A knitting machine with variable structure and control method thereof

Abstract

The present invention relates to a variable-structure braiding machine and a control method thereof, belonging to the technical field of braiding equipment. The braiding machine comprises a track disc and a track-changing turntable. The track-changing turntable comprises a rotating chassis and a rotating track disc above the rotating chassis, wherein the rotating track disc is embedded between adjacent track discs. Two track connection grooves are provided on the upper surface of the rotating track disc. When the rotating track disc rotates to different positions, the two track connection grooves are connected to the track grooves of the track disc to form two tracks. An angle guide wheel is mounted on the track disc, and a notch is provided at the edge of the angle guide wheel. A yarn carrier is placed in the notch. The angle guide wheel carries the yarn carrier along the track through the notch. The present invention also provides a friction wheel. The angle guide wheel and the friction disc are arranged alternately and are controlled separately by a single motor to prevent yarn not involved in braiding from being entangled. Since the speed of each motor can be individually controlled, braiding of a braided fabric with a variable structure can be achieved, improving braiding precision and ensuring the quality of the braided fabric.

Description

Technical Field

[0001] The present invention belongs to the technical field of knitting equipment, and in particular relates to a knitting machine with a variable structure and a control method thereof. Background Art

[0002] A braiding machine is a device used for weaving. Traditionally, a main motor drives a gear train. This single gear drives a yarn carrier mounted on an angle guide wheel, rotating along a track disk. This causes the yarn on the carrier to wind around and weave the pre-woven fabric. Because power is primarily transmitted by the gear train, traditional gear trains cannot independently rotate a single angle guide wheel or multiple guide wheels at varying speeds.

[0003] It can be seen that the main problems of traditional braiding machines are: 1. When the cross-sectional shape of the braided fabric changes, the braiding yarn needs to be appropriately increased or decreased. Since the traditional braiding machine is driven by a main motor and all the angle guide wheels rotate together, all the angle guide wheels will still rotate after the yarn is increased or decreased, which will cause the yarn that is not involved in the braiding to be entangled, increasing energy loss and machine wear; 2. Since the rotation speed of the angle guide wheels cannot be changed individually, it is difficult to achieve the braiding of the braided fabric with inconsistent density and the individual braiding of weak parts; 3. When weaving the different structural branches of the fabric with a complex structure, the traditional braiding machine generally has two braiding methods: (1) A large braiding machine is used to shape the trunk and each branch separately, but since the angle guide wheels can only rotate together and cannot be rotated at different speeds individually, it can only meet the braiding of the structural organization with consistent organization, and the function is very limited; (2) Several small braiding machines are used to complete the braiding of the trunk and branches separately. Once the organizational structure changes, new braiding equipment needs to be redesigned. Therefore, traditional braiding machines can only design special braiding track disks for each type of special-shaped structural fabric. One braiding machine cannot meet the weaving needs of different special-shaped structural tissues and does not meet the standards of industrial universality; 4. Gear transmission has disadvantages such as unstable transmission, noise and oil pollution, and is not suitable for the weaving of complex and precise braids.

[0004] Therefore, it is urgent to invent a braiding machine that satisfies the variable structure of fabric. Summary of the Invention

[0005] The problem to be solved by the present invention is to provide a knitting machine with a variable structure and a control method thereof.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: a braiding machine with a variable structure, including a track disk and a track-changing turntable, the track-changing turntable includes a rotating chassis and a rotating track disk above the rotating chassis, and the rotating track disk is embedded between adjacent track disks; two track connecting grooves are provided on the upper surface of the rotating track disk, and when the rotating track disk rotates to different positions, the two track connecting grooves are respectively connected to the track grooves of the track disk to form two tracks, a rotating device is provided at the bottom of the rotating chassis, an angle guide wheel is installed on the track disk, and the output end of the angle guide wheel driving device extends out of the track disk to drive the angle guide wheel to rotate, a slot is provided at the edge of the angle guide wheel, and a yarn carrier is placed in the slot, and the angle guide wheel carries the yarn carrier along the track through the slot.

[0007] Furthermore, the two types of track connecting grooves are respectively a double-arc track connecting groove and an X-shaped track connecting groove. The double-arc track connecting groove is connected with the track groove of the track plate to form an O-shaped track, and the X-shaped track connecting groove is connected with the track groove of the track plate to form an 8-shaped track.

[0008] Furthermore, the rotating chassis is provided in cooperation with a positioning device, and the positioning of the track-changing turntable is controlled by the positioning device; a plurality of positioning holes are provided on the side wall of the rotating chassis, and the positioning device includes a positioning drive mechanism and a connecting rod, the connecting rod is installed at the output end of the positioning drive mechanism, and the end of the connecting rod is provided in cooperation with the positioning hole.

[0009] Furthermore, a friction disk is installed on the track disk, and the output end of the friction disk driving device extends out of the track disk to drive the friction disk to rotate, and the friction disk and the angle guide wheel are distributed alternately.

[0010] Furthermore, each of the angle guide wheels corresponds to an angle guide wheel driving device; each of the friction discs corresponds to a friction disc driving device.

[0011] Furthermore, the angle guide wheel drive device and the friction disc drive device both include a motor and a transmission shaft, the output end of the motor is connected to the transmission shaft through a coupling, the transmission shaft is connected to the angle guide wheel or the friction disc, the motor is communicatively connected to the driver through a power line, and the driver is communicatively connected to the host computer.

[0012] The present invention also proposes a control method for a knitting machine with a variable structure, which is applied to the above-mentioned knitting machine with a variable structure, and comprises the following steps:

[0013] S1, determine the specific structure of the woven fabric and use the host computer to set the running trajectory of the yarn carrier;

[0014] S2. When weaving starts, the rotating track disk of the track-changing turntable is in the initial track position. At this time, the upper computer controls the driver to drive the angle guide wheel driving device and the friction disk driving device to drive the corresponding angle guide wheels and friction disks to rotate. The rotating angle guide wheels carry the yarn carrier to move along the O-shaped track; the friction disk uses the friction between it and the yarn carrier base to drive the yarn carrier to rotate, so that the yarn on the yarn carrier is intertwined with each other as the yarn carrier rotates, thereby weaving;

[0015] S3. When the track needs to be changed, the positioning drive mechanism first acts to withdraw the connecting rod by a stroke, and then the rotation drive mechanism acts to make the rotary table drive the track changing turntable to rotate clockwise by a certain angle; finally, the connecting rod of the positioning drive mechanism extends a stroke, so that the end of the connecting rod cooperates with the positioning hole on the other side, fixing the track changing turntable so that its position remains unchanged; after the track is changed, the rotating track disk of the track changing turntable is in the track changing track position, completing the track change from the O-shaped track to the figure-8 track. At this time, the yarn carrier moves along the figure-8 track; similarly, if the figure-8 track is changed to the O-shaped track, it can be achieved by cooperating with the rotating device and the positioning device to rotate counterclockwise by a certain angle.

[0016] Furthermore, in step S1, the upper computer is used to set the running trajectory of the yarn carrier, which is to set the start, stop and speed of the motors of each angle guide wheel drive device and the friction disk drive device.

[0017] Furthermore, in step S2, the host computer controls multiple drivers, each driver controls a group of motors, and each group of motors includes multiple motors. Under the control of the host computer, the grouped motors can realize both a single rotation of the angle guide wheel and simultaneous or arbitrary rotation of multiple angle guide wheels, thereby improving the control flexibility and reducing the control cost.

[0018] Furthermore, it also includes S4. When it is necessary to add or subtract yarn from the fabric, each motor is independently controlled to rotate so that the angle guide wheel or friction disk that is temporarily not involved in weaving after the yarn is added or subtracted stops rotating, thereby avoiding the entanglement of the yarn that is temporarily not involved in weaving; when it is necessary to change the weaving density of the fabric, within a weaving cycle, different motor speeds are selected at different weaving density positions to achieve weaving of fabrics with different densities; the motor speed is multiplied or reduced at the weak points of the fabric to achieve the effect of increasing the weaving density; when it is necessary to weave fabrics with special-shaped complex structures, the upper computer is used to set the different tissue structures of the special-shaped fabric separately to control the start and stop and speed of the angle guide wheel and friction disk, and then control the running trajectory of the yarn carrier. For the weaving of different types of special-shaped fabric tissues, the upper computer settings can be modified.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] During operation, each angle guide wheel and friction disc are driven by an independent motor. Slots are provided on the angle guide wheels to carry the yarn carrier along the track disc. The friction disc, in turn, uses friction with the carrier base to drive the carrier's rotation. As the carrier rotates, the yarn on the carrier interweaves, completing the weaving process. Furthermore, as the track-changing turntable rotates, the yarn carrier passes through two tracks: an O-shaped track and a figure-8 track. The specific track can be selected based on the properties and cross-sectional shape of the fabric.

[0021] The present invention adopts a single motor to control a single angle guide wheel and a single friction wheel. The advantages of the multi-motor coordinated control transmission scheme are: (1) the single motor controls the independent rotation, which avoids the rotation of the angle guide wheel or friction wheel that is temporarily not involved in weaving after adding or reducing the yarn, thereby avoiding the entanglement of the yarn that is temporarily not involved in weaving, reducing energy consumption and machine wear; (2) since the speed of each motor can be controlled separately, different motor speeds can be selected in a weaving cycle to realize weaving of different density weaving positions, and the motor speed can be multiplied or reduced at the weak part of the weaving to achieve the effect of increasing the weaving density (multiplied or reduced). The rotation speed is to prevent collisions between yarn carriers); (3) The present invention can realize the independent rotation of a single angle guide wheel and the coordinated control of multiple angle guide wheels and the variable speed rotation of the angle guide wheels. Therefore, the branches of the special-shaped braided fabrics can be formed separately. Therefore, the braiding machine composed of multiple motors and angle guide wheels can not only realize the braiding of special-shaped complex structures, but also, with the cooperation of the upper computer and the track-changing turntable, can realize the braiding of different special-shaped complex structures, meeting the universality standard; (4) A single motor is used to directly replace the gear transmission. Under the condition of meeting the braiding conditions, it solves the problems of unstable gear transmission, noise, oil pollution, etc.

[0022] In addition, in order to better realize the function of changing the organization structure of the braiding machine, the present invention also has the following advantages: (1) During the track changing process, the drive of the track changing turntable is realized by the rotation of the rotating device. The rotating chassis of the track changing turntable of the present invention is provided with a conical positioning hole and a positioning device matched therewith. Through positioning, it can ensure that the track disc and the track changing turntable are accurately matched when there is a slight deviation in the matching, avoiding the occurrence of spindle jamming, track collision, and serious wear of the yarn carrier, and effectively preventing the misalignment between the track disc and the track of the track changing turntable, and also preventing the rotation of the track changing turntable during the track changing process; (2) Since errors will inevitably occur between the motors during the rotation process, the accumulation of errors will cause misalignment between the slots of the angle guide wheel. Therefore, when changing the track, although the track changing turntable has been moved, the yarn carrier will not be able to move due to the excessive deviation of the angle guide wheel slot. Normal track change, therefore, the present invention adopts the method of alternating distribution of angle guide wheels and friction discs to eliminate the rotation error between motors. When the yarn carrier needs to change track, there is no slot misalignment between the friction disc and the angle guide wheel slot, so the track change can be achieved very smoothly; (3) For the design of the track disc, multiple angle guide wheels and friction discs are alternately distributed. The overall shape can be square but not limited to square. Appropriately increasing the number of angle guide wheels and friction discs can better weave various complex variable structure fabrics to meet the versatility of the weaving machine; (4) The present invention can adopt multi-motor group control, with the upper computer controlling multiple drivers, and then the drivers controlling each motor. The grouped motors can realize the single rotation of the angle guide wheel under the control of the upper computer, and can realize the simultaneous or arbitrary rotation of multiple angle guide wheels, which not only improves the control flexibility but also reduces the control cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be described in detail below with reference to the accompanying drawings and in combination with examples, and the advantages and implementation modes of the present invention will become more apparent. The contents shown in the accompanying drawings are only used to illustrate the present invention and do not constitute any limitation to the present invention. In the accompanying drawings:

[0024] Figure 1 It is a structural schematic diagram of the present invention.

[0025] Figure 2 It is a partial enlarged view of the present invention.

[0026] Figure 3 This is a diagram showing the track-changing turntable and positioning device of the present invention in use.

[0027] Figure 4 This is a schematic diagram of the angle guide wheel groove deviation.

[0028] Figure 5 It is a schematic diagram of the cooperation between the angle guide wheel and the friction disk of the present invention.

[0029] Figure 6 It is a schematic diagram of the layout of the angle guide wheel and friction disk of the present invention.

[0030] Figure 7 It is a schematic diagram of the O-shaped track of the present invention.

[0031] Figure 8 It is a schematic diagram of the figure 8 track of the present invention.

[0032] Figure 9 This is a schematic diagram of the motor grouping collaborative control principle of the present invention.

[0033] In the picture:

[0034] 1. Yarn carrier; 2. Friction disc; 3. Angle guide wheel; 4. Track disc; 5. Track change turntable; 6. Drive shaft; 7. Coupling; 8. Motor; 9. X-shaped track connecting groove; 10. Double arc track connecting groove; 11. Rotating track disc; 12. Rotating chassis; 13. Positioning hole; 14. Rotating table; 15. Rotating drive mechanism; 16. Positioning drive mechanism; 17. Connecting rod; 18. Notch; 19. Track groove; 20. Driver; 21. Host computer. DETAILED DESCRIPTION

[0035] The present invention is further described below with reference to the embodiments and the accompanying drawings.

[0036] like Figures 1 to 9 As shown, the present invention is a braiding machine with a variable structure, comprising a track plate 4 and a track-changing turntable 5, the track plate 4 being fixed to the frame by bolts, the track-changing turntable 5 comprising a rotating chassis 12 and a rotating track plate 11 above the rotating chassis 12, the rotating chassis 12 and the rotating track plate 11 being fixed by countersunk bolts, the rotating track plate 11 being embedded between adjacent track plates 4, the transition fit between the rotating track plate 11 and the track plate 4 ensuring that the rotating track plate 11 can rotate freely in the gap of the adjacent track plate 4; the upper surface of the rotating track plate 11 is provided with a double-arc track connecting groove 10 and an X-shaped track connecting groove 9, and when the rotating track plate 11 rotates to different positions, the double arc The O-shaped track connecting groove 10 is connected with the track groove 19 of the track disk 4 to form an O-shaped track, or the X-shaped track connecting groove 9 is connected with the track groove 19 of the track disk 4 to form an 8-shaped track. A rotating device is provided at the bottom of the rotating chassis 12, and the rotation of the track-changing turntable 5 is controlled by the rotating device. The rotating chassis 12 is coordinated with the positioning device, and the positioning of the track-changing turntable 5 is controlled by the positioning device. An angle guide wheel 3 is installed on the track disk 4, and the output end of the angle guide wheel driving device extends out of the track disk 4 to drive the angle guide wheel 3 to rotate. Four slots 18 with a difference of 90° are provided at the upper edge of the angle guide wheel 3, and a yarn carrier is placed in the slot 18. The angle guide wheel 3 carries the yarn carrier 1 along the track through the slot 18.

[0037] The rotating device includes a rotating platform 14 and a rotating drive mechanism 15 . The rotating platform 14 is installed at the bottom of the rotating chassis 12 , and the rotating drive mechanism 15 is installed at the bottom of the rotating platform 14 .

[0038] A plurality of positioning holes 13 (conical holes) are provided on the side wall of the rotating chassis 12 . The positioning device includes a positioning drive mechanism 16 and a connecting rod 17 . The connecting rod 17 is installed at the output end of the positioning drive mechanism 16 , and the end of the connecting rod 17 is matched with the positioning hole 13 .

[0039] A friction disc 2 is also installed on the track disc 4. The output end of the friction disc driving device extends out of the track disc 4 to drive the friction disc 2 to rotate. The friction disc 2 and the angle guide wheel 3 are distributed alternately, that is, a friction disc 2 is arranged between the angle guide wheels 3.

[0040] Each angle guide wheel 3 corresponds to an angle guide wheel driving device.

[0041] Each friction disk 2 is assigned a friction disk drive device.

[0042] The angle guide wheel drive device and the friction disc drive device both include a motor 8 and a transmission shaft 6. The output end of the motor 8 is connected to the transmission shaft 6 through a coupling 7. The transmission shaft 6 is connected to the angle guide wheel 3 or the friction disc 2.

[0043] The motor 8 is connected to the driver 20 via a power line, and the driver 20 is connected to the host computer 21 via a power line.

[0044] It can be seen that each angle guide wheel 3 and friction disc 2 of the present invention is driven by an independent motor respectively.

[0045] The rotating device, the positioning device and the driving device (the angle guide wheel driving device and the friction disc driving device) are respectively fixed at appropriate positions of the frame.

[0046] The present invention also proposes a control method for a knitting machine with a variable structure, which is applied to the above-mentioned knitting machine with a variable structure, and comprises the following steps:

[0047] S1, determine the specific structure of the braided fabric, and use the host computer 21 to set the running trajectory of the yarn carrier 1;

[0048] S2, such as Figure 7 As shown, when weaving starts, the rotating track disk 11 of the track-changing turntable 5 is in the initial track position (that is, the double-arc track connecting groove 10 of the rotating track disk 11 is connected with the track groove 19 of the track disk 4 to form an O-shaped track). At this time, the upper computer 21 controls the driver 20 to drive the angle guide wheel driving device and the friction disk driving device to drive the corresponding angle guide wheel 3 and the friction disk 2 to rotate. The rotating angle guide wheel carries the yarn carrier 1 to move along the O-shaped track; the friction disk 2 uses the friction between it and the base of the yarn carrier 1 to drive the yarn carrier 1 to rotate itself, so that the yarn on the yarn carrier 1 is intertwined with each other as the yarn carrier 1 rotates, and then weaving is performed;

[0049] S3. When track change is required, the positioning drive mechanism 16 first operates to retract the connecting rod 17 by one stroke. Then, the rotation drive mechanism 15 operates to make the rotary table 14 drive the track change turntable 5 to rotate clockwise by a certain angle (90°). Finally, the connecting rod 17 of the positioning drive mechanism 16 extends by one stroke so that the end (conical head) of the connecting rod 17 fits into the positioning hole 13 on the other side, fixing the track change turntable 5 so that its position remains unchanged. Figure 8 As shown, after the track change, the rotating track disk 11 of the track change turntable 5 is in the track change track position (that is, the X-shaped track connecting groove 9 of the rotating track disk 11 is connected with the track groove 19 of the track disk 4 to form an 8-shaped track), completing the track change from the O-shaped track to the 8-shaped track. At this time, the yarn carrier 1 moves along the 8-shaped track.

[0050] Similarly, if the figure-8 track is changed to an O-shaped track, it can be achieved by cooperating with the rotating device and the positioning device to rotate counterclockwise by a certain angle (90°).

[0051] In step S1, the upper computer 21 is used to set the running track of the yarn carrier 1, which is to set the start, stop and speed of the motors of each angle guide wheel drive device and the friction disk drive device.

[0052] In step S2, Figure 9 As shown, multi-motor group control is adopted, with the host computer controlling multiple drivers, each driver controlling a group of motors, and each group of motors including multiple motors. Under the control of the host computer, the grouped motors can realize both a single rotation of the angle guide wheel and simultaneous or arbitrary rotation of multiple angle guide wheels, which improves the control flexibility and reduces the control cost.

[0053] It also includes S4. When it is necessary to add or subtract yarn from the fabric, each motor is independently controlled to rotate so that the angle guide wheel 3 or friction disk 2 that is temporarily not involved in weaving after adding or subtracting the yarn stops rotating, thereby avoiding the entanglement of the yarn that is temporarily not involved in weaving; when it is necessary to change the weaving density of the fabric, within a weaving cycle, different motor speeds are selected at different weaving density positions to achieve weaving of fabrics with different densities; the motor speed is multiplied or reduced at the weak points of the fabric to achieve the effect of increasing the weaving density; when it is necessary to weave fabrics with special-shaped complex structures, the upper computer 21 is used to set the different tissue structures of the special-shaped fabric separately to control the start and stop and speed of the angle guide wheel 3 and friction disk 2, and then control the running trajectory of the yarn carrier 1. For the weaving of different types of special-shaped fabric tissues, the upper computer settings can be modified.

[0054] The embodiments of the present invention are described in detail above, but the contents are only preferred embodiments of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A knitting machine with a variable structure, characterized by: The track-changing turntable includes a track disk and a track-changing turntable, wherein the track-changing turntable includes a rotating chassis and a rotating track disk above the rotating chassis, and the rotating track disk is embedded between adjacent track disks; two track connecting grooves are provided on the upper surface of the rotating track disk, and when the rotating track disk rotates to different positions, the two track connecting grooves are respectively connected with the track grooves of the track disk to form two tracks; a rotating device is provided at the bottom of the rotating chassis, an angle guide wheel is installed on the track disk, and the output end of the angle guide wheel driving device extends out of the track disk to drive the angle guide wheel to rotate, and a notch is provided at the edge of the angle guide wheel, and a yarn carrier is placed in the notch; The two types of track connecting grooves are respectively a double-arc track connecting groove and an X-shaped track connecting groove. The double-arc track connecting groove is connected with the track groove of the track plate to form an O-shaped track, and the X-shaped track connecting groove is connected with the track groove of the track plate to form an 8-shaped track. The rotating chassis is provided in cooperation with a positioning device, and the positioning of the track-changing turntable is controlled by the positioning device; a plurality of positioning holes are provided on the side wall of the rotating chassis, and the positioning device includes a positioning drive mechanism and a connecting rod, the connecting rod is installed at the output end of the positioning drive mechanism, and the end of the connecting rod is provided in cooperation with the positioning hole; A friction disc is also mounted on the track disc, and the output end of the friction disc driving device extends out of the track disc to drive the friction disc to rotate, and the friction disc and the angle guide wheel are alternately distributed; Each of the angle guide wheels corresponds to an angle guide wheel driving device; each of the friction discs corresponds to a friction disc driving device; The angle guide wheel drive device and the friction disc drive device both include a motor and a transmission shaft. The output end of the motor is connected to the transmission shaft through a coupling. The transmission shaft is connected to the angle guide wheel or the friction disc. The motor is communicatively connected to the driver through a power line. The driver is communicatively connected to the host computer.

2. A control method for a knitting machine with a variable weave structure, applied to the knitting machine with a variable weave structure according to claim 1, characterized in that: The following steps are involved: S1. Determine the structure of the woven fabric and use the host computer to set the running trajectory of the yarn carrier; S2. When weaving starts, the rotating track disk of the track-changing turntable is in the initial track position. At this time, the upper computer controls the driver to drive the angle guide wheel driving device and the friction disk driving device to drive the corresponding angle guide wheels and friction disks to rotate. The rotating angle guide wheels carry the yarn carrier to move along the O-shaped track; the friction disk drives the yarn carrier to rotate by the friction between it and the yarn carrier base, so that the yarn on the yarn carrier is intertwined with each other as the yarn carrier rotates, thereby weaving; S3. When the track needs to be changed, the positioning drive mechanism first acts to withdraw the connecting rod by a stroke, and then the rotation drive mechanism acts to make the rotary table drive the track changing turntable to rotate clockwise; finally, the connecting rod of the positioning drive mechanism extends a stroke, so that the end of the connecting rod cooperates with the positioning hole on the other side, fixing the track changing turntable so that its position remains unchanged; after the track is changed, the rotating track disk of the track changing turntable is in the track changing track position, completing the track change from the O-shaped track to the figure-8 track. At this time, the yarn carrier moves along the figure-8 track; similarly, if the figure-8 track is changed to the O-shaped track, it is achieved by the counterclockwise rotation of the rotating device and the positioning device.

3. The control method of a knitting machine with a variable weave structure according to claim 2, characterized in that: In step S1, the upper computer is used to set the running trajectory of the yarn carrier, which is to set the start, stop and speed of the motors of each angle guide wheel drive device and friction disk drive device.

4. The control method of a knitting machine with a variable weave structure according to claim 2, characterized in that: In step S2, the host computer controls a plurality of drivers, each driver controls a group of motors, and each group of motors includes a plurality of motors.

5. The control method of a knitting machine with a variable weave structure according to claim 2, characterized in that: It also includes S4. When it is necessary to add or subtract yarn from the fabric, each motor is independently controlled to rotate so that the angle guide wheel or friction disk that is temporarily not involved in weaving after adding or subtracting yarn stops rotating; when it is necessary to change the weaving density of the fabric, within a weaving cycle, different motor speeds are selected at different weaving density positions to achieve weaving of fabrics with different densities; the motor speed is multiplied or reduced at weak points of the fabric; when it is necessary to weave fabrics with special shapes and complex structures, the upper computer is used to set the different tissue structures of the special-shaped fabric separately to control the start and stop, and speed of the angle guide wheel and friction disk, and thus control the running trajectory of the yarn carrier.

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