Group motor driven heald lifting opening device for adapting small sample weaving machine and its working method

Abstract

The present application relates to the technical field of small sample shuttle loom, and discloses a group motor driving heald lifting opening device suitable for small sample shuttle loom and a working method thereof, which breaks through the technical limitations of traditional single motor centralized linkage and cylinder pneumatic heald lifting, and initiates a one-to-one distributed independent driving architecture of 16 groups of stepping motors, and combines industrial real-time bus closed-loop control and magnetic steel Hall closed-loop positioning technology to realize independent motion parameter regulation and control of each heald frame, accurately complete the periodic heald lifting opening and spring auxiliary heald returning reset process. The whole machine adopts upper and lower differential layer assembly and integrated speed reduction steel wire rope flexible transmission design, does not need to be matched with air compression equipment, effectively solves the problems of large synchronization deviation, heald frame shaking and poor process adaptability of traditional mechanism, and has high space utilization rate, high repeated positioning accuracy and strong running stability, accurately matches the small sample printing conditions of multiple categories and high-precision textile fabrics, and has good equipment matching and industrial application value.

Description

Technical Field

[0001] This invention relates to the field of small-sample shuttle loom technology, specifically to a group motor driven heald shedding device adapted to a small-sample shuttle loom and its working method. Background Technology

[0002] The small sample loom is a core specialized equipment for textile manufacturers, textile research institutions, and fabric design organizations to develop new fabric patterns and produce fabric structure samples. The sampling accuracy and multi-structure adaptability of its heald lifting and shedding mechanism directly determine the efficiency of new fabric research and development iteration and the accuracy of sample pattern reproduction.

[0003] Currently, the mainstream 16-hedron small-sample shuttle looms on the market are equipped with two types of heddle lifting and shedding mechanisms: single-motor centralized cam linkage transmission or multi-cylinder pneumatic heddle lifting. This has long been a difficult-to-resolve technical pain point in the industry. 1. Centralized cam-linkage drive relies on a single power source to synchronously link all heald frames. The motion parameters of all heald frames are forcibly bound and uniformly adjusted. The opening stroke is rigidly limited by the mechanical cam profile, and it is impossible to modify the lifting stroke and motion sequence of a single heald frame individually. This makes it difficult to meet the high-end sample weaving process requirements of multi-layer complex structures and differentiated shed heights. At the same time, the long-term meshing of the cam and linkage results in an uneliminable mechanical transmission gap. When the lightweight heald frames are lifted and lowered at high frequency, they are prone to shaking and lateral deviation. This results in uneven texture on the fabric surface of the woven sample and poor consistency of samples in the same batch, which greatly reduces the yield rate of samples.

[0004] 2. The pneumatic heald lifting scheme relies on cylinders to lift and lower the heald frames. The opening stroke is rigidly limited by the thickness of the limiting ring, and there is a response lag problem in gas compression and release. The synchronous control accuracy of multiple heald frames is poor. Moreover, the whole set of equipment must be equipped with auxiliary equipment such as air compressors, air tanks, and pneumatic pipelines. The equipment occupies a large area, the pipeline is prone to air leakage, and the maintenance cost is high, which is contrary to the development trend of full electronic and integrated textile equipment.

[0005] In summary, existing traditional lifting mechanisms suffer from poor adjustability, low synchronization accuracy, and insufficient operational stability. Furthermore, pneumatic solutions have cumbersome peripherals, necessitating the development of entirely new technical solutions to address these shortcomings.

[0006] Document CN115247306A discloses a traction-type stepless lifting heald opening process, including a heald frame assembly, which includes heald frames, with several heald frames arranged side-by-side in grooved plates on both sides; and a lifting assembly, with each set of heald frame assemblies corresponding to a lifting assembly, which includes a guide wheel group, a sheave, a motor, and a steel cable. The sheave is driven by the motor, and the guide wheel group is located above and below the heald frame assembly. The steel cable is connected to the upper and lower ends of the lifting assembly through the sheave and the guide wheel group, respectively. The above technology has obvious defects: 1. Poor positioning accuracy and insufficient stability. The opening action is achieved by controlling the up and down movement of the heald frame assembly through the forward and reverse rotation of the motor, without closed-loop position detection. Long-term operation will cause zero-point drift due to the tension and vibration of the wire rope. 1. Large repetitive error in heddle frame lifting and lowering, resulting in uneven fabric texture; 2. High motor load and prone to vibration: Lifting relies entirely on the bidirectional pulling force of the motor, and the motor heats up and vibrates significantly under high-frequency reciprocating conditions, making the lightweight heddle frame prone to lateral shift; 3. Poor process adaptability: It is impossible to adjust the opening stroke and lifting sequence of a single heddle frame individually, and all heddle frame movements are synchronously bound, making it difficult to weave multi-layered complex structures and differentiated shed fabrics; 4. No automated control capability: There is no touch screen, no process storage and retrieval, and no fault alarm, relying on manual on-site parameter adjustment; 5. Low space utilization: The upper and lower double-sided guide wheels occupy a large amount of machine space, making it unsuitable for the compact body of small sample shuttle looms; 6. No automatic zero-point compensation: After long-term continuous sampling, deviations continue to accumulate, requiring frequent manual calibration.

[0007] Therefore, a new technical solution is needed to solve the above-mentioned technical problems. Summary of the Invention

[0008] To address the aforementioned issues, this invention discloses a group motor-driven heddle opening device and its operating method adapted to small-sample shuttle looms. This device solves the technical problems of poor adjustability, low synchronization accuracy, and insufficient weaving stability in traditional centralized drive heddle opening processes for small-sample shuttle looms, achieving the technical effects of one-to-one independent control of heddle frames, high-precision synchronization, and compact installation in a small space. At the same time, it eliminates the shortcoming of requiring a matching air compressor unit for pneumatic heddle opening.

[0009] The technical solution of the present invention is: a group motor driven heald lifting and shedding device adapted to a small sample shuttle loom, including a frame assembly, multiple sets of drive units, multiple sets of transmission mechanisms, multiple sets of heald frame assemblies, multiple sets of Hall sensor assemblies, a bus communication module, a central control unit, and a human-machine interactive touch screen; The frame assembly includes a base, and frame plates, additional plate supports, and additional plates that are all located inside the lifting box cover. Multiple drive units include stepper motors, planetary reducers, motor brackets, and drive pulleys; Multiple Hall effect sensor components include a magnet, a Hall sensor, a Hall bracket, and a magnet positioning plate; The multi-stage transmission mechanism includes a wire rope, an idler shaft, an idler support, an idler, a pulley shaft support, a pulley shaft, a pulley, and a wire rope end. The multi-set heald frame assembly includes a heald frame, straight bars, telescopic hooks, straight bar seats, limit rods, heald return springs, spring pull rods, and adjusting screws; The central control unit establishes a two-way real-time communication link with all drive units through the bus communication module, and builds a dual closed-loop control architecture with centralized control by the main control unit and distributed independent execution by the sub-drive units. The process data packets issued by the central control unit include fabric structure parameters, independent opening stroke parameters of a single heald frame, stepper motor pulse frequency, pulse equivalent, and forward and reverse control signals. The human-machine interface touch screen communicates with the central control unit for inputting, modifying, storing, and retrieving weaving processes, while simultaneously displaying the equipment's operating status, process progress, and fault alarm information in real time.

[0010] By adopting the above technical solution, spatial interference and motion coupling interference caused by the synchronous operation of multiple drive units can be completely avoided, ensuring that each drive unit can independently and smoothly complete the lifting and lowering drive action; at the same time, it can fully adapt to the space constraints of dense assembly inside the small body of the sample shuttle loom, and greatly improve the overall structural integration and space compactness.

[0011] Preferably, the frame plates are symmetrically arranged and locked to the upper end face of the base, and each frame plate is evenly equipped with a padded plate support column. Two padded plates are horizontally erected and fixed to the top of all the padded plate support columns to form a double-layer assembly and bearing platform.

[0012] By adopting the above technical solutions, the double-layer assembled load-bearing structure can eliminate the problems of multi-unit motion interference and spatial obstruction.

[0013] Preferably, multiple drive units are installed in two layers, staggered on the surfaces of two frame plates and two additional plates. The planetary reducer is mounted on the motor bracket. The output shaft of the stepper motor is plugged into and locked to the input end of the planetary reducer. The output end of the planetary reducer is fitted with a drive pulley. A magnet positioning plate is fixed to the outside of the drive pulley. The magnet is bonded and fixed in the positioning hole of the magnet positioning plate. The positioning hole is located on the magnet positioning plate. The magnet positioning plate has two arc-shaped adjustment grooves for circumferential fine adjustment of the magnet installation angle. The adjustment grooves are located on the left and right sides with the center of the magnet positioning plate as the center and are arc-shaped inward. The angle adjustment and locking of the magnet positioning plate and the drive pulley are achieved by screws.

[0014] By adopting the above technical solution, the circumferential angle of the magnet positioning plate relative to the active rope wheel can be finely adjusted by rotating the arc-shaped adjustment groove, so as to accurately calibrate the magnet installation reference position and meet the zero-point positioning accuracy requirements of the Hall sensor.

[0015] Preferably, multiple Hall sensor components are correspondingly assembled at the front end of each drive unit, and Hall sensors are matched on the side of the magnet positioning plate. The Hall sensors are fixed to the Hall brackets, and the Hall brackets are locked on the frame plate and the additional plate. The distance between the magnet and the detection end face of the Hall sensor is controlled in the range of 0.5~3mm. The Hall sensor collects the position signal of the magnet in real time and transmits it back to the main control unit to realize closed-loop position feedback.

[0016] By adopting the above technical solutions, continuous position data support is provided for automatic zero-position calibration upon power-on of the whole machine, closed-loop control of lifting stroke, and real-time verification of motion accuracy.

[0017] Preferably, each transmission mechanism is arranged between a single drive unit and the heald frame assembly. Idler wheels are sequentially mounted on idler wheel shafts, which are fixed to the left and right frame plates via idler wheel supports. Pulleys are installed in the center of the top surface of the base, and are sequentially mounted on pulley shafts, which are fixed to the top surface of the base via pulley supports. One end of the wire rope is pressed and locked by an aluminum sleeve and fixed to a preset fixed point on the drive pulley by a locking screw. The wire rope passes sequentially around the idler wheel (the upper transmission mechanism does not need to pass through the idler wheel) and the guide pulley before connecting to the heald frame telescopic hook. The other end of the wire rope is locked and fixed by a wire rope clamp. The heald frame assembly is lifted and lowered by rotating the drive pulley. During factory commissioning and routine maintenance calibration, the effective working length of the wire rope is adjusted so that the heald frame is naturally stationary at the lowest mechanical limit, while the drive pulley stops at the critical point of motion reversal. At this time, the wire rope is in its shortest tightened state, and this position is defined as the mechanical reference zero position of a single drive unit.

[0018] By adopting the above technical solution, the physical locking mechanical zero-position structure has excellent vibration resistance, which can effectively offset the zero-point offset caused by long-term operation vibration of the equipment and wear and stretching of the wire rope, and ensure the long-term reference positioning accuracy of the whole machine and the consistency of the multi-frame movement.

[0019] The working method of the group motor driven heald shedding device adapted to a small sample shuttle loom includes the following steps: Step 1, Power-on initialization and process parameter distribution: After the equipment is powered on and started, the central control unit automatically executes the whole machine power-on self-test and Hall zero-point calibration program, and reads the reference position signals of all drive units; the operator imports or edits the target fabric weaving process through the human-machine interaction touch screen, and after confirmation, the central control unit synchronously distributes the complete standardized process data package to all 16 drive units through the industrial real-time bus communication module. Step 2, differentiated independent heald lifting, precise shaping of the weaving shed: each group of drive units independently analyzes the motion commands issued by the main controller and executes differentiated lifting and lowering actions; The drive unit that receives the lifting trigger command, the stepper motor completes a quantitative angular displacement rotation according to the preset pulse timing, and immediately locks and brakes after running to the set stroke; The motor torque is reduced and increased by the planetary reducer, which drives the drive rope wheel to rotate. The steel wire rope synchronously pulls the heald frame to move smoothly upward in the vertical direction, accurately reaching the preset shed height, forming a flat and uniform weft insertion shed. The drive unit that is not assigned to lift the heddles remains electrically locked, and the corresponding heddles frame remains stationary without displacement or jitter throughout the entire process. Multiple channels work together to complete a single high-precision opening process. Step 3, closed-loop position feedback, spring-assisted smooth return of the heddles to zero: After the reed beating mechanism of the loom completes the weft yarn beating and fixing, the central control unit receives the feedback signal of reed completion and issues a full-range return of the heddles reset command; the stepper motor assigned to the return of the heddles switches to reverse operation mode, the active rope wheel rotates in the reverse direction to gradually release the pre-tightening force of the steel wire rope, the heddle frame is released from the upward traction constraint, and returns to its original position at a uniform speed under the stable elastic tension of the return spring; Step 4, iterative weaving with real-time deviation compensation for continuous sampling: The whole machine continuously executes the entire process of parameter issuance, heald opening, weft insertion and reed beating, and closed-loop heald return according to the preset weaving sequence logic; after each cycle, the central control unit automatically compares the actual position fed by Hall feedback with the theoretical zero point benchmark, automatically calculates and compensates for the motor motion deviation, and continuously maintains the consistency of multi-heal frame action and lifting accuracy.

[0020] Preferably, the data packet includes parameters such as fabric structure parameters, independent opening height of each heald frame, stepper motor pulse frequency, pulse equivalent, lifting timing, and commutation control signals. High-speed synchronous transmission on the bus ensures that all drive units can synchronously parse instructions.

[0021] By adopting the above technical solutions, timing deviations can be eliminated, thus establishing a control foundation for accurate synthesis improvement.

[0022] Preferably, in step 3, the Hall sensor continuously collects the position signal of the magnet and transmits it back to the main control in real time. Once the mechanical reference zero position signal is detected, the main control unit immediately outputs a braking signal to lock the stepper motor, the active rope wheel stops precisely at the initial zero point, the heald frame falls back to the lowest mechanical limit, the shed is completely closed, and the single complete heald lifting to heald return weaving cycle is completed.

[0023] By adopting the above technical solutions, motion errors such as motor overshoot, stroke undershoot, and motion deviation can be effectively avoided, significantly improving the accuracy of lifting and hoisting actions.

[0024] The advantages of this invention are as follows: 1. This invention adopts a group distributed drive architecture with 16 sets of stepper motors driving 16 heald frames independently on a one-to-one basis, completely abandoning the traditional single-motor centralized cam linkage mode. Each heald frame corresponds to an independent drive, transmission, and sensing assembly. Operators can modify the opening stroke, lifting sequence, and running speed of any single heald frame individually without needing to adjust the parameters of other heald frames simultaneously.

[0025] 2. This invention employs an initial position detection scheme combining a rope wheel with a magnet and a Hall sensor. Each drive unit is equipped with an independent magnet positioning plate and a Hall position sensor. Relying on the Hall sensor to collect the circumferential zero-point position signal of the active rope wheel in real time, and combined with the precise angle control of the stepper motor pulse, the rope wheel can automatically return to a unified mechanical reference zero position after each heald lifting and returning cycle. The mechanical zero point adopts a physical limit locking structure of steel wire rope, which is not affected by long-term equipment vibration or steel wire rope wear and stretching, and there is no zero-point drift during long-term operation. Under the condition of multiple batches and long-term continuous sampling, the repeatability error of the heald frame lifting and lowering is controlled within the micron level, and the consistency of the actions of multiple heald frames is extremely strong. This fundamentally solves the problems of uneven fabric texture and sample color difference and texture deviation, significantly improving the sample yield.

[0026] 3. The drive end is equipped with a dedicated planetary reducer, with an integrated structure without redundant adapter gears or connecting rods, resulting in extremely small internal clearances in the transmission. It is paired with a flexible traction transmission structure consisting of an active rope pulley, multiple idler pulleys, and guide pulleys, ensuring that the traction force is applied evenly and vertically to the heald frame, avoiding the impact and vibration caused by hard-connection transmission.

[0027] 4. This invention abandons the traditional pneumatic cylinder lifting scheme. The entire device is driven by an electric stepper motor, eliminating the need for auxiliary pneumatic equipment such as air compressors, air tanks, high-pressure air pipes, and pressure regulating valves. The whole machine is free from gas leakage and pipeline aging failure risks. The equipment occupies less space, the machine room layout is simpler, and the costs of purchasing air compressors, regular maintenance, and pipeline repair are eliminated. The long-term operation and maintenance costs are significantly reduced, which is in line with the development trend of full electronic and integrated textile equipment. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall layout of the heddle opening device of the present invention; Figure 2 This is a top view of the overall layout of the opening device of the present invention. Figure 3 This is a top view of the overall layout of the opening device of the present invention; Figure 4 This is a cross-sectional view of the lower unit structure of the heddle opening device of the present invention; Figure 5 This is a cross-sectional view of the upper unit structure of the opening device of the present invention; Figure 6 This is a schematic diagram of the driving unit and Hall sensor component of the present invention; Figure 7 This is a schematic diagram of the structure of the magnetic steel positioning plate of the present invention; Figure 8 This is a diagram of the electrical control network architecture of the present invention.

[0029] 1. Rack assembly, 2. Drive unit, 3. Multiple transmission mechanisms, 4. Multiple helical frame assemblies, 5. Multiple Hall sensor assemblies, 6. Bus communication module, 7. Central control unit, 8. Human-machine interaction touch screen; 102-Frame plate, 103-Layer plate support column, 104-Layer plate, 105-Handling box cover; Stepper motor, 202-planetary reducer, 203-motor bracket, 204-drive pulley; Steel wire rope, 302-Idler shaft, 303-Idler support, 304-Idler, 305-Pulley support, 306-Pulley shaft, 307-Pulley, 308-Steel wire rope end; Heald frame, 402-straight bar, 403-telescopic hook, 404-straight bar seat, 405-limiting rod, 406-heald return spring, 407-spring pull rod, 408-adjusting screw; 501-Magnet, 502-Hall sensor, 503-Hall bracket, 504-Magnet positioning plate, 5041-Positioning hole, 5042-Adjustment groove. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0031] like Figure 1-8 As shown, a group motor driven heald raising and shedding device adapted to a small sample shuttle loom includes a frame assembly 1, multiple sets of drive units 2, multiple sets of transmission mechanisms 3, multiple sets of heald frame assemblies 4, multiple sets of Hall sensor assemblies 5, a bus communication module 6, a central control unit 7, and a human-machine interaction touch screen 8. The frame assembly 1 includes a base 101, and a frame plate 102, a shelf support column 103, and a shelf 104, all located inside the lifting box cover. The multiple drive units 2 include a stepper motor 201, a planetary reducer 202, a motor bracket 203, and a drive pulley 204; The multiple Hall sensor assembly 5 includes a magnet 501, a Hall sensor 502, a Hall bracket 503, and a magnet positioning plate 504. The multi-group transmission mechanism 3 includes a wire rope 301, an idler shaft 302, an idler support 303, an idler 304, a pulley shaft support 305, a pulley shaft 306, a pulley 307, and a wire rope end 308. The multi-group heald frame assembly 4 includes a heald frame 401, a straight bar 402, a telescopic hook 403, a straight bar seat 404, a limiting rod 405, a heald return spring 406, a spring pull rod 407, and an adjusting screw 408; The main control unit 7 establishes a two-way real-time communication link with all drive units 2 through the bus communication module 6, and builds a closed-loop control architecture with centralized control by the main control unit and distributed independent execution by the sub-drive units. The process data packets issued by the main control unit 7 include fabric structure parameters, independent opening stroke parameters of single heald frame 401, pulse frequency of stepper motor 201, pulse equivalent, and forward and reverse control signals. The human-machine interaction touch screen 8 communicates with the main control unit 7 for inputting, modifying, storing, and retrieving the weaving process, while simultaneously displaying the equipment operating status, process progress, and fault alarm information in real time.

[0032] The frame plates 102 are symmetrically arranged and locked to the upper surface of the base 101. Each frame plate 102 is evenly equipped with the layer plate pad column 103. Two layer plates 104 are horizontally erected and fixed to the top of all the layer plate pad columns 103, forming a double-layer assembly and bearing platform to eliminate the problems of multi-unit motion interference and spatial obstruction.

[0033] It can completely avoid spatial interference and motion coupling interference caused by the synchronous operation of multiple drive units 2, ensuring that each drive unit independently, smoothly and accurately completes the lifting drive action; at the same time, it fully adapts to the space constraints of dense assembly inside the small body of the sample shuttle loom, greatly improving the overall structural integration and space compactness.

[0034] Multiple drive units 2 are respectively mounted on the surfaces of two frame plates 102 and two layered plates 104, adopting a layered layout with upper and lower differentials. The planetary reducer 202 is mounted on the motor bracket 203 and integrated inside the drive unit 2, without additional connecting transmission accessories, reducing the overall assembly volume. The output shaft of the stepper motor 201 is plugged and fastened to the input end of the planetary reducer 202. The output end of the planetary reducer 202 is fitted with a drive pulley 204. A magnet positioning plate 504 is fixed to the outside of the drive pulley 204. The magnet 501 is bonded and fixed in the positioning hole 5041 of the magnet positioning plate 504. The positioning hole 5041 is located on the magnet positioning plate 504. The magnet positioning plate 504 has two arc-shaped adjustment grooves 5042 for circumferential fine adjustment of the installation angle of the magnet 501. The adjustment grooves 5042 are located on the left and right sides with the center of the magnet positioning plate 504 as the center, forming an inward arc, and are adjusted and fixed by bolts and the drive pulley 204.

[0035] The circumferential angle of the magnet positioning plate 504 relative to the active rope wheel 204 can be finely adjusted by rotating the arc-shaped adjustment groove 5042, so as to accurately calibrate the installation reference position of the magnet 501 and meet the zero-point positioning accuracy requirements of the Hall sensor.

[0036] Multiple Hall sensor components 5 are correspondingly assembled at the front end of each drive unit 2. A Hall sensor 502 is matched on the side of the magnet positioning plate 504. The Hall sensor 502 is fixed to the Hall bracket 503. The Hall bracket 503 is locked on the frame plate 102 and the layer plate 104. The distance between the detection end face of the magnet 501 and the Hall sensor 502 is controlled in the range of 0.5~3mm. The Hall sensor 502 collects the position signal of the magnet 501 in real time and transmits it back to the main control unit 7 to realize closed-loop position feedback.

[0037] Hall sensor 502 collects position feedback signals from magnet 501 in real time and continuously transmits them back to the main control unit 7, providing continuous position data support for automatic zero-position calibration upon power-on, closed-loop control of lifting stroke, and real-time verification of motion accuracy.

[0038] Multiple transmission mechanisms 3 are arranged between each drive unit 2 and heald frame assembly 4. Idler wheels 304 are sequentially mounted on idler wheel shafts 302. Idler wheel shafts 302 are fixed to the left and right frame plates 102 via idler wheel supports 303. Pulleys 307 are installed in the center of the top surface of the base 101. Pulleys 307 are sequentially mounted on pulley shafts 306. Pulley shafts 306 are fixed to the base 101 via pulley supports 305. One end of the wire rope 301 is fixed to the drive rope wheel 204. After passing through idler wheels 304 and pulleys 307, the other end is connected to the telescopic hook 403 of the heald frame 401 via a wire rope head 308. The heald frame assembly is lifted and lowered by rotating the drive rope wheel.

[0039] One end of the wire rope 301 is pressed and locked by an aluminum sleeve and fixed to the preset fixed point of the drive rope wheel 204 by a locking screw; the wire rope 301 passes through the idler wheel (the upper transmission mechanism does not need to pass through the idler wheel) and the guide pulley in sequence and is connected to the telescopic hook of the heald frame 401; the other end of the wire rope 301 is locked and fixed by the wire rope end 308.

[0040] During factory commissioning and routine maintenance and calibration of the equipment, by adjusting the effective working length of the wire rope 301, the heddle frame 401 is naturally stationary at the lowest mechanical limit, while the drive pulley 204 remains at the critical point of motion reversal. At this time, the wire rope 301 is in the shortest tightened state, and this position is defined as the mechanical reference zero position of a single drive unit.

[0041] This physical locking mechanical zero-position structure has excellent vibration resistance and can effectively offset the zero-point offset caused by long-term operation vibration of the equipment and wear and stretching of the wire rope, thus ensuring the long-term reference positioning accuracy of the whole machine and the consistency of the movement of multiple sets of helical frames 401.

[0042] The multi-set heald frame assembly 4 is a fabric opening actuator. The heald frame 401 is equipped with four straight bar seats 404 on its left and right inner sides. The straight bars 402 are embedded in the straight bar seats 404. Two telescopic hooks 403 are set on the two upper hooks of the heald frame 401. The left and right balance and the reference height of the heald frame 401 can be finely adjusted by adjusting the length of the telescopic hooks 403. The upper ends of the two telescopic hooks 403 are connected to the wire rope head 308. A limit rod 405 is set on each of the machine bases 101 on both sides of the heald frame 401 to limit the left and right sway of the heald frame 401 and improve the running stability. A return spring 406 is installed on each of the two lower hooks of the heald frame 401. The lower end of the return spring 406 is connected to the spring pull rod 407. The front and rear ends of the two spring pull rods 407 are connected to the machine base 101 through the adjusting screws 408. The preload of the return spring 406 can be finely adjusted by adjusting the screws 408.

[0043] When the main control unit 7 outputs a lifting command, the stepper motor 201 receiving the lifting command completes a quantitative angular displacement rotation according to a preset pulse sequence, and immediately locks and brakes after reaching the set stroke; after the planetary reducer 202 increases the torque, it drives the drive rope wheel 204 to rotate, and pulls the heald frame 401 vertically upward to the set shed height through the steel wire rope 301; the drive unit 2 that does not receive a lifting command remains in an electrically locked state, and the corresponding heald frame 401 remains stationary.

[0044] The output torque of the stepper motor 201 is reduced and increased by the planetary reducer 202, and then rigidly driven by the steel wire rope 301 to move the heald frame 401 vertically and smoothly upward, accurately reaching the shed height set by the process, forming a flat weaving shed that meets the standards for high-speed weft insertion.

[0045] After the central control unit 7 outputs the heddle return command, the controlled stepper motor 201 switches to reverse operation mode, driving the planetary reducer 202 and the drive pulley 204 to rotate in the opposite direction. At the same time, in conjunction with the elastic reset force of the heddle return spring 406, the heddle frame 401 is driven to descend and reset at a uniform speed. The stepper motor 201, which receives the heddle return command, rotates in the opposite direction to release the steel wire rope 301. The heddle frame 401 descends smoothly under the action of the heddle return spring 406. When the Hall sensor 502 detects the zero position signal of the magnet 501, the central control unit controls the stepper motor 201 to stop and brake, completing a single heddle lifting and returning cycle. This can effectively avoid motion errors such as motor overshoot, stroke undershoot, and movement deviation, and significantly improve the accuracy of heddle lifting.

[0046] The main control unit 7 continuously reads the position signal fed back by the Hall sensor 502. Once the reference zero point signal of the magnet 501 is detected, it determines that the active rope wheel 204 has returned to the mechanical zero position and synchronously outputs a braking control signal to lock the stepper motor 201. The single complete heddle lifting, shedding, and return weaving process is completed in a cycle.

[0047] The working method of the group motor driven heald shedding device adapted to a small sample shuttle loom includes the following steps: Step 1, Power-on initialization and process parameter distribution: After the equipment is powered on and started, the central control unit 7 automatically executes the whole machine power-on self-test and Hall zero-point calibration program, and reads the reference position signals of all drive units 2; the operator imports or edits the target fabric weaving process through the human-machine interaction touch screen 8, and after confirmation, the central control unit 7 synchronously distributes the complete standardized process data package to all 16 drive units 2 through the industrial real-time bus communication module 6; Step 2, differentiated independent heald lifting, precise shaping of the weaving shed: each group of drive units 2 independently analyzes the motion commands issued by the main controller and executes differentiated lifting and lowering actions; The drive unit 2, which receives the lifting trigger command, and the stepper motor 201 completes a quantitative angular displacement rotation according to the preset pulse timing sequence. After running to the set stroke, it immediately locks and brakes electrically. After the motor torque is reduced and increased by the planetary reducer 202, it drives the drive rope wheel 204 to rotate. The steel wire rope 301 synchronously pulls the heald frame 401 to move smoothly upward in the vertical direction, accurately reaching the preset shed height, forming a flat and uniform weft insertion shed. The drive unit 2, which is not assigned to lift the heddles, remains electrically locked, and the corresponding heddles frame 401 remains stationary without displacement or jitter throughout the entire process. The multi-channel coordinated operation completes a single high-precision opening process. Step 3, closed-loop position feedback, spring-assisted smooth return to zero: After the reed beating mechanism of the loom completes the weft yarn beating and fixing, the central control unit 7 receives the reed beating completion feedback signal and issues a full-range return to zero command; the stepper motor 201 assigned to the return to zero action switches to reverse operation mode, the active rope wheel 204 rotates in the reverse direction to gradually release the pre-tightening tension of the steel wire pull rope 301, the heald frame 401 is released from the upward traction constraint, and under the stable elastic tension of the return to zero spring 406, it descends at a uniform speed to reset; Step 4, iterative weaving with real-time deviation compensation for continuous sampling: The whole machine continuously executes the entire process of parameter issuance, heald opening, weft insertion and reed beating, and closed-loop heald return according to the preset weaving sequence logic; after each cycle, the central control unit 7 automatically compares the actual position fed by Hall feedback with the theoretical zero point benchmark, automatically calculates and compensates for the motor motion deviation, and continuously maintains the consistency of the multi-heal frame 401 movement and the lifting accuracy.

[0048] The data package contains parameters such as fabric structure parameters, independent opening height of each heald frame 401, pulse frequency of stepper motor 201, pulse equivalent, lifting timing, and reversing control signals. High-speed synchronous transmission on the bus ensures that all drive units 2 can synchronously parse instructions, eliminate timing deviations, and establish a control foundation for accurate heald lifting.

[0049] In step 3, the Hall sensor 502 continuously collects the position signal of the magnet 501 and transmits it back to the main control unit in real time. Once the mechanical reference zero position signal is detected, the main control unit 7 immediately outputs a braking signal to lock the stepper motor 201. The active rope wheel 204 stops precisely at the initial zero point, the heald frame 401 falls back to the lowest mechanical limit, the shed is completely closed, and the single complete heald lifting to heald return weaving cycle is completed.

[0050] The device relies on the periodic, high-precision opening and closing reciprocating motion of the heald frame to restore the preset fabric structure logic frame by frame, continuously completing the fabric sample weaving operation, and achieving long-term stable and high-precision sample making.

[0051] Those skilled in the art should understand that the embodiments of the present invention described above and shown in the accompanying drawings are merely examples and do not limit the present invention; the objectives of the present invention have been fully and effectively achieved. The functions and structural principles of the present invention have been demonstrated and explained in the embodiments, and any modifications or variations of the embodiments of the present invention may be made without departing from the stated principles.

Claims

1. A group motor driven heald raising and shedding device adapted to a small-sample shuttle loom, comprising a frame assembly, multiple drive units, multiple transmission mechanisms, multiple heald frame assemblies, multiple Hall effect sensor assemblies, a bus communication module, a central control unit, and a human-machine interface touchscreen, characterized in that: The frame assembly includes a base, and a frame plate, a padded plate support column, and a padded plate that are all located inside the lifting box cover; The multiple drive units include a stepper motor, a planetary reducer, a motor bracket, and a drive pulley; The multiple Hall sensor components include a magnet, a Hall sensor, a Hall bracket, and a magnet positioning plate; The multiple transmission mechanisms include a wire rope, an idler shaft, an idler support, an idler, a pulley shaft support, a pulley shaft, a pulley, and a wire rope end; The multiple heald frame assemblies include heald frames, straight bars, telescopic hooks, straight bar seats, limit rods, heald return springs, spring pull rods, and adjusting screws; The central control unit establishes a two-way real-time communication link with all drive units through the bus communication module, and builds a dual closed-loop control architecture with centralized control by the main control unit and distributed independent execution by the sub-drive units. The process data packets issued by the central control unit include fabric structure parameters, independent opening stroke parameters of a single heald frame, stepper motor pulse frequency, pulse equivalent, and forward and reverse rotation timing control signals. The human-machine interaction touch screen communicates with the central control unit and is used for inputting, modifying, storing, and retrieving the weaving process, while simultaneously displaying the equipment operating status, process progress, and fault alarm information in real time. The multiple transmission mechanisms are arranged between each drive unit and the heald frame assembly. The idler wheels are sequentially mounted on the idler wheel shaft, and the idler wheel shaft is fixed to the left and right frame plates by the idler wheel support. The pulley is installed in the center of the top surface of the base, and the pulley is sequentially mounted on the pulley shaft, and the pulley shaft is fixed to the base by the pulley support. One end of the wire rope is fixed to the drive rope wheel, and after passing through the idler wheel and the pulley, the other end is connected to the telescopic hook of the heald frame through the wire rope end. The traction lifting is achieved by the rotation of the drive rope wheel.

2. The group motor driven heald shedding device adapted for small-sample shuttle looms according to claim 1, characterized in that: The frame plates are symmetrically arranged and locked to the upper surface of the base. Several additional plate support columns are arranged on a single frame plate. Two additional plates are horizontally erected and fixed on the top of all the additional plate support columns, forming a double-layer assembly and bearing platform.

3. The group motor driven heald shedding device adapted for small-sample shuttle looms according to claim 1, characterized in that: Multiple drive units are installed in two layers, staggered on the surfaces of two frame plates and two additional plates. The planetary reducer is mounted on the motor bracket. The output shaft of the stepper motor is plugged into and locked to the input end of the planetary reducer. The output end of the planetary reducer is fitted with a drive pulley. A magnet positioning plate is fixed to the outside of the drive pulley. The magnet is bonded and fixed in the positioning hole of the magnet positioning plate. The positioning hole is located on the magnet positioning plate. The magnet positioning plate has two arc-shaped adjustment grooves for circumferential fine adjustment of the magnet installation angle. The adjustment grooves are located on the left and right sides with the center of the magnet positioning plate as the center and are arc-shaped inward. The angle adjustment and locking of the magnet positioning plate and the drive pulley are achieved by screws.

4. The group motor driven heald shedding device adapted to a small-sample shuttle loom according to claim 1, characterized in that: Each group of Hall sensor components is correspondingly assembled at the front end of a single drive unit. The Hall sensor is fitted on the side of the magnet positioning plate. The Hall sensor is fixed to the Hall bracket. The Hall bracket is locked onto the frame plate and the layer plate. The distance between the magnet and the detection end face of the Hall sensor is controlled in the range of 0.5~3mm. The Hall sensor collects the position signal of the magnet in real time and transmits it back to the main control unit to realize closed-loop position feedback.

5. The working method of the group motor driven heald shedding device adapted to a small-sample shuttle loom as described in claim 1, characterized in that: Includes the following steps: Step 1, Power-on initialization and process parameter distribution: After the equipment is powered on and started, the central control unit automatically executes the whole machine power-on self-test and Hall zero-point calibration program, and reads the reference position signals of all drive units; the operator imports or edits the target fabric weaving process through the human-machine interaction touch screen, and after confirmation, the central control unit synchronously distributes the complete standardized process data package to all 16 drive units through the industrial real-time bus communication module, realizing multi-node synchronous command distribution and position feedback transmission; Step 2, differentiated independent heald lifting, precise shaping of the weaving shed: each group of drive units independently analyzes the motion commands issued by the main controller and executes differentiated lifting and lowering actions; The drive unit that receives the lifting trigger command, the stepper motor completes a quantitative angular displacement rotation according to the preset pulse timing, and immediately locks and brakes after running to the set stroke; The motor torque is reduced and increased by the planetary reducer, which drives the drive rope wheel to rotate. The steel wire rope synchronously pulls the heald frame to move smoothly upward in the vertical direction, accurately reaching the preset shed height, forming a flat and uniform weft insertion shed. The drive unit that is not assigned to lift the heddles remains electrically locked, and the corresponding heddles frame remains stationary without displacement or jitter throughout the entire process. Multiple channels work together to complete a single high-precision opening process. Step 3, closed-loop position feedback, spring-assisted smooth return of the heddles to zero: After the reed beating mechanism of the loom completes the weft yarn beating and fixing, the central control unit receives the feedback signal of reed completion and issues a full-range return of the heddles reset command; the stepper motor assigned to the return of the heddles switches to reverse operation mode, the active rope wheel rotates in the reverse direction to gradually release the pre-tightening force of the steel wire rope, the heddle frame is released from the upward traction constraint, and returns to its original position at a uniform speed under the stable elastic tension of the return spring; Step 4, iterative weaving with real-time deviation compensation for continuous sampling: The whole machine continuously executes the entire process of parameter issuance, heald opening, weft insertion and reed beating, and closed-loop heald return according to the preset weaving sequence logic; after each cycle, the central control unit automatically compares the actual position fed by Hall feedback with the theoretical zero point benchmark, automatically calculates and compensates for the motor motion deviation, and continuously maintains the consistency of multi-heal frame action and lifting accuracy.

6. The working method of the group motor driven heald shedding device adapted to a small sample shuttle loom according to claim 5, characterized in that: The data packet contains parameters such as fabric structure parameters, independent opening height of each heald frame, stepper motor pulse frequency, pulse equivalent, lifting timing, and commutation control signals. High-speed synchronous transmission on the bus ensures that all drive units can synchronously parse instructions, eliminating timing deviations and establishing a control foundation for precise heald lifting.

7. The working method of the group motor driven heald shedding device adapted to a small sample shuttle loom according to claim 5, characterized in that: In step 3, the Hall sensor continuously collects the position signal of the magnet and transmits it back to the main control unit in real time. Once the mechanical reference zero position signal is detected, the main control unit immediately outputs a braking signal to lock the stepper motor, the active rope wheel stops precisely at the initial zero point, the heald frame falls back to the lowest mechanical limit, the shed is completely closed, and the single complete heald lifting to heald return weaving cycle is completed.

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