Short weft processing method, weaving machine, control device of weaving machine, computer equipment and readable storage medium

Abstract

The invention discloses a short weft processing method, a weaving machine, a control device of the weaving machine, computer equipment and a readable storage medium, and relates to the technical field of textile weaving, and the short weft processing method comprises the following steps: when a short weft signal is received, the weaving machine is controlled to stop; controlling a winding rod of the weft drawing mechanism to rotate so as to wind weft yarns; the winding tension of the current winding rod collected by a tension sensor connected with the winding rod is received; when the winding tension of the current winding rod is larger than or equal to the preset tension value capable of being borne by the weft yarn, the winding rod is controlled to stop rotating, and the weft extraction angle of the weft extraction mechanism is adjusted so as to extract the weft yarn. According to the technical scheme, the situation that weft yarn is broken can be reduced, and the weft drawing success rate is increased.

Description

Technical Field

[0001] The present invention relates to the field of textile weaving technology, and in particular to a short weft processing method, a loom and a control device thereof, a computer device and a readable storage medium. Background Art

[0002] During the weaving process, the loom often stops due to problems such as the weft yarn being too short or broken due to uncertain factors such as weft yarn quality, water / air jet pressure fluctuations, weft yarn tension changes, and external interference.

[0003] In the related art, short wefts are usually processed by negative pressure suction or mechanical rotary weft drawing. The weft drawing force may be too small to draw out the weft yarn, or increasing the weft drawing force may cause partial breakage of the weft yarn, resulting in a low success rate of weft drawing. Summary of the invention

[0004] The main purpose of the present invention is to provide a short weft processing method, a loom and its control device, a computer device and a readable storage medium, aiming to reduce the situation of weft yarn breakage and improve the success rate of weft drawing.

[0005] To achieve the above object, the present invention provides a short weft processing method, comprising the following steps:

[0006] When receiving the short weft signal, the loom is controlled to stop;

[0007] Controlling the winding rod of the weft drawing mechanism to rotate so as to wind the weft yarn;

[0008] Receiving the winding tension of the current winding rod collected by a tension sensor connected to the winding rod;

[0009] When the winding tension of the current winding rod is greater than or equal to the preset tension value that the weft yarn can withstand, the winding rod is controlled to stop rotating, and the weft drawing angle of the weft drawing mechanism is adjusted to draw off the weft yarn.

[0010] In one embodiment, the short weft processing method further comprises:

[0011] When the winding tension of the current winding rod is less than the preset tension value that the weft yarn can withstand, controlling the winding rod to continue rotating;

[0012] When the winding tension of the current winding rod is equal to zero, the winding rod is controlled to stop rotating.

[0013] In one embodiment, the preset tension value is the maximum tension value that the weft yarn can withstand * the weft drawing safety factor m, where 0.5 <m≤1。

[0014] In one embodiment, after the step of "controlling the weft drawing mechanism to change the weft drawing angle", the method further includes:

[0015] When the winding tension of the current winding rod is less than the preset tension value that the weft yarn can withstand, controlling the winding rod to rotate again;

[0016] When the winding tension of the current winding rod is greater than or equal to the preset tension value that the weft yarn can withstand, the winding rod is controlled to keep stopping rotation, and the alarm is controlled to sound an alarm.

[0017] In one embodiment, the step of “controlling the weft drawing mechanism to change the weft drawing angle” includes:

[0018] Adjusting the angle α between the vertical section of the multi-joint mechanical arm of the weft drawing mechanism and the vertical plane of the stand of the loom;

[0019] And / or, the weft drawing mechanism includes a vertical guide rail, the length of the vertical guide rail is H, and the weft drawing mechanism is controlled to move up and down within a height range of H to adjust the height of the weft drawing mechanism in the vertical direction.

[0020] In one embodiment, the step of “adjusting the angle α between the vertical section of the multi-joint mechanical arm of the weft drawing mechanism and the vertical plane of the stand of the loom” comprises:

[0021] The multi-joint mechanical arm is controlled to drive the winding mechanism to rotate along the axis of the vertical rotating arm.

[0022] In one embodiment, the step of “controlling the weft drawing mechanism to move up and down within a height range H to adjust the height of the weft drawing mechanism in the vertical direction” includes:

[0023] The multi-joint mechanical arm is controlled to drive the winding mechanism to rise and fall in the vertical direction along the vertical guide rail.

[0024] In one embodiment, when executing the step of "controlling the weft drawing mechanism to change the weft drawing angle", it also includes:

[0025] Control the weft insertion mechanism to continuously supply weft yarn.

[0026] In one embodiment, before the step of “controlling the winding rod of the weft drawing mechanism to rotate”, the step further includes:

[0027] Control the reversal of loom opening;

[0028] The weft insertion nozzle is controlled to spray at least one fluid.

[0029] In one embodiment, the step of “controlling the weft insertion nozzle to eject at least one fluid” comprises:

[0030] The weft insertion nozzle is controlled to spray the fluid multiple times at preset intervals.

[0031] In one embodiment, before the step of “controlling the weft insertion mechanism to reverse”, the step further includes:

[0032] The scissors of the loom are controlled not to cut the weft yarn of the current short weft.

[0033] In one embodiment, before the step of “controlling the winding rod of the weft drawing mechanism to rotate”, the step further includes:

[0034] Controlling the weft drawing mechanism to move from the standby position to the weft drawing position;

[0035] After the step of "pulling off the weft yarn", it also includes:

[0036] Controlling the weft drawing mechanism to move from a weft drawing position to a waste yarn collecting position;

[0037] Controlling the weft drawing mechanism to separate the wound weft yarn from the winding rod so as to collect it into the waste yarn collecting device;

[0038] Controlling the weft drawing mechanism to move from the waste yarn collecting position to the standby position;

[0039] The loom is controlled to start.

[0040] To achieve the above object, the present invention further provides a loom control device, including the short weft processing method as described above.

[0041] To achieve the above object, the present invention further provides a loom, comprising:

[0042] Loom body;

[0043] The weft drawing mechanism comprises:

[0044] A base plate, the base plate being mounted on the loom body;

[0045] A multi-joint mechanical arm, wherein the multi-joint mechanical arm is liftably disposed on the base plate;

[0046] A winding mechanism, wherein the winding mechanism is arranged at the free end of the multi-joint mechanical arm, and the multi-joint mechanical arm drives the winding mechanism to rotate along the axis of the vertical rotating arm to adjust the angle α between the vertical section of the multi-joint mechanical arm of the weft-drawing mechanism and the vertical plane of the stand of the loom; the base plate of the weft-drawing mechanism comprises a vertical guide rail, the length of the vertical guide rail is H, and the multi-joint mechanical arm is controlled to drive the winding mechanism to move up and down along the vertical guide rail within the height range of H to adjust the height of the weft-drawing mechanism in the vertical direction; the winding mechanism has a winding rod, and the winding rod is connected to a tension sensor;

[0047] When the multi-joint robotic arm drives the winding mechanism to move from the standby position to the weft drawing position, the winding rod rotates to wind and draw away the waste yarn, and the tension sensor is used to collect the winding tension of the winding rod.

[0048] To achieve the above object, the present invention further proposes a computer device, comprising: a memory, a processor, and a short weft processing method program stored in the memory and running on the processor, wherein the short weft processing method implements the steps of the short weft processing method as described above when executed by the processor.

[0049] To achieve the above object, the present invention further proposes a computer-readable storage medium, wherein the computer-readable storage medium stores a short weft processing method program, and when the short weft processing method program is executed by a processor, the steps of the short weft processing method are implemented.

[0050] The technical solution of the present invention, when receiving a short weft signal, first controls the loom to stop; then controls the winding rod of the weft drawing mechanism to rotate to wind and draw off the weft yarn, and at the same time receives the current winding tension of the winding rod collected by the tension sensor connected to the winding rod;

[0051] When the winding tension of the current winding rod is greater than or equal to the preset tension value that the weft yarn can withstand, if the winding rod continues to wind and pull out the weft yarn, it will cause the weft yarn to break. Therefore, at this time, the winding rod is controlled to stop rotating, and the weft drawing mechanism is controlled to change the weft drawing angle so that the weft drawing mechanism can draw the weft along the inclined direction of the weft yarn. At this time, it is only necessary to overcome the friction between the weft yarn and part of the warp yarn to draw the weft, which can reduce the situation of weft yarn breaking.

[0052] Therefore, the short weft processing method proposed in this scheme realizes real-time adjustment of the weft drawing angle by cooperating with the weft drawing mechanism and the tension sensor, which effectively reduces the situation of weft yarn breakage and thus improves the success rate of weft drawing. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0054] Figure 1 A flow chart of an embodiment of a short weft processing method provided by the present invention;

[0055] Figure 2 A flow chart of another embodiment of the short weft processing method provided by the present invention;

[0056] Figure 3 A schematic structural diagram of an embodiment of a short weft processing device provided by the present invention;

[0057] Figure 4 A partial structural schematic diagram of an embodiment of a short weft processing device provided by the present invention when short weft occurs;

[0058] Figure 5 A partial top view of the structure of an embodiment of a short weft processing device provided by the present invention when short weft occurs;

[0059] Figure 6 A partial structural schematic diagram of an embodiment of the short weft processing device provided by the present invention when the short weft is loosened;

[0060] Figure 7 A top view of an embodiment of the short weft processing device provided by the present invention when the short weft is loosened;

[0061] Figure 8 A partial structural schematic diagram of an embodiment of a short weft processing device provided by the present invention when winding and withdrawing weft yarns;

[0062] Fig. 9 A partial structural schematic diagram of an embodiment of a short weft processing device provided by the present invention when winding and withdrawing weft yarns;

[0063] Fig.10 A simplified schematic diagram of an embodiment of the short weft processing device provided by the present invention when changing the weft drawing angle;

[0064] Fig.11 A partial structural cross-sectional view of an embodiment of the short weft processing device provided by the present invention when winding and withdrawing the weft yarn;

[0065] Fig.12 A partial schematic diagram of an embodiment of the short weft processing device provided by the present invention when winding and withdrawing weft yarn;

[0066] Fig.13 A schematic diagram of a part of the structure of an embodiment of the short weft processing device provided by the present invention after the weft yarn is extracted;

[0067] Fig.14 A partial schematic diagram of an embodiment of the short weft processing device provided by the present invention after the weft yarn is extracted;

[0068] Fig.15 A partial structural schematic diagram of an embodiment of a short weft processing device provided by the present invention when collecting waste yarn.

[0069] Description of Figure Numbers:

[0070] Label name Label name 10 Loom 232 Opening and closing motor 11 Loom body 233 Winding wheel 111 Stand 24 Winding motor 12 Weft Insertion Nozzle 200 Weft 20 Weft drawing mechanism 300 Warp 21 substrate 400 Weaving mouth 211 Vertical rails a Vertical section of multi-joint robotic arm 22 Multi-joint robotic arm b Vertical surface of the stand 23 Winding mechanism c Axis of vertical swivel arm 231 Winding rod

[0071] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0073] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0074] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0075] During the weaving process, the loom often stops due to problems such as the weft yarn being too short or broken due to uncertain factors such as weft yarn quality, water / air jet pressure fluctuations, weft yarn tension changes, and external interference.

[0076] In the related art, short wefts are usually processed by negative pressure suction or mechanical rotary weft drawing. The weft drawing force may be too small to draw out the weft yarn, or increasing the weft drawing force may cause partial breakage of the weft yarn, resulting in a low success rate of weft drawing.

[0077] It should be noted that when drawing the weft directly along the weft yarn direction, the friction resistance between the short weft yarn and thousands of warp yarns needs to be overcome in the initial stage, so a larger drawing force is required, and the drawing force may exceed the tensile limit of the weft yarn itself. Therefore, when the drawing force is increased, the weft yarn may be partially broken, resulting in a low success rate of drawing the weft.

[0078] Based on the above problems, the present invention proposes a short weft processing method, which aims to reduce the situation of weft yarn 200 being broken and improve the success rate of weft drawing.

[0079] See also Figure 1 In one embodiment of the present invention, the short weft processing method comprises the following steps:

[0080] S10, when a short weft signal is received, the loom 10 is controlled to stop; specifically, when a short weft occurs in the loom 10, the loom 10 is controlled to stop through the control end.

[0081] S20, controlling the winding rod 231 of the weft drawing mechanism 20 to rotate so as to wind the weft yarn 200; since the short weft yarn 200 passes through the winding rod 231 at this time, the weft yarn 200 can be wound and drawn out under the rotation of the winding rod 231, so that the weft yarn 200 is wound on the winding rod 231. In actual application, the number of the winding rods 231 can be 2, 3, 4, etc.

[0082] S30, receiving the current winding tension of the winding rod 231 collected by the tension sensor connected to the winding rod 231;

[0083] S40, when the winding tension of the current winding rod 231 is greater than or equal to the preset tension value that the weft yarn 200 can withstand, the winding rod 231 is controlled to stop rotating, and the weft drawing angle of the weft drawing mechanism 20 is adjusted to draw off the weft yarn 200.

[0084] It can be understood that the technical solution of the present invention, when receiving the short weft signal, first controls the loom 10 to stop; then controls the winding rod 231 of the weft drawing mechanism 20 to rotate to wind and draw off the weft yarn 200, and at the same time receives the current winding tension of the winding rod 231 collected by the tension sensor connected to the winding rod 231;

[0085] When the winding tension of the current winding rod 231 is greater than or equal to the preset tension value that the weft yarn 200 can withstand, if the winding rod 231 continues to wind and pull out the weft yarn 200, it will cause the weft yarn 200 to break. Therefore, at this time, the winding rod 231 is controlled to stop rotating, and the weft drawing mechanism 20 is controlled to change the weft drawing angle so that the weft drawing mechanism 20 can draw the weft along the inclined direction of the weft yarn 200. At this time, it is only necessary to overcome the friction between the weft yarn 200 and part of the warp yarn 300 to draw the weft, which can reduce the situation of breaking the weft yarn 200.

[0086] Therefore, the short weft processing method proposed in this scheme realizes real-time adjustment of the weft drawing angle by cooperating with the weft drawing mechanism 20 with the tension sensor, effectively reducing the situation of weft yarn 200 being broken, thereby improving the success rate of weft drawing.

[0087] It should be noted that when the real-time adjustment of the weft extraction angle is achieved by means of the weft extraction mechanism 20 in cooperation with the tension sensor, the degrees of freedom of the weft extraction mechanism 20 in the horizontal and vertical directions can be utilized to adjust the magnitude and direction of the weft extraction force as required.

[0088] Referring to Figure 2 , in an embodiment of the short weft processing method of the present invention, the short weft processing method further includes:

[0089] When the winding tension of the current winding rod 231 is less than the preset tension value that the weft yarn 200 can withstand, controlling the winding rod 231 to continue rotating;

[0090] When the winding tension of the current winding rod is zero, controlling the winding rod 231 to stop rotating.

[0091] With such a setting, when the winding tension of the current winding rod 231 is less than the preset tension value that the weft yarn 200 can withstand, the winding rod 231 will not cause the weft yarn 200 to break during the process of winding and extracting the weft yarn 200. At this time, controlling the winding rod 231 to continue rotating to wind and extract the weft yarn 200; when the winding tension of the current winding rod is zero, that is, when F_coiling = 0, it is determined that all the weft yarn 200 of the current short weft has been wound around the winding rod 231, that is, the weft yarn 200 of the short weft has been extracted from the warp yarn 300. At this time, controlling the winding rod 231 to stop rotating.

[0092] Referring to Figure 2 , in an embodiment of the short weft processing method of the present invention, the preset tension value is the maximum tension value that the weft yarn 200 can withstand * the weft extraction safety factor m, where 0.5 < m ≤ 1. Specifically, the weft extraction safety factor m can be 0.6, 0.7, 0.8, 0.9, 1, etc.

[0093] It can be understood that m is the weft extraction safety factor, receiving the winding tension F_coiling of the current winding rod 231 collected by the tension sensor connected to the winding rod 231, and comparing it with the maximum tension F_weft * m that the weft yarn 200 can withstand;

[0094] When F_coiling < F_weft * m, the winding rod 231 will not cause the weft yarn 200 to break during the process of winding and withdrawing the weft yarn 200. At this time, control the winding rod 231 to continue rotating to wind and withdraw the weft yarn 200; when F_coiling ≥ F_weft * m, if the winding rod 231 continues to wind and withdraw the weft yarn 200, it will cause the weft yarn 200 to break. Therefore, at this time, control the winding rod 231 to stop rotating, and at the same time control the weft withdrawing mechanism 20 to change the weft withdrawing angle, so that the weft withdrawing mechanism 20 can withdraw the weft along the inclined direction of the weft yarn 200. At this time, only the friction between the weft yarn 200 and some warp yarns 300 needs to be overcome to withdraw the weft, which can reduce the situation of breaking the weft yarn 200; when F_coiling = 0, it is determined that all the weft yarns 200 of the current short weft have been wound around the winding rod 231, that is, the weft yarns 200 of the short weft have been withdrawn from the warp yarns 300. At this time, control the winding rod 231 to stop rotating.

[0095] In this embodiment, by setting a weft withdrawing safety factor on the maximum tensile force that the weft yarn 200 can withstand, and comparing the winding tensile force F_coiling of the winding rod 231 with the maximum tensile force F_weft * m that the weft yarn 200 can withstand, the situation of breaking the weft yarn 200 can be further reduced.

[0096] Combined with referring to Figure 2 , in an embodiment of the short weft processing method of the present invention, after the step of "controlling the weft withdrawing mechanism 20 to change the weft withdrawing angle", it further includes:

[0097] When the winding tensile force of the current winding rod 231 is less than the preset tensile force value that the weft yarn 200 can withstand, control the winding rod 231 to rotate again;

[0098] When the winding tensile force of the current winding rod 231 is greater than or equal to the preset tensile force value that the weft yarn 200 can withstand, control the winding rod 231 to remain stationary and control the alarm to sound an alarm.

[0099] With such a setting, when changing the weft withdrawing angle, if the winding tensile force of the adjusted winding rod 231 is less than the preset tensile force value that the weft yarn 200 can withstand, the winding rod 231 can be controlled to rotate again to wind and withdraw the weft yarn 200; if the winding tensile force of the adjusted winding rod 231 is still greater than or equal to the preset tensile force value that the weft yarn 200 can withstand, it means that only by changing the weft withdrawing angle, the winding tensile force of the winding rod 231 cannot be adjusted to be less than the preset tensile force value that the weft yarn 200 can withstand. At this time, control the winding rod 231 to remain stationary, and at the same time control the alarm to sound an alarm to wait for manual processing.

[0100] In actual application, the way the alarm sounds an alarm can be a warning light, or a warning sound, or both the warning light and the warning sound at the same time.

[0101] Combined with reference Figures 8 to 10 In one embodiment of the short weft processing method of the present invention, the step of "controlling the weft drawing mechanism 20 to change the weft drawing angle" includes:

[0102] Adjust the angle α between the vertical section a of the multi-joint robot arm of the weft drawing mechanism 20 and the vertical plane b of the stand of the loom 10; and / or, the weft drawing mechanism 20 includes a vertical guide rail 211, the length of the vertical guide rail 211 is H, and the weft drawing mechanism 20 is controlled to move up and down within the height range of H to adjust the height of the weft drawing mechanism 20 in the vertical direction.

[0103] With such a configuration, the height of the weft-drawing mechanism 20 in the vertical direction can be adjusted by adjusting the angle α between the vertical section a of the multi-joint mechanical arm of the weft-drawing mechanism 20 and the vertical surface b of the stand of the loom 10, or by controlling the weft-drawing mechanism 20 to move up and down within the height range H. The angle α between the vertical section a of the multi-joint mechanical arm of the weft-drawing mechanism 20 and the vertical surface b of the stand of the loom 10 and the height of the weft-drawing mechanism 20 in the vertical direction can also be adjusted simultaneously, and both of them can change the weft-drawing angle of the weft-drawing mechanism 20, which makes it easier to make the winding tension F_coiling of the adjusted winding rod 231 smaller than the maximum tension F_weft that the weft yarn 200 can withstand.

[0104] It should be noted that the loom 10 has a frame 111 , and the frame vertical surface b of the loom 10 is a vertical surface of the frame 111 .

[0105] Combined with reference Figures 8 to 10 In one embodiment of the short weft processing method of the present invention, the step of "adjusting the angle α between the vertical section a of the multi-joint mechanical arm of the weft drawing mechanism 20 and the vertical surface b of the stand of the loom 10" includes:

[0106] The multi-joint mechanical arm 22 is controlled to drive the winding mechanism 23 to rotate along the axis c of the vertical rotating arm. In this way, the winding mechanism 23 is driven to rotate along the axis c of the vertical rotating arm under the action of the multi-joint mechanical arm 23, so that the angle α between the vertical section a of the multi-joint mechanical arm of the weft drawing mechanism 20 and the vertical plane b of the stand of the loom 10 can be adjusted, and the adjustment steps are relatively simple and the reliability is high.

[0107] Combined with reference Fig. 9 In one embodiment of the short weft processing method of the present invention, the step of "controlling the weft drawing mechanism 20 to move up and down within the height range H to adjust the height of the weft drawing mechanism 20 in the vertical direction" includes:

[0108] The multi-joint mechanical arm 22 is controlled to drive the winding mechanism 23 to rise and fall in the vertical direction along the vertical guide rail 211. In this way, the winding mechanism 23 is driven to rise in the vertical direction along the vertical guide rail 211 under the action of the multi-joint mechanical arm 22, and the weft drawing mechanism 20 can be controlled to move up and down within the height range H to adjust the height of the weft drawing mechanism 20 in the vertical direction. The adjustment steps are relatively simple and the reliability is high.

[0109] In one embodiment of the short weft processing method of the present invention, when executing the step of "controlling the weft drawing mechanism 20 to change the weft drawing angle", it also includes:

[0110] The weft insertion mechanism is controlled to continuously provide the weft yarn 200 .

[0111] By such arrangement, the weft yarn 200 can be ensured to always pass through the winding rod 231 while changing the weft drawing angle of the weft drawing mechanism 20, so that the winding rod 231 with the changed angle can smoothly wind and draw off the weft yarn 200 when rotating.

[0112] Combined with reference Figure 2 , Figure 6 , Figure 7 In one embodiment of the short weft processing method of the present invention, before the step of "controlling the winding rod 231 of the weft drawing mechanism 20 to rotate", it also includes:

[0113] Control the loom 10 to reverse the opening;

[0114] The weft insertion nozzle 12 is controlled to spray at least one fluid.

[0115] In this arrangement, since the loom 10 cannot stop immediately after a short pick occurs during operation, the weft yarn 200 of the short pick is beaten into the cloth fell 500 by the beating mechanism. When the loom 10 stops, the weft yarn 200 of the short pick has been interwoven and surrounded by the warp yarn 300. Therefore, before drawing the pick, it is necessary to control the opening of the loom 10 to reverse to expose the weft yarn 200 in the cloth fell 500, so as to reduce the friction between the weft yarn 200 and the warp yarn 300 during the drawing process. In addition, although the weft yarn 200 after the reversal of the loom 10 is not in the interwoven warp yarn 300, there is still a large friction between it and the warp yarn 300. At this time, it is still difficult to directly pull out the weft yarn 200. Therefore, by controlling the weft insertion nozzle 12 to spray at least one fluid (water flow / air flow) toward the short weft yarn 200, the short weft yarn 200 near the cloth fell 500 can be further loosened and moved away from the cloth fell 500. This can further reduce the friction between the weft yarn 200 and the warp yarn 300 during the weft drawing process, thereby further reducing the situation of breaking the weft yarn 200.

[0116] In actual application, the weft insertion nozzle 12 can use a continuous spraying method or an interval dot spraying method to spray one or more streams of water / air.

[0117] Optionally, in one embodiment of the short weft processing method of the present invention, the step of "controlling the weft insertion nozzle 12 to spray at least one fluid" includes:

[0118] The weft insertion nozzle 12 is controlled to spray the fluid multiple times at intervals of a preset time.

[0119] In this way, by controlling the weft insertion nozzle 12 to spray fluid in intervals at a preset time, one or more streams of water / air can be sprayed in an interval spraying manner, which can better loosen the short weft yarn 200 near the cloth fell 500 and keep it away from the cloth fell 500.

[0120] In actual application, the weft insertion nozzle 12 can be controlled to spray a stream of fluid at preset intervals of 0.1s, 0.2s, 0.3s, etc.

[0121] Combined with reference Figure 2 In one embodiment of the short weft processing method of the present invention, before the step of "controlling the reversal of the weft insertion mechanism", the method further includes:

[0122] The scissors of the loom 10 are controlled not to cut the weft yarn 200 of the current short weft.

[0123] With such arrangement, after the loom 10 stops for the short weft, the scissors of the loom 10 are controlled not to cut the weft yarn 200 of the current short weft, so that the subsequent winding rod 231 can wind and extract the weft yarn 200.

[0124] Combined with reference Figure 2 In one embodiment of the short weft processing method of the present invention, before the step of "controlling the winding rod 231 of the weft drawing mechanism 20 to rotate", it also includes:

[0125] The weft drawing mechanism 20 is controlled to move from the standby position to the weft drawing position.

[0126] In this embodiment, when the weft drawing mechanism 20 is in the standby position, the weft drawing mechanism 20 does not work, and at this time the weft drawing mechanism 20 will not affect the normal operation of the loom 10; when the weft drawing mechanism 20 is in the weft drawing position, the weft drawing mechanism 20 is located near the short weft weft yarn 200, and the short weft weft yarn 200 passes through the winding rod 231 of the weft drawing mechanism 20.

[0127] After the step of "pulling off the weft yarn", it also includes:

[0128] The weft drawing mechanism 20 is controlled to move from the weft drawing position to the waste yarn collecting position; it should be noted that when the weft drawing mechanism 20 is located at the waste yarn collecting position, the weft drawing mechanism 20 is located above the waste yarn collecting device, that is, the weft yarn 200 wound on the winding rod 231 is also located above the waste yarn collecting device.

[0129] The weft drawing mechanism 20 is controlled to separate the wound weft yarn 200 from the winding rod 231 so as to be collected in the waste yarn collecting device. In practical application, the winding rod 231 can be retracted to separate the weft yarn 200 from the winding rod 231, or the weft yarn 200 can be pulled out from the winding rod 231 by toggling to separate the weft yarn 200 from the winding rod 231.

[0130] Controlling the weft drawing mechanism 20 to move from the waste yarn collecting position to the standby position;

[0131] The loom 10 is controlled to start.

[0132] In this way, when the winding rod 231 completes the winding and extraction of the short weft yarn 200, the weft extraction mechanism 20 is controlled to move from the weft extraction position to the waste yarn collection position so that the wound weft yarn 200 is located above the waste yarn collection device. At this time, the weft extraction mechanism 20 is controlled to separate the wound and extracted weft yarn 200 from the winding rod 231, and the weft yarn 200 can fall into the waste yarn collection device under the action of gravity for collection; then the weft extraction mechanism 20 is controlled to move to the standby position to wait for the next instruction, and at the same time, the loom 10 starts to work normally.

[0133] The present invention also proposes a loom control device, which includes a short weft processing method. The specific steps of the short weft processing method refer to the above-mentioned embodiment. Since the loom control device adopts all the technical solutions of all the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0134] Combined with reference Figures 3 to 15 The present invention further provides a loom 10, which includes a loom body 11 and a weft drawing mechanism 20, wherein the weft drawing mechanism 20 includes a base plate 21, a multi-joint mechanical arm 22 and a winding mechanism 23;

[0135] The base plate 21 is mounted on the loom body 11; the multi-joint mechanical arm 22 is escalably mounted on the base plate 21; the winding mechanism 23 is mounted on the free end of the multi-joint mechanical arm 22, and the multi-joint mechanical arm 22 drives the winding mechanism 23 to rotate along the axis c of the vertical rotating arm to adjust the angle α between the vertical section a of the multi-joint mechanical arm of the weft drawing mechanism 20 and the vertical plane b of the stand of the loom 10; the base plate 21 of the weft drawing mechanism 20 includes a vertical guide rail 211, and the length of the vertical guide rail 211 is H, The multi-joint robotic arm 22 is controlled to drive the winding mechanism 23 to move up and down along the vertical guide rail 211 within a height range of H to adjust the height of the weft drawing mechanism 20 in the vertical direction; the winding mechanism 23 has a winding rod 231, and the winding rod 231 is connected to a tension sensor; wherein, when the multi-joint robotic arm 22 drives the winding mechanism 23 to move from the standby position to the weft drawing position, the winding rod 231 rotates to wind and draw away the waste yarn, and the tension sensor is used to collect the winding tension of the winding rod 231.

[0136] In one embodiment, the loom 10 may further include a weft insertion mechanism, wherein the weft insertion mechanism is provided with a weft insertion nozzle 12 , and the weft insertion nozzle 12 is used to introduce the weft yarn 200 .

[0137] It can be understood that in this solution, the multi-joint robot arm 22 is installed on the base plate 21 in a liftable manner, and the winding mechanism 23 is installed at the free end of the multi-joint robot arm 22. The multi-joint robot arm 22 drives the winding mechanism 23 to rotate along the axis c of the vertical rotating arm to adjust the angle α between the vertical section a of the multi-joint robot arm of the weft drawing mechanism 20 and the vertical plane b of the stand of the loom 10; the base plate 211 of the weft drawing mechanism 20 includes a vertical guide rail 211, and the length of the vertical guide rail 211 is H. The multi-joint robot arm 22 is controlled to drive the winding mechanism 23 to move up and down along the vertical guide rail 211 within the height range of H to adjust the height of the weft drawing mechanism 20 in the vertical direction; and the winding mechanism 23 has a winding rod 231. It can be installed on the loom body 11 of the loom 10 through the base plate 21. When the loom 10 stops due to a short weft or broken weft fault, the weft drawing mechanism 20 is started, and the multi-joint mechanical arm 22 can be raised and lowered in the vertical direction, and can also drive the winding mechanism 23 to move in the horizontal direction. When the multi-joint mechanical arm 22 drives the winding mechanism 23 to move from the standby position to the weft drawing position, the winding mechanism 23 can be driven to rotate by the multi-joint mechanical arm 22, so that the winding rod 231 rotates, and the waste yarn drawn out of the weft insertion nozzle 12 can be wound and drawn by the winding rod 231. Therefore, when the present scheme realizes the real-time adjustment of the weft drawing angle by cooperating with the tension sensor of the weft drawing mechanism 20, the magnitude and direction of the weft drawing force can be adjusted as needed by utilizing the freedom of the weft drawing mechanism 20 in the horizontal and vertical directions.

[0138] In one embodiment, in conjunction with reference to Fig.11 The multi-joint robotic arm 22 is provided with a winding motor 24, and the winding motor 24 drives the winding mechanism 23 to rotate. In this way, by connecting the winding motor 24 to the multi-joint robotic arm 22, when the multi-joint robotic arm 22 drives the winding mechanism 23 to approach the weft insertion nozzle 12, the entire winding mechanism 23 can be smoothly driven to rotate by the winding motor 24, so as to extract the waste yarn through the rotating winding rod 231.

[0139] In one embodiment, in conjunction with reference to Fig.14 The winding mechanism 23 has at least two winding rods 231; the winding mechanism 23 also includes an opening and closing motor 232 and a winding wheel 233; the opening and closing motor 232 is connected to the free end of the multi-joint robotic arm 22; the winding wheel 233 is transmission-connected to the opening and closing motor 232, and the opening and closing motor 232 drives the winding wheel 233 to rotate; at least two winding rods 231 are distributed at intervals along the circumference of the winding wheel 233, and when the winding wheel 233 rotates, the at least two winding rods 231 are driven to shrink toward the center of the winding wheel 233, or to open to the surroundings.

[0140] It can be understood that before the weft yarn 200 is withdrawn, the winding wheel 233 is driven to rotate by the opening and closing motor 232, so that the at least two winding rods 231 are driven to open around the winding wheel 233 under the rotation of the winding wheel 233. At this time, the multi-joint robot arm 22 drives the winding mechanism 23 to approach the weft insertion nozzle 12, so that the at least two winding rods 231 can be arranged on both sides of the weft yarn 200. Then, the winding motor 24 drives the entire winding mechanism 23 to rotate, and the weft yarn 200 can be wound around the at least two winding rods 231. The outer periphery of the winding rod 231; then the multi-joint robotic arm 22 rises and deflects outward to transfer the weft yarn 200 wound on the winding rod 231 to the top of the waste collecting device; at this time, the opening and closing motor 232 drives the winding wheel 233 to reverse, so as to drive at least two winding rods 231 to shrink toward the center of the winding wheel 233. At this time, the wound weft yarn 200 loses support and can naturally fall off from the winding rod 231 under the action of gravity to fall into the waste collecting device, thereby realizing automatic collection of the weft yarn 200.

[0141] The present invention also provides a computer device, the computer device comprising: a memory, a processor, and a short weft processing method program stored in the memory and running on the processor, and when the short weft processing method is executed by the processor, the steps of the short weft processing method in any of the above embodiments are implemented. The specific steps of the short weft processing method refer to the above embodiments, and since the computer device adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0142] The present invention also provides a computer-readable storage medium, which stores a short weft processing method program. When the short weft processing method program is executed by a processor, the steps of the short weft processing method of any of the above embodiments are implemented. The specific steps of the short weft processing method refer to the above embodiments. Since the computer-readable storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0143] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A short weft processing method, characterized in that: The following steps are involved: When receiving the short weft signal, the loom is controlled to stop; Controlling the winding rod of the weft drawing mechanism to rotate so as to wind the weft yarn; Receiving the winding tension of the current winding rod collected by a tension sensor connected to the winding rod; When the winding tension of the current winding rod is greater than or equal to the preset tension value that the weft yarn can withstand, the winding rod is controlled to stop rotating, and the weft drawing angle of the weft drawing mechanism is adjusted to draw off the weft yarn.

2. The short weft processing method according to claim 1, characterized in that: Also includes: When the winding tension of the current winding rod is less than the preset tension value that the weft yarn can withstand, controlling the winding rod to continue rotating; When the winding tension of the current winding rod is equal to zero, the winding rod is controlled to stop rotating.

3. The short weft processing method according to claim 2, characterized in that: The preset tension value is the maximum tension value that the weft yarn can withstand * the weft drawing safety factor m, where 0.5 <m≤1。 4. The short weft processing method according to any one of claims 1 to 3, characterized in that: After the step of "controlling the weft drawing mechanism to change the weft drawing angle", the method further includes: When the winding tension of the current winding rod is less than the preset tension value that the weft yarn can withstand, controlling the winding rod to rotate again; When the winding tension of the current winding rod is greater than or equal to the preset tension value that the weft yarn can withstand, the winding rod is controlled to keep stopping rotation, and the alarm is controlled to sound an alarm.

5. The short weft processing method according to any one of claims 1 to 3, characterized in that: The step of "controlling the weft drawing mechanism to change the weft drawing angle" comprises: Adjusting the angle α between the vertical section of the multi-joint mechanical arm of the weft drawing mechanism and the vertical plane of the stand of the loom; And / or, the weft drawing mechanism includes a vertical guide rail, the length of the vertical guide rail is H, and the weft drawing mechanism is controlled to move up and down within a height range of H to adjust the height of the weft drawing mechanism in the vertical direction.

6. The short weft processing method according to claim 5, characterized in that: The step of "adjusting the angle α between the vertical section of the multi-joint mechanical arm of the weft drawing mechanism and the vertical plane of the stand of the loom" comprises: The multi-joint mechanical arm is controlled to drive the winding mechanism to rotate along the axis of the vertical rotating arm.

7. The short weft processing method according to claim 5, characterized in that: The step of "controlling the weft drawing mechanism to move up and down within a height range of H to adjust the height of the weft drawing mechanism in the vertical direction" includes: The multi-joint mechanical arm is controlled to drive the winding mechanism to rise and fall in the vertical direction along the vertical guide rail.

8. The short weft processing method according to any one of claims 1 to 3, characterized in that: When executing the step of "controlling the weft drawing mechanism to change the weft drawing angle", it also includes: Control the weft insertion mechanism to continuously supply weft yarn.

9. The short weft processing method according to any one of claims 1 to 3, characterized in that: Before the step of "controlling the rotation of the winding rod of the weft drawing mechanism", it also includes: Control the reversal of loom opening; The weft insertion nozzle is controlled to spray at least one fluid.

10. The short weft processing method according to claim 9, characterized in that: The step of "controlling the weft insertion nozzle to eject at least one fluid" comprises: The weft insertion nozzle is controlled to spray the fluid multiple times at preset intervals.

11. The short weft processing method according to any one of claims 1 to 3, characterized in that: Before the step of "controlling the rotation of the winding rod of the weft drawing mechanism", it also includes: Controlling the weft drawing mechanism to move from the standby position to the weft drawing position; After the step of "pulling off the weft yarn", it also includes: Controlling the weft drawing mechanism to move from a weft drawing position to a waste yarn collecting position; Controlling the weft drawing mechanism to separate the wound weft yarn from the winding rod so as to collect it into the waste yarn collecting device; Controlling the weft drawing mechanism to move from the waste yarn collecting position to the standby position; The loom is controlled to start.

12. A loom control device, characterized in that: The method comprises the short weft processing method as claimed in any one of claims 1 to 11.

13. A loom, characterized in that: include: Loom body; The weft drawing mechanism comprises: A base plate, the base plate being mounted on the loom body; A multi-joint mechanical arm, wherein the multi-joint mechanical arm is liftably disposed on the base plate; A winding mechanism, wherein the winding mechanism is arranged at the free end of the multi-joint mechanical arm, and the multi-joint mechanical arm drives the winding mechanism to rotate along the axis of the vertical rotating arm to adjust the angle α between the vertical section of the multi-joint mechanical arm of the weft-drawing mechanism and the vertical plane of the stand of the loom; the base plate of the weft-drawing mechanism comprises a vertical guide rail, the length of the vertical guide rail is H, and the multi-joint mechanical arm is controlled to drive the winding mechanism to move up and down along the vertical guide rail within the height range of H to adjust the height of the weft-drawing mechanism in the vertical direction; the winding mechanism has a winding rod, and the winding rod is connected to a tension sensor; When the multi-joint robotic arm drives the winding mechanism to move from the standby position to the weft drawing position, the winding rod rotates to wind and draw away the waste yarn, and the tension sensor is used to collect the winding tension of the winding rod.

14. A computer device, characterized in that: The computer device comprises: a memory, a processor, and a short weft processing method program stored in the memory and running on the processor. When the short weft processing method is executed by the processor, the steps of the short weft processing method according to any one of claims 1 to 11 are implemented.

15. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a short weft processing method program, and when the short weft processing method program is executed by a processor, the steps of the short weft processing method according to any one of claims 1 to 11 are implemented.

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