A jacquard opening transmission system and a design method thereof

Abstract

The application relates to a jacquard opening transmission system of a loom and a design method thereof, and belongs to the technical field of jacquard opening of looms. The transmission system comprises a main shaft, a crank rocker mechanism, a parallel four-bar linkage mechanism and two groups of parallel multi-link mechanisms. The multi-link mechanism comprises a rocker slider mechanism. The crank rocker mechanism drives the multi-link mechanism to move, so that vertical reciprocating motion and rotary motion of a lifting knife frame are realized to form an opening. The main shaft can be driven by a servo motor to realize variable speed input. The design method combines rigid body guidance and quick return characteristics. Design equations, transmission function models and evaluation models of the rocker slider mechanism and the crank rocker mechanism are constructed, and the size of the mechanism is optimized. The application has the advantages of low gravity center, simple motion range adjustment, high transmission efficiency, smooth motion and the like, is suitable for looms with different widths, and can improve weaving quality.

Description

Technical Field

[0001] This invention belongs to the field of jacquard shedding technology for looms, and particularly relates to a jacquard shedding transmission system for looms and its design method. Background Technology

[0002] In the field of textile machinery, the warp cutter holder is a key component of the jacquard shedding mechanism. It is primarily responsible for mechanically controlling the raising and lowering of the warp yarns to create an opening for the weft yarns to be introduced, thereby weaving specific patterns. Jacquard shedding is one of the commonly used shedding methods on looms, suitable for weaving complex large-pattern designs and offering high flexibility. Its transmission mechanism mainly comes in three forms: linkage drive, cam drive, and gear drive. In existing technologies, cam and gear drives have a high center of gravity, complex structure, and do not achieve complete balance.

[0003] Currently, there are two main types of opening stroke adjustment processes. One is to control the stroke by adjusting the length of the drive component and the pull rod, and the other is to adjust the stroke by adjusting the length of the lifting arm and the connecting rod of the lifting knife frame. The latter also requires controlling the position of the lifting knife frame when adjusting the opening, and its adjustment process is more complicated than the former. At present, traditional jacquard machines use mechanical vertical shafts for driving. This type of driving has obvious limitations and is not conducive to achieving variable speed drive control of the opening shape.

[0004] Existing representative products, such as Van der Weil's BONAS-Ji series, although they use linkage transmission to achieve complete balance and the opening stroke adjustment is convenient, still have shortcomings such as difficulty in achieving flexible speed change drive and complex balance configuration under different widths.

[0005] Therefore, there is an urgent need for a design method for an open transmission mechanism with a low center of gravity, easy stroke adjustment, and the ability to achieve variable speed drive. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a low center of gravity multi-parallel linkage loom jacquard shedding transmission system and its design method that can be driven by a servo motor.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: a jacquard shedding transmission system for a loom, including a main shaft. O 1 O '1. A crank-rocker mechanism, a parallel four-bar linkage, a first multi-bar linkage, and a second multi-bar linkage, wherein the first multi-bar linkage and the second multi-bar linkage are arranged in parallel.' The first multi-link mechanism is a symmetrical structure, with one side including a first fixed hinge point. O 2 (The symmetrical side is) O '2) Rocker-slider mechanism I and rocker-slider mechanism II, wherein rocker-slider mechanism I includes rocker I and connecting rod I, and rocker I revolves around a first fixed hinge point.O 2. The rocker arm I reciprocates and oscillates, transmitting motion through connecting rod I, driving the lifting tool holder I to reciprocate linearly up and down along the vertical guide rail; the rocker arm slider mechanism II includes rocker arm II and connecting rod II, and the rocker arm II revolves around the first fixed hinge point. O 2. The rocker arm II reciprocates and swings, and transmits the motion through the connecting rod II, which drives the tool holder II to make up-and-down reciprocating linear motion along the vertical guide rail; The second multi-link mechanism has a symmetrical structure, with one side including a second fixed hinge point. O 3 (The symmetrical side is) O '3) Rocker-slider mechanism III and rocker-slider mechanism IV, wherein rocker-slider mechanism III includes rocker III and connecting rod III, and rocker III revolves around the second fixed hinge point. O 3. Reciprocating oscillation: The rocker arm III transmits motion through connecting rod III, driving the tool holder III to perform reciprocating linear motion up and down along the vertical guide rail; the rocker arm slider mechanism IV includes rocker arm IV and connecting rod IV, and the rocker arm IV revolves around the second fixed hinge point. O 3. Reciprocating oscillation: The rocker arm IV transmits motion through the connecting rod IV, driving the tool holder IV to make reciprocating linear motion up and down along the vertical guide rail; The crank-rocker mechanism is an asymmetrical structure, with one side including crank I, connecting rod V, and rocker V. Crank I has a fixed hinge point around the main shaft. O 1. When crank I rotates, the motion is transmitted through connecting rod V, causing rocker arm V to rotate around the first fixed hinge point. O 2. The swinging motion causes rocker arm I, rocker arm II, and rocker arm VI to swing around the first fixed hinge point. O 2. Rotation; the other side includes crank II, connecting rod VII, and rocker IX, wherein crank II is fixed at the hinge point around the main shaft. O When crank II rotates, it transmits motion through connecting rod VII, causing rocker arm IX to rotate around the first fixed hinge point. O '2' swings, thereby causing rocker arm X, rocker arm XI, and rocker arm XII to swing around the first fixed hinge point. O '2 Rotate; Adjusting the length of crank I and connecting rod V, and crank II and connecting rod VII can adjust the swing angle of rocker V and rocker IX, thereby controlling the opening stroke of tool holder I and tool holder II, and the opening strokes on both sides are different; The parallel four-bar linkage is a symmetrical mechanism, with one side including rocker VI, connecting rod VI, and rocker VII. The rocker VI is connected around the first fixed hinge point. O 2. The rocker arm VI transmits motion through connecting rod VI, causing the rocker arm VII to swing around the second fixed hinge point. O 3. The swinging motion causes rocker arm III and rocker arm IV to swing around the second fixed hinge point. O 3. Rotation; The spindle O 1 O '1' is the input axis, and this spindle... O 1O '1' is directly driven by a servo motor via a reducer or by the loom spindle via a vertical shaft transmission system. Speed ​​input can be achieved by controlling the servo motor. Through a crank-rocker mechanism and various rocker-slider mechanisms, the lifting blade holders I, II, III, and IV achieve vertical reciprocating motion and rotational motion within this plane, thus creating an opening. It can be seen that the main body of the transmission system is located below the lifting blade holders, resulting in a low center of gravity.

[0008] Furthermore, the first multi-link mechanism and the second multi-link mechanism have the same dimensions.

[0009] Furthermore, the second fixed hinge point O The 3 also has a joystick VIII attached.

[0010] Furthermore, the rocker arm I, rocker arm II, rocker arm III, rocker arm IV, rocker arm V, rocker arm VI, rocker arm VII, and rocker arm VIII are all fixed cross-shaped rotary rocker arms.

[0011] Furthermore, the crank and connecting rod V controls the rear opening stroke, while the crank and connecting rod VII on the symmetrical side controls the front opening stroke. During opening stroke adjustment, the front and rear opening strokes can be controlled by adjusting the dimensions of different cranks and connecting rods. To facilitate opening stroke adjustment and ensure the overall leveling control angle... F 1= F 3a =90 0 Transmission system O 1 O The overall spacing of 3 remains unchanged, but is adjusted... O 1 O 2. O 2 O The spacing of the three gauges meets the requirements for different stitch counts, and in summary, the process adjustment is convenient. The standardization of the quality of connecting rods V2 and VI8 ensures that their quality is equal across different widths, facilitating balanced configuration.

[0012] Furthermore, in the horizontal position, the crank is parallel to and perpendicular to the horizontal direction of rocker arm V, rocker arm VI, and rocker arm VII, rocker arm I, rocker arm II, rocker arm III, and rocker arm IV are in the horizontal direction, and tool holder I, tool holder II, tool holder III, and tool holder IV are on the same horizontal line.

[0013] This invention also provides a design method for a jacquard shedding drive system for a loom, comprising the following steps: Starting from the opening stroke of the tool holder, the rocker-slider mechanism and the crank-rocker mechanism are designed by combining rigid body guidance and quick-return characteristics.

[0014] S1. Design of the rocker-slider mechanism: The rocker-slider mechanism is the main actuator for the up-and-down movement of the tool holder to form an opening. The rocker-slider mechanism includes rocker-slider mechanism I, rocker-slider mechanism II, rocker-slider mechanism III, and rocker-slider mechanism IV. The four rocker-slider mechanisms have the same structure.

[0015] C 1. C 2. C 3 represents the horizontal and vertical limit positions of joystick I, respectively, and their corresponding positions are: I 1. I 2. I 3. The opening stroke and position of the tool holder I are known. The rigid body-guided equations are as follows: (1); In the formula: [ C j ]=[ D 1j ][ C 1];[ C 1] is C 1. Position coordinates of point; [ D 1j [] represents the rigid body from position 1 to position 2. j The displacement matrix; C j ]for C j The position coordinates of the point; O 2] is the first fixed hinge point O The position coordinates of 2; j =2,3….

[0016] (2) In the formula, S 12 , S 13 The knife holder I is located at point I 1 and I 2. I Displacement between 3; S For the opening stroke.

[0017] This design takes j =3, with points I The coordinates of 1 ( I 1x , I 1y In the substitution formula (1) O 2. Can be calculated C The coordinates of point 1 ( C 1x , C 1yFrom this, we can obtain the lengths of rocker arm I and connecting rod I, as well as the swing angle of rocker arm I. ψ They are respectively: (3) In the formula: M =( I 1x - S / 2) 2 + I 1y 2 , N =( I 1x + S / 2) 2 + I 1y 2 ; l 3b The length of rocker arm I; The first fixed hinge point O 2 to C point( C 1. C 2. C 3) Length; l 4 represents the length of link I; l CI for C 1 o'clock I The length of point 1 (or C 2 o'clock I The length of 2 points, or C 3 o'clock I (Length of 3 points).

[0018] Joystick I in the overall position C At time 1, the deflection angle relative to the horizontal direction ψ C1 for: (4) S2. Crank-rocker mechanism design: A , A '、 A "These represent the upper and lower limits of the crank and the center position, respectively, corresponding to the position of joystick V." B , B '、 B "Let the first fixed hinge point..." O The coordinates of 2 are ( O 2x , O 2y ), rack length b 1. Deflection angle with the frame β They are respectively: (5) In the formula, Main spindle fixed hinge point O 1 to the first fixed hinge point O The distance is 2.

[0019] l 1 represents the length of the crank. l 3a The length of joystick V. l Let 2 be the length of link V, and let... l 1 / l 3a = a , l 2 / l 3a = d , b 1 / l 3a = c ,and c Given that, we can deduce that: (6) In the formula, lBB' For point BB' The distance between them.

[0020] exist △O 1 BB ', △O 2 O 1 B ', △ O 2 O 1 B Using the Law of Cosines, we can obtain: (7) In the formula, i This is the extreme position angle; α Joystick V is located in B 'Time and b The included angle of 1; a , d , α It is an unknown quantity.

[0021] S3. Establish the transmission function model of the tool lifting frame transmission mechanism: Among them, the parallel four-bar linkage composed of rocker VI, rocker VII, connecting rod VI and the frame has a transmission function of 1.

[0022] The crank-rocker mechanism has the following transmission function model: (8) In the formula, f 1. f3a represents the angular displacement of the crank and rocker arm V, respectively.

[0023] The transmission function model of the rocker-slider mechanism is as follows: (9) In the formula, H This is the actual value of the opening stroke of tool holder I; f 3b represents the angular displacement of the rocker arm I loom jacquard shedding drive system. f 3b= f 3a- β -π / 2.

[0024] S4. Establish an evaluation model for the tool lifting frame transmission mechanism: S41. Opening stroke evaluation model: Swing angle deviation rate Eps for: (10) Stroke deviation rate δS for: (11) S42. Evaluation model for consistency of two comprehensive levels: The evaluation model for complex openings is as follows: (12) Consistency deviation rate between two comprehensive assessments δSK for: (13) In the formula: K =90 0 270 0 , H 90 0 , H 270 0 They are respectively when f 1 is 90 0 and 270 0 The actual movement of the tool holder during lifting.

[0025] S43. Evaluation model for the overall control angle of the crank-rocker mechanism: (14) In the formula: .

[0026] S44. Transmission efficiency evaluation model: (15) In the formula: c min1、 c min2 and cmin3 represents the minimum transmission angle of the crank-rocker mechanism, the rocker-slider mechanism, and the parallel four-bar linkage, respectively. .

[0027] In summary, the beneficial effects of the present invention are as follows: (1) The present invention is driven by a servo motor, and the shape of the opening can be changed by controlling the motor function input.

[0028] (2) The open stroke process is easy to adjust. Only the length of the crank and connecting rod V needs to be changed. When adjusting, the crank and rocker V are perpendicular to the horizontal direction.

[0029] (3) Achieve complete balance, facilitate balanced configuration, and only need to adjust the counterweight according to the opening stroke under different widths. m E1 Location is sufficient.

[0030] (4) Flexible stroke adjustment: the stroke of the front opening is adjustable from 50 to 75 mm, and the stroke of the rear opening is adjustable from 95 to 120 mm, with a maximum stroke deviation rate of only 0.062%; (5) Good heddle uniformity: The maximum deviation rate of the uniformity between two heddle levels is 6.28%, which is suitable for compound symmetrical opening weaving; (6) High transmission efficiency: The minimum transmission angle is ≥70.36°, which is higher than the allowable value of 60°. The mechanism moves smoothly and consumes little energy. (7) Compact structure: It adopts a multi-parallel linkage integrated design, which lowers the center of gravity of the mechanism, is compatible with looms of different widths, and has strong versatility; (8) Smooth movement: Supports servo motor cycloidal function input, the speed and acceleration of the lifting frame change from zero, without impact, and the weaving quality is excellent. Attached Figure Description

[0031] The present invention will be described in detail below with reference to the accompanying drawings and examples. The advantages and implementation methods of the present invention will become more apparent from this description. The accompanying drawings are for illustrative purposes only and do not constitute any limitation on the present invention. In the accompanying drawings: Figure 1 This is a schematic diagram of the structure of the present invention.

[0032] Figure 2 This is a schematic diagram of a single-sided structure of the present invention.

[0033] Figure 3 This is a schematic diagram of the design principle of the rocker slider mechanism of the present invention.

[0034] Figure 4 This is a schematic diagram of the design principle of the crank-rocker mechanism of the present invention.

[0035] Figure 5 This is a schematic diagram showing the change of the leveling control angle when the leveling position is as described in this invention.

[0036] Figure 6 This is a schematic diagram showing the variation of the tool holder opening stroke deviation rate under different widths according to the present invention.

[0037] Figure 7 The extreme position angle of the crank-rocker mechanism of this invention. i A diagram illustrating the changes.

[0038] Figure 8 This is the consistency deviation rate of two comprehensive leveling operations under different widths according to the present invention. d S900 and d S2700 Diagram illustrating the changes.

[0039] Figure 9 This is the minimum transmission angle of the crank-rocker mechanism of the present invention. c min1 Minimum transmission angle of rocker-slider mechanism c min2 The minimum transmission angle of a parallel four-bar linkage c min3 A diagram illustrating the changes.

[0040] Figure 10 This is a schematic diagram of the balance model of the transmission system of the present invention.

[0041] Figure 11 This is a schematic diagram of the motion law of the tool holder of the present invention.

[0042] Figure 12 This is a schematic diagram showing the positional relationship of the knife holder when the opening is formed according to the present invention.

[0043] In the picture: 1. Crank I; 2. Connecting rod V; 4. Connecting rod I; 5. Tool holder I; 6. Connecting rod II; 7. Tool holder II; 8. Connecting rod VI; 10. Connecting rod III; 11. Tool holder III; 12. Connecting rod IV; 13. Tool holder IV; 1'. Crank II; 2'. Connecting rod VII; 3a. Rocker V; 3b. Rocker I; 3c. Rocker VI; 3d. Rocker II; 9a. Rocker VIII; 9b. Rocker III; 9c. Rocker VII; 9d. Rocker IV; 3a'. Rocker IX; 3b'. Rocker X; 3c'. Rocker XII; 3d'. Rocker XI. Detailed Implementation

[0044] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the preferred embodiments.

[0045] like Figure 1 and Figure 2 As shown, a jacquard shedding drive system for a loom includes a main shaft. O 1O 1. A crank-rocker mechanism, a parallel four-bar linkage, a first multi-bar linkage, and a second multi-bar linkage, wherein the first multi-bar linkage and the second multi-bar linkage are arranged in parallel.

[0046] The first multi-link mechanism is a symmetrical structure, with one side including a first fixed hinge point. O 2 (The symmetrical side is) O '2) Rocker-slider mechanism I and rocker-slider mechanism II, wherein rocker-slider mechanism I includes rocker I3b and connecting rod I4, and rocker I3b is connected around the first fixed hinge point. O 2. The rocker arm I3b reciprocates and transmits motion through connecting rod I4, driving the tool holder I5 to reciprocate linearly up and down along the vertical guide rail; the rocker arm slider mechanism II includes rocker arm II3d and connecting rod II6, and the rocker arm II3d revolves around the first fixed hinge point. O 2. The rocker arm II3d reciprocates and transmits motion through the connecting rod II6, driving the tool holder II7 to make up-down reciprocating linear motion along the vertical guide rail.

[0047] The second multi-link mechanism has a symmetrical structure, with one side including a second fixed hinge point. O 3 (The symmetrical side is) O '3) Rocker-slider mechanism III and rocker-slider mechanism IV, wherein rocker-slider mechanism III includes rocker III 9b and connecting rod III 10, and rocker III 9b is connected around the second fixed hinge point. O 3. Reciprocating oscillation: The rocker arm Ⅲ9b transmits motion through connecting rod Ⅲ10, driving the tool holder Ⅲ11 to reciprocate linearly up and down along the vertical guide rail; the rocker arm slider mechanism Ⅳ includes rocker arm Ⅳ9d and connecting rod Ⅳ12, and the rocker arm Ⅳ9d revolves around the second fixed hinge point. O 3. The rocker arm Ⅳ9d reciprocates and transmits motion through the connecting rod Ⅳ12, driving the tool holder Ⅳ13 to make up-down reciprocating linear motion along the vertical guide rail.

[0048] The crank-rocker mechanism is an asymmetrical structure, with one side including crank I1, connecting rod V2, and rocker V3a. The crank I1 has a fixed hinge point around the main shaft. O 1. When the crank I1 rotates, the motion is transmitted through the connecting rod V2, which drives the rocker arm V3a to rotate around the first fixed hinge point. O 2. The swinging motion causes rocker arms I3b, II3d, and VI3c to swing around the first fixed hinge point. O 2. Rotation; the other side includes crank II1', connecting rod VII2', and rocker IX3a', wherein the crank II1' is fixed at the hinge point around the main shaft. O When crank '1' rotates, the crank 'II1' transmits motion through connecting rod 'VII2', causing rocker arm 'IX3a' to rotate around the first fixed hinge point. O '2' swings, thereby causing rocker arm X3b', rocker arm XI3d', and rocker arm XII3c' to swing around the first fixed hinge point.O '2 rotate; adjusting the length of crank I1 and connecting rod V2, crank II1' and connecting rod VII2' can adjust the swing angle of rocker V3a and rocker IX3a', thereby controlling the opening stroke of tool holder I5 and tool holder II7, and the opening strokes on both sides are different.

[0049] The parallel four-bar linkage is a symmetrical mechanism, with one side including rocker arm VI3c, connecting rod VI8, and rocker arm VII9c. The rocker arm VI3c is connected around the first fixed hinge point. O 2. The rocker arm VI3c swings, transmitting motion through connecting rod VI8, causing rocker arm VII9c to swing around the second fixed hinge point. O 3. The swinging motion causes rocker arm III9b and rocker arm IV9d to swing around the second fixed hinge point. O 3. Rotate.

[0050] The spindle O 1 O '1' is the input axis, and this spindle... O 1 O '1 is driven directly by a servo motor via a reducer or by the loom spindle via a vertical shaft transmission system. Speed ​​input can be achieved by controlling the servo motor. Through the crank rocker mechanism and each rocker slider mechanism, the lifting knife holder I5, lifting knife holder II7, lifting knife holder III11 and lifting knife holder IV13 can achieve vertical reciprocating motion and generate rotation in this plane.

[0051] The first multi-link mechanism and the second multi-link mechanism have the same dimensions.

[0052] Wherein, the second fixed hinge point O The 3 is also connected to a joystick VIII9a.

[0053] Among them, rocker I 3b, rocker II 3d, rocker III 9b, rocker IV 9d, rocker V 3a, rocker VI 3c, rocker VII 9c, and rocker VIII 9a are all fixed cross-shaped rotary rockers.

[0054] Among them, such as Figure 12 As shown, crank 1 and connecting rod V2 control the rear opening stroke, while crank 1' and connecting rod VII2' control the front opening stroke. During opening stroke adjustment, the front and rear opening strokes can be controlled by adjusting the dimensions of different cranks and connecting rods. To facilitate opening stroke adjustment and ensure the overall leveling control angle... F 1= F 3a =90 0 Transmission system O 1 O The overall spacing of 3 remains unchanged, but is adjusted... O 1 O 2. O 2 OThe spacing of the three gauges meets the requirements for different stitch counts, and in summary, the process adjustment is convenient. The standardization of the quality of connecting rods V2 and VI8 ensures that their quality is equal across different widths, facilitating balanced configuration.

[0055] When in the horizontal position, crank 1 is parallel to rocker arm V3a, rocker arm VI3c, and rocker arm VII9c and perpendicular to the horizontal direction. Rocker arm I3b, rocker arm II3d, rocker arm III9b, and rocker arm IV9d are in the horizontal direction. Tool holder I5, tool holder II7, tool holder III11, and tool holder IV13 are on the same horizontal line.

[0056] This invention also provides a design method for a jacquard shedding drive system for a loom, comprising the following steps: Starting from the opening stroke of the tool holder, the rocker-slider mechanism and the crank-rocker mechanism are designed by combining rigid body guidance and quick-return characteristics.

[0057] S1. Design of the rocker-slider mechanism: The rocker-slider mechanism is the main actuator for the up-and-down movement of the tool holder to form an opening. The rocker-slider mechanism includes rocker-slider mechanism I, rocker-slider mechanism II, rocker-slider mechanism III, and rocker-slider mechanism IV. Since the four rocker-slider mechanisms have the same structure, rocker-slider mechanism I is taken as an example.

[0058] like Figure 3 As shown, C 1. C 2. C 3 represents the horizontal and vertical limit positions of joystick I3b, respectively, which correspond to the positions of the tool holder I5. I 1. I 2. I 3. The opening stroke and position of the tool holder I5 are known. The rigid body guiding equation is: (1); In the formula: [ C j ]=[ D 1j ][ C 1];[ C 1] is C 1. Position coordinates of point; [ D 1j [] represents the rigid body from position 1 to position 2. j The displacement matrix; C j ]for C j The position coordinates of the point; O 2] is the first fixed hinge point O The position coordinates of 2; j =2,3….

[0059] (2) In the formula, S 12 , S 13 The knife holder I5 is located at point I 1 and I 2. I Displacement between 3; S For the opening stroke.

[0060] This design takes j =3, with points I The coordinates of 1 ( I 1x , I 1y In the substitution formula (1) O 2. Can be calculated C The coordinates of point 1 ( C 1x , C 1y From this, we can obtain the lengths of rocker arm I3b and connecting rod I4, and the swing angle of rocker arm I3b. ψ They are respectively: (3) In the formula: M =( I 1x - S / 2) 2 + I 1y 2 , N =( I 1x + S / 2) 2 + I 1y 2 ; l 3b The length of rocker arm I3b; The first fixed hinge point O 2 to C point( C 1. C 2. C 3) Length; l 4 represents the length of link I4; l CI for C 1 o'clock I The length of point 1 (or C 2 o'clock I The length of 2 points, or C 3 o'clock I (Length of 3 points).

[0061] Joystick I3b in the overall position C At time 1, the deflection angle relative to the horizontal direction ψ C1 for: (4) S2. Crank-rocker mechanism design: like Figure 4 As shown: A , A '、 A "These are the upper and lower limit positions and the overall level position of crank 1, corresponding to the position of joystick V3a." B , B '、 B "Let the first fixed hinge point..." O The coordinates of 2 are ( O 2x , O 2y ), rack length b 1. Deflection angle with the frame β They are respectively: (5) In the formula, Main spindle fixed hinge point O 1 to the first fixed hinge point O The distance is 2.

[0062] l 1 represents the length of crank 1. l 3a The length of joystick V3a l Let 2 be the length of link V2, and let l 1 / l 3a = a , l 2 / l 3a = d , b 1 / l 3a = c ,and c Given that, we can deduce that: (6) In the formula, lBB' For point BB' The distance between them.

[0063] exist △O 1 BB ', △O 2 O 1 B ', △O 2 O 1 B Using the Law of Cosines, we can obtain: (7) In the formula, i This is the extreme position angle; α For joystick V3a located at B 'Time and b The included angle of 1; a , d , α It is an unknown quantity.

[0064] S3. Establish the transmission function model of the tool lifting frame transmission mechanism: based on Figure 2 A coordinate system is used to establish a transmission function model. The parallel four-bar linkage consisting of rocker arm VI3c, rocker arm VII9c, connecting rod VI8, and the frame has a transmission function of 1.

[0065] The crank-rocker mechanism has the following transmission function model: (8) In the formula, f 1. f 3a represents the angular displacement of crank 1 and rocker arm V3a, respectively.

[0066] The transmission function model of the rocker-slider mechanism is as follows: (9) In the formula, H This is the actual value of the opening stroke of the tool holder I5; f 3b represents the angular displacement of joystick I 3b. f 3b= f 3a- β -π / 2.

[0067] S4. Establish an evaluation model for the tool lifting frame transmission mechanism: S41. Opening stroke evaluation model: Swing angle deviation rate Eps for: (10) Stroke deviation rate δS for: (11) S42. Evaluation model for consistency of two comprehensive levels: The evaluation model for complex openings is as follows: (12) Consistency deviation rate between two comprehensive assessments δSK for: (13) In the formula: K =90 0 270 0 , H 90 0 , H 270 0 They are respectively when f 1 is 90 0 and 270 0 The actual movement of the tool holder during lifting.

[0068] S43. Evaluation model for the overall control angle of the crank-rocker mechanism: (14) In the formula: .

[0069] S44. Transmission efficiency evaluation model: (15) In the formula: c min1、 c min2 and c min3 represents the minimum transmission angle of the crank-rocker mechanism, the rocker-slider mechanism, and the parallel four-bar linkage, respectively. .

[0070] Design results and verification: The design parameters are shown in Table 1: Table 1 Basic design parameters of the tool lifting post transmission mechanism

[0071] Design results of the rocker-slider mechanism: Table 2 Design Results of the Rocker-Slider Mechanism

[0072] As shown in Table 2, different opening strokes S The dimensional design results of the rocker-slider mechanism under the given conditions. Table 2 shows the swing angle of rocker I3b. ψ , Overall deflection angle ψ C1 Length of connecting rod I4 l 4. All increase with the increase of the opening stroke S, and different opening strokes S Length of lower joystick I3b l 3b Basically the same. Among them, the overall deflection rate (| ψ C1 | / ψ The maximum value is 1.613%. lThe change in 4 is relatively small, with a maximum increase of 0.356%. To ensure structural consistency across different opening heights, we take... l 3b = I 1y =185mm l 4 = 472mm.

[0073] Verification of the swing angle offset rate of the rocker-slider mechanism: Table 3 Joystick Angle Offset Rate

[0074] As shown in Table 3, the swing angle is... ψ y Its offset E ψ Changes. Table 3 shows that when… l 3b =185mm l When 4=472mm, with the opening stroke S The increase, E ψ The trend shows an initial increase followed by a decrease, and the swing angle of joystick I3b decreases in all cases. (Before and after rounding) l 3b The same applies in the later opening stage, but l The closer 4 is to the integer value, the greater the offset rate of the pendulum angle at the rear opening step. E ψ Gradually decrease. Specifically, during the opening phases before and after... E ψ The maximum value is -0.008%, which can be ignored. Therefore, it can be assumed that the swing angle of the rocker arm I3b remains unchanged after rounding, which can meet the requirements of the front and rear opening tool holder.

[0075] Verification of the crank-rocker mechanism: like Figure 5 As shown, the leveling control angle changes when the target position is reached. Figure 5 (a) is the control angle of crank 1. F The changes in 1, Figure 5 (b) is the overall control angle of joystick V3a. F 3a The changes. From Figure 5 It can be seen that as the opening stroke S of the tool holder I5 increases, the control angle of the crank 1 leveling system also increases. F 1. Overall control angle with joystick V3a F 3a Overall, all three width lengths showed an upward trend; a comparison of three different width lengths... O 2x It can be seen that, F 3a FollowO 2x The increase and decrease, and F 1 and F 3a The range of variation is 90 0 ±0.3 0 With 90 0 +1 0 None of them meet the requirements. F 1= F 3a =90 0 Due to design requirements, the crank-rocker mechanism was further optimized.

[0076] Optimization of the crank-rocker mechanism: To ensure ease of process adjustment, the leveling control angle is manually set to strictly meet the requirements. F 1= F 3a =90 0 Ensure the length of crank 1 (which can be an eccentric disc) is met. l 1 and the length of joystick V3a l 3a Assuming that the following remain unchanged, then crank 1, connecting rod V2, and the first fixed hinge point... O 2. Forming a right triangle, by the Pythagorean theorem, we can obtain: (16) Table 4 Different width lengths O 2x Dimensional optimization results of the lower crank rocker mechanism

[0077] Verification of the tool holder transmission system: Based on the above design results, the process indicators such as the opening stroke, the consistency of the two opening mantles (double-action opening), and the transmission efficiency of the tool holder transmission system were verified.

[0078] Verification of the tool holder opening stroke: As can be seen from the above E ψ The design requirements have been met, so only the deviation rate of the tool holder opening stroke needs to be verified. d S That's all.

[0079] like Figure 6 As shown, the variation of the tool holder opening stroke deviation rate under different widths is... Figure 6 It can be seen that the opening movement... S The increase, d SThe initial stroke (50-75mm) generally shows a decreasing trend, while the subsequent stroke (95-120mm) generally shows an increasing trend. However, the actual stroke is often greater than the theoretical stroke. This is due to the optimized transmission function of the crank-rocker mechanism, which first reduces and then increases the difference between the actual and designed rocker angles, but the actual angles are always greater than the designed angles. This variation occurs at different widths. O 2x Down, d S The front opening range is basically consistent, with a maximum value of 0.062% and a deviation of 0.031mm. The rear opening range varies with the width of the door. O 2x The value decreases as the value increases, with maximum values ​​of 0.028%, 0.026%, and 0.024%, and deviations of 0.034 mm, 0.031 mm, and 0.029 mm, respectively. However, all of these values ​​conform to the opening stroke deviation. d S | ≤2% of design requirements.

[0080] Open-ended double-level consistency verification: The requirements for compound sheathing must be met, that is, the loom spindle must be guaranteed. O 1 O '1 corner f 1 in 0 0 ~180 0 and 180 0 ~360 0 After completing two openings, the crank-rocker mechanism should have a non-quick-return characteristic, such as... Figure 7 As shown, the extreme position angle i The changes are shown in the figure. As can be seen from the figure, different width lengths... O 2x Next, when O 2x =1200mm i The maximum value is 6.93. 0 ×10 -14 It can be ignored, so it can meet the process requirements.

[0081] loom spindle O 1 O '1 in 90 0 With 270 0 When the average time reaches the leveling position, it is necessary to ensure the consistency deviation between the two leveling operations, such as... Figure 8 As shown, the deviation rate under different widths d S 900 and d S 2700 Changes Figure 8 (a) is d S 900 , Figure 8 (b) is d S 2700 .Depend on Figure 8 It can be seen that, d S 900 and d S 2700 All follow the opening stroke S It increases with the increase of the width length. O 2x The increase and decrease, under the same conditions, both have d S 2700 Greater than d S 900 This is because the crank-rocker mechanism has a quick-return characteristic, causing the tool holder to open at different times. Furthermore, under the influence of the four-bar linkage's transmission function, the spindle... O 1 O '1 rotates 270 degrees 0 The actual swing angle of the joystick is greater than 90 degrees. 0 At that time, it was greater than half of the designed swing angle, but as... S The reduction and O 2x As the value increases, the actual swing angle gets closer to half of the designed swing angle. Among these, as... O 2x The increase, d S 2700 The maximum values ​​were 6.28%, 5.07%, and 4.26%, respectively, with deviations of 3.75, 3.04, and 2.55 mm. Therefore, the consistency of the two leveling operations (deviation rate) can be guaranteed under different gate widths and opening strokes. d SK |≤8%).

[0082] Transmission system transmission efficiency verification: like Figure 9 As shown, the minimum transmission angle of the crank-rocker mechanism c min1 Minimum transmission angle of rocker-slider mechanism c min2 The minimum transmission angle of the parallel four-bar linkage c min3 The changes. From Figure 9 (a) It can be seen that, c min1 With opening stroke S It decreases as the width length increases.O 2x The width increases, but the increase is relatively small, among which the three widths c min1 The minimum value is 70.36. 0 As shown in Figure (b), in the rocker-slider mechanism and the parallel four-bar linkage, the minimum transmission angle is... c min2 and c min3 All follow the opening movement. S It increases and decreases, with its minimum value being 88.78. 0 and 71.08 0 The minimum transmission angle is greater than 60° under different opening strokes. 0 .

[0083] Balance of the tool holder drive system: like Figure 10 As shown, let the counterweights have masses of 1 / 2 and 2 / 3 respectively. m E1 and m E2 The mass of crank 1 is m 1. The mass is the same under different opening strokes; connecting rod VI8 is a uniform rod with a mass of m 8; The mass of connecting rod V2 is replaced using the mass substitution method. m 2nd generation to A , B Two points: the mass of connecting rod VI8 m 8th generation replacement D , F Two points, then the substituted masses are expressed as follows: (17) (18) According to the formula for perfect balance of oscillating forces, we can obtain: (18) In the formula, m A and m B Let V2 be the equivalent mass at both ends of link V2; m D and m F Let be the equivalent mass at both ends of rod VI8; r 1 is the fixed hinge point from the center of mass of crank 1 to the main shaft. O A distance of 1; l SA and l SB The distance from the center of mass of connecting rod V2 to both ends is given by a mass-to-diameter ratio of 0.334:0.667.l SD and l SF The distances from the center of mass of connecting rod VI8 to both ends are equal; l E1 and l E2 These are the fixed hinge points of the spindle. O 1 and the first fixed hinge point O 2 counterweight distance; m E1 and m E2 Separate spindle fixed hinge points O 1 and the first fixed hinge point O The counterweight mass of 2.

[0084] As can be seen from the above, m B = m D Therefore, m 8=2 m B When the center of mass r 1= l 1 / 2, counterweight position l E1 = l At time 1, we can obtain: m E1 = m A + m 1 / 2, with l 1. Since the counterweight mass is the same under different opening strokes, the counterweight position is different.

[0085] Using a width of 1000mm as a baseline, and assuming the mass is 7.21kg regardless of the width, with a mass-to-diameter ratio of 0.334:0.666, then, according to the mass substitution method, the equivalent masses at both ends of connecting rod V2 are as follows: m A =4.8kg m B =2.41kg m 8 = 4.82 kg, with the counterweight positioned at different fabric widths. l E1 = l 1 has m E1 = m A + m 1 / 2 = 6.72 kg; l E2 = l 9c Then we have m E2 =2.41kg.

[0086] Motion law analysis of the tool holder transmission system: This invention can be driven by a servo motor. Taking an opening stroke of 120m as an example, and using uniform speed input and cycloidal function input as examples, such as... Figure 11 As shown, the motion law of the tool holder under two inputs is as follows: Figure 11 (a) represents the displacement law. Figure 11 (b) represents the speed law. Figure 11 (c) shows the acceleration law. From Figure 11 It can be seen that compared with uniform input, when using cycloidal function input, the velocity and acceleration of the lifting frame start from 0, resulting in better motion stability and no impact. However, the peak values ​​of velocity and acceleration are relatively increased. Under both inputs, the overall displacement of the lifting frame remains unchanged, but the time it takes to reach the heddle level differs. Therefore, different input functions can yield different opening shapes. The driving function can be rationally selected based on relevant process requirements and actual weaving.

[0087] As can be seen, this invention solves the technical problems of existing opening mechanisms, such as high center of gravity, complex opening stroke adjustment methods, and the ability to achieve variable speed drive. It constructs a low center of gravity multi-parallel linkage transmission mechanism configuration, proposes relevant design methods, and verifies the process indicators.

[0088] This invention can be directly driven by a servo motor, and speed input can be achieved by controlling the motor to change the opening shape. The proposed low-center-of-gravity multi-parallel linkage tool holder transmission mechanism is mainly composed of a crank-rocker mechanism without quick-return characteristics connected in series with multiple sets of rocker-slider mechanisms. A comprehensive dimensional method combining rigid body guidance and quick-return characteristics is proposed: first, based on the opening stroke and position, the rocker length and swing angle of the rocker-slider mechanism can be calculated according to the rigid body guidance equation. Then, based on the rocker swing angle, and ensuring the convenience of process adjustment, the Pythagorean theorem is used to optimize the connecting rod dimensions. In adjusting the opening stroke, only the lengths of crank 1 and connecting rod V2 are changed, and both crank 1 and rocker V3a are perpendicular to the horizontal position, making adjustment convenient. Only the length of connecting rod V2 differs under different widths. By serializing the mass of connecting rod V2, the mass of connecting rod V2 is the same under different widths, which facilitates balanced configuration. Under different widths, only the counterweight position needs to be adjusted according to the opening stroke requirements.

[0089] The embodiments of the present invention have been described in detail above, but the content described is only a preferred embodiment of the present invention and should not be considered as limiting 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 jacquard shedding transmission system for a loom, characterized in that: Including spindle O 1 O＇ 1. A crank-rocker mechanism, a parallel four-bar linkage, a first multi-bar linkage, and a second multi-bar linkage, wherein the first multi-bar linkage and the second multi-bar linkage are arranged in parallel; The first multi-link mechanism is a symmetrical structure, with one side including a first fixed hinge point. O 2. A rocker-slider mechanism I and a rocker-slider mechanism II, wherein the rocker-slider mechanism I includes a rocker I and a connecting rod I, and the rocker I revolves around a first fixed hinge point. O 2. The rocker arm I reciprocates and oscillates, transmitting motion through connecting rod I, driving the lifting tool holder I to reciprocate linearly up and down along the vertical guide rail; the rocker arm slider mechanism II includes rocker arm II and connecting rod II, and the rocker arm II revolves around the first fixed hinge point. O 2. The rocker arm II reciprocates and swings, and transmits the motion through the connecting rod II, which drives the tool holder II to make up-and-down reciprocating linear motion along the vertical guide rail; The second multi-link mechanism has a symmetrical structure, with one side including a second fixed hinge point. O 3. Rocker-slider mechanism III and rocker-slider mechanism IV, wherein rocker-slider mechanism III includes rocker III and connecting rod III, and rocker III revolves around the second fixed hinge point. O 3. Reciprocating oscillation: The rocker arm III transmits motion through connecting rod III, driving the tool holder III to perform reciprocating linear motion up and down along the vertical guide rail; the rocker arm slider mechanism IV includes rocker arm IV and connecting rod IV, and the rocker arm IV revolves around the second fixed hinge point. O 3. Reciprocating oscillation: The rocker arm IV transmits motion through the connecting rod IV, driving the tool holder IV to make reciprocating linear motion up and down along the vertical guide rail; The crank-rocker mechanism is an asymmetrical structure, with one side including crank I, connecting rod V, and rocker V. Crank I has a fixed hinge point around the main shaft. O 1. When crank I rotates, the motion is transmitted through connecting rod V, causing rocker arm V to rotate around the first fixed hinge point. O 2. The swinging motion causes rocker arm I, rocker arm II, and rocker arm VI to swing around the first fixed hinge point. O 2. Rotation; the other side includes crank II, connecting rod VII, and rocker IX, wherein crank II is fixed at the hinge point around the main shaft. O When crank II rotates, it transmits motion through connecting rod VII, causing rocker arm IX to rotate around the first fixed hinge point. O '2' swings, thereby causing rocker arm X, rocker arm XI, and rocker arm XII to swing around the first fixed hinge point. O '2 Rotate; Adjusting the length of crank I and connecting rod V, and crank II and connecting rod VII can adjust the swing angle of rocker V and rocker IX, thereby controlling the opening stroke of tool holder I and tool holder II; The parallel four-bar linkage is a symmetrical mechanism, with one side including rocker VI, connecting rod VI, and rocker VII. The rocker VI is connected around the first fixed hinge point. O 2. The rocker arm VI transmits motion through connecting rod VI, causing the rocker arm VII to swing around the second fixed hinge point. O 3. The swinging motion causes rocker arm III and rocker arm IV to swing around the second fixed hinge point. O 3. Rotation; The spindle O 1 O '1' is the input axis, and this spindle... O 1 O '1 is driven directly by a servo motor via a reducer or by the loom spindle via a vertical shaft transmission system. Through the crank rocker mechanism and each rocker slider mechanism, the lifting knife holder I, lifting knife holder II, lifting knife holder III and lifting knife holder IV achieve vertical reciprocating motion and generate rotational motion in this plane, thereby achieving the opening.

2. The jacquard shedding drive system for a loom according to claim 1, characterized in that: The first multi-link mechanism and the second multi-link mechanism have the same dimensions.

3. The jacquard shedding transmission system for a loom according to claim 1, characterized in that: Second fixed hinge point O The 3 also has a joystick VIII attached.

4. The jacquard shedding transmission system for a loom according to claim 1, characterized in that: The rocker arms I, II, III, IV, V, VI, VII, and VIII are all fixed cross-shaped rotary rocker arms.

5. The jacquard shedding drive system for a loom according to claim 1, characterized in that: The crank and connecting rod V control the rear opening stroke, while the crank and connecting rod VII on the symmetrical side control the front opening stroke. The overall balance control angle... Φ 1= Φ 3a =90 0 .

6. The jacquard shedding drive system for a loom according to claim 1, characterized in that: When in the horizontal position, the crank is parallel to and perpendicular to the horizontal direction of rocker arms V, VI, and VII, rocker arms I, II, III, and IV are in the horizontal direction, and tool holders I, II, III, and IV are on the same horizontal line.

7. A design method for a jacquard shedding drive system for a loom, used to design the jacquard shedding drive system for a loom as described in any one of claims 1 to 6, characterized in that: Includes the following steps: S1. Design of rocker-slider mechanism: Based on the opening stroke and position of the tool holder, the rocker length, connecting rod length and swing angle are calculated through rigid body guiding equations; S2, Crank-rocker mechanism design: Based on the first fixed hinge point O Using two coordinate systems and the law of cosines, the dimensional parameters of the crank, connecting rod, and rocker are derived. S3. Establish the transmission function model of the tool holder transmission mechanism: Construct the transmission functions of the crank-rocker mechanism, rocker-slider mechanism and parallel four-bar linkage respectively; S4. Establish an evaluation model for the tool holder transmission mechanism: including establishing an evaluation model for the opening stroke, a two-stage leveling consistency evaluation model, a crank-rocker mechanism leveling control angle evaluation model, and a transmission efficiency evaluation model.

8. The design method of the jacquard shedding drive system for a loom according to claim 7, characterized in that: Includes the following steps: S1. Design of the rocker-slider mechanism: C 1. C 2. C 3 represents the horizontal and vertical limit positions of joystick I, respectively, and their corresponding positions are: I 1. I 2. I 3. The opening stroke and position of the tool holder I are known. The rigid body-guided equations are as follows: （1）； In the formula: [ C j ]=[ D 1j ][ C 1];[ C 1] is C 1. Position coordinates of point; [ D 1j [] represents the rigid body from position 1 to position 2. j The displacement matrix; C j ]for C j The position coordinates of the point; O 2] is the first fixed hinge point O The position coordinates of 2; j =2,3…; （2）； In the formula, S 12 , S 13 The knife holder I is located at point I 1 and I 2. I Displacement between 3; S For the opening stroke; This design takes j =3, with points I The coordinates of 1 ( I 1x , I 1y In the substitution formula (1) O 2. Can be calculated C The coordinates of point 1 ( C 1x , C 1y From this, we can obtain the lengths of rocker arm I and connecting rod I, as well as the swing angle of rocker arm I. ψ They are respectively: （3）； In the formula: M =( I 1x - S / 2) 2 + I 1y 2 , N =( I 1x + S / 2) 2 + I 1y 2 ; l 3b The length of rocker arm I; The first fixed hinge point O 2 to C The length of the point; l 4 represents the length of link I; l CI for C 1 o'clock I The length of point 1; Joystick I in the overall position C At time 1, the deflection angle relative to the horizontal direction ψ C1 for: （4）； S2. Crank-rocker mechanism design: A , A '、 A〞 These are the upper and lower limits of the crank and the center position, respectively, corresponding to the position of joystick V. B , B '、 B ", let the first fixed hinge point O The coordinates of 2 are ( O 2x , O 2y ), rack length b 1. Deflection angle with the frame β They are respectively: （5）； In the formula, Main spindle fixed hinge point O 1 to the first fixed hinge point O A distance of 2; l 1 represents the length of the crank. l 3a The length of joystick V. l Let 2 be the length of link V, and let... l 1 / l 3a = a , l 2 / l 3a = d , b 1 / l 3a = c ,and c Given that, we can deduce that: （6）； In the formula, lBB' For point BB' The distance between them; exist △O 1 BB ', △O 2 O 1 B ', △ O 2 O 1 B Using the Law of Cosines, we can obtain: （7）； In the formula, θ This is the extreme position angle; α Joystick V is located in B 'Time and b The included angle of 1; a , d , α It is an unknown quantity; S3. Establish the transmission function model of the tool lifting frame transmission mechanism: The parallel four-bar linkage consisting of rocker VI, rocker VII, connecting rod VI and the frame has a transmission function of 1; The crank-rocker mechanism has the following transmission function model: （8）； In the formula, φ 1. φ 3a represents the angular displacement of the crank and rocker arm V, respectively; The transmission function model of the rocker-slider mechanism is as follows: （9）； In the formula, H This is the actual value of the opening stroke of tool holder I; φ 3b represents the angular displacement of the rocker arm I loom jacquard shedding drive system. φ 3b= φ 3a- β -π / 2; S4. Establish an evaluation model for the tool lifting frame transmission mechanism: S41. Opening stroke evaluation model: Swing angle deviation rate Eψ for: （10）； Stroke deviation rate δS for: （11）； S42. Evaluation model for consistency of two comprehensive levels: The evaluation model for complex openings is as follows: （12）； Consistency deviation rate between two comprehensive assessments δSK for: （13）； In the formula: K =90 0 270 0 , H 90 0 , H 270 0 They are respectively when φ 1 is 90 0 and 270 0 The actual stroke of the tool holder during lifting; S43. Evaluation model for the overall control angle of the crank-rocker mechanism: （14）； In the formula: ; S44. Transmission efficiency evaluation model: （15）； In the formula: γ min1、 γ min2 and γ min3 represents the minimum transmission angle of the crank-rocker mechanism, the rocker-slider mechanism, and the parallel four-bar linkage, respectively. .

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