamic changes in the weft supply length during the weft insertion process, the present invention's implementation device and the existing single-sided rapier weft insertion device are used to weave a semi-cylindrical three-dimensional curved surface fabric with a weft radius of 15cm.

[0066] Single-sided rapier weft insertion devices using existing technology (such as...) Figure 12As shown, the component equivalent to the yarn tray 1 of the present invention is the yarn cone 10, and the component equivalent to the pneumatic weft clamp 3 and weft holder 3' of the present invention is the weft selector 11. When weaving, the width of the reed is designed according to the planar projection width of the three-dimensional curved fabric. The curved width of the fabric to be woven (i.e., the half circumference of the cylindrical curved surface) is 47.25cm, and the planar projection weft width (i.e., width) is 30cm. Since its shrinkage rate is 2%, the width of the reed is 30.61cm. When inserting the weft, the length of the weft yarn segment introduced into the shed is 30.61cm. When the weft yarn is pushed to the weft opening to form a curved surface, the missing weft yarn length is 17.60cm (here, considering the 2% shrinkage rate, the width of the curved surface is 48.21cm).

[0067] When the weaving device of the present invention is used, the width of the reed is designed according to the planar projection width of the three-dimensional curved fabric during weaving. The curved width of the fabric to be woven (i.e., the half circumference of the cylindrical curved surface) is 47.25cm, and the planar projection weft width (i.e., width) is 30cm. During the process of pushing the weft yarn from the shed to the weft opening, since the weft yarn end on the rapier side is fixed, the weft yarn at the yarn tray end is only in a holding state, and the yarn tray will continue to supply weft. If we consider that the distance from the edge warp yarn to the rapier head and the weft yarn cutter is 5cm, the weft yarn will be cut by the weft yarn cutter after reaching a length of 58.21cm. For shuttle looms, in order to continuously supply 17.6cm of weft, the yarn stored in the stationary shuttle on one side of the loom is pulled out by the weft tension in the shed. The weft tension comes from the previous weft that is held by interlacing and turns back around the selvage warp yarn. According to the basic principle of shuttle looms, under the action of weft tension, the interlaced weft yarn and warp yarn slip relative to each other, increasing wear. At the same time, the selvage warp yarn that supports the weft yarn turns back bends and slips to different degrees towards the center of the fabric under the action of weft tension, thus forming a situation where the selvage warp density decreases from large to small towards the center of the fabric.

Claims

1. A rapier weft insertion device for weaving three-dimensional curved woven fabrics, comprising a weft feeding mechanism, a reed (5), a reed seat (6), a rapier (8), and a rapier head (9), wherein the weft feeding mechanism comprises a weft feeder, a weft yarn clamping device, and a weft yarn shear (4) arranged at intervals in sequence, characterized in that, The device also includes a weft fastener (7) located between the weft shear (4) and the rapier (8); The weft clamp (7) and the weft yarn holding device are located on both sides of the reed (5); the weft clamp (7) is used to fix one end of the weft yarn segment entering the shed, and the weft yarn holding device consists of a pneumatic weft clamp (3) and a weft holder (3'). The weft holder (3') is located between the pneumatic weft clamp (3) and the weft yarn cutter (4). The pneumatic weft clamp (3) is used to clamp the other end of the weft yarn segment entering the shed, and the weft holder (3') is used to hold the other end of the weft yarn segment entering the shed. The weft feeding mechanism, steel reed (5) and weft fixing device (7) are all rigidly connected to the reed seat (6).

2. The apparatus according to claim 1, characterized in that, The weft feeder is a yarn disc (1), and the central axis of the yarn disc (1) is perpendicular to both the reed arrangement direction and the reed length direction.

3. The apparatus according to claim 2, characterized in that, The weft feeding mechanism also includes a tension regulator and a weft breakage sensor (2) located between the weft feeder and the weft yarn clamping device.

4. A rapier weft insertion method for weaving three-dimensional curved surface woven fabrics, characterized in that, Using the device as described in claim 3, weft is continuously supplied from the start of weft insertion to the end of weft beat-up, so that the length of the weft yarn after entering the shed changes dynamically with the weft beat-up process; the specific process is as follows: after the weft yarn is fed into the shed by weft insertion, the weft yarn is fixed on the weft receiving side by a weft fixer (7) to keep the weft yarn entering the shed connected to the weft supply mechanism for weft beat-up. During the weft beat-up process, the weft supply mechanism and the weft fixer (7) move synchronously with the reed seat (6) to the plane where the weft opening is located. After the weft beat-up is completed, the connection between the weft yarn located in the weft opening and the weft supply mechanism and the weft fixer (7) is simultaneously disconnected.

5. The rapier weft insertion method for weaving three-dimensional curved surface woven fabrics according to claim 4, characterized in that, Includes the following steps: Step 1: The weft yarn is drawn out from the weft feeder and passes through the tension regulator and weft break sensor (2), the pneumatic weft clamp (3) and the weft holder (3') in sequence. The pneumatic weft clamp (3) clamps the weft yarn and the weft holder (3') holds the weft yarn. Step 2: The rapier (8) extends and passes through the weft holder (7). After the rapier (8) clamps the weft yarn extending from the weft holder (3'), the pneumatic weft clamp (3) releases the weft yarn and the rapier (8) returns to its original position. Step 3: The weft retainer (7) fixes the weft yarn, and the rapier (9) releases the weft yarn; Step 4: The reed (5) pushes the weft yarn to the weft end; Step 5: Interweave once, that is, the upper and lower warp yarns exchange once, and hold the current weft yarn; Step 6: The weft clamp (7) releases the weft yarn, the weft yarn cutter (4) cuts the weft yarn, the pneumatic weft clamp (3) clamps the weft yarn located outside the weft opening, and the weft holder (3') holds the weft yarn located outside the weft opening; Step 7: The weft feeding mechanism, reed (5), weft fixing device (7), and reed holder (6) are moved back to their initial positions together; Repeat steps two through seven until the fabric is woven.

6. The rapier weft insertion method for weaving three-dimensional curved surface woven fabrics according to claim 5, characterized in that, In the second step, the length of the weft yarn extending from the weft holder (3') is 0.8~1.2cm.

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