Weft extraction mechanism, weft extraction system and weaving machine

Abstract

The utility model discloses a weft extraction mechanism, a weft extraction system and a weaving machine, and relates to the technical field of textile weaving equipment, and the weft extraction mechanism comprises a base plate, a multi-joint mechanical arm and a winding mechanism; the multi-joint mechanical arm is arranged on the base plate in a liftable mode. The winding mechanism is arranged at the free end of the multi-joint mechanical arm, the multi-joint mechanical arm drives the winding mechanism to move, and the winding mechanism is provided with a winding rod; when the multi-joint mechanical arm drives the winding mechanism to approach the weft insertion nozzle, the winding rod rotates and is used for winding and pulling out waste yarn. According to the technical scheme, the weft extraction mechanism is high in weft extraction reliability, and the weft extraction success rate is increased.

Description

Technical Field

[0001] The utility model relates to the technical field of textile weaving equipment, in particular to a weft drawing mechanism, a weft drawing system and a loom. Background Art

[0002] During the weaving process, the loom often stops due to uncertain factors such as weft yarn quality, water / air jet pressure fluctuations, weft yarn tension changes, external interference, etc., which may cause the weft yarn on the loom to be too short or broken.

[0003] In the related art, a weft drawing device is used to draw out waste yarns that are too short or broken. The weft drawing device sucks out the waste yarn by installing a negative pressure air nozzle on the weft yarn nozzle. However, the diameter of the weft yarn is generally less than 0.1 mm, and there is friction resistance with multiple warp yarns. It is difficult for a simple airflow to achieve efficient and accurate weft drawing. When the friction resistance between the warp and weft yarns is large, or the weft yarn is too elastic, the weft yarn will be pulled apart and form broken weft, resulting in a low weft drawing success rate and poor reliability. Utility Model Content

[0004] The main purpose of the utility model is to provide a weft drawing mechanism, a weft drawing system and a loom, aiming to provide a weft drawing mechanism with high weft drawing reliability to improve the success rate of weft drawing.

[0005] To achieve the above-mentioned purpose, the present invention provides a weft drawing mechanism, comprising:

[0006] substrate;

[0007] a multi-joint robotic arm, the multi-joint robotic arm being movably mounted on the base plate;

[0008] A winding mechanism, the winding mechanism being provided at the free end of the multi-joint robotic arm, the multi-joint robotic arm driving the winding mechanism to move, the winding mechanism having a winding rod;

[0009] When the multi-joint robotic arm drives the winding mechanism to approach the weft insertion nozzle, the winding rod rotates to wind and extract the waste yarn.

[0010] In one embodiment, the multi-joint robotic arm is provided with a winding motor, and the winding motor drives the winding mechanism to rotate.

[0011] In one embodiment, the winding mechanism has at least two winding rods, and the winding mechanism further comprises:

[0012] an opening and closing motor connected to the free end of the multi-joint robotic arm;

[0013] The winding wheel is connected to the opening and closing motor, and the opening and closing motor drives the winding wheel to rotate; at least two winding rods are distributed at intervals along the circumference of the winding wheel, and when the winding wheel rotates, the at least two winding rods are driven to shrink toward the center of the winding wheel or to expand to the surrounding areas.

[0014] In one embodiment, the winding wheel sleeve is provided with a mounting sleeve, and the mounting sleeve is provided with at least two guide grooves extending along the radial direction of the winding wheel; each of the winding rods partially extends into one of the guide grooves and moves along the guide groove.

[0015] In one embodiment, the winding wheel is provided with transmission teeth spirally extending from the center to the edge, and the winding rod is provided with matching teeth, which mesh with the transmission teeth.

[0016] In one embodiment, the multi-joint robotic arm comprises:

[0017] a first robotic arm, the first robotic arm being movably mounted on the substrate;

[0018] a second robotic arm, the second robotic arm being rotatably connected to the first robotic arm via a first rotating shaft, the first rotating shaft extending in a vertical direction;

[0019] a third robotic arm, the third robotic arm being rotatably connected to the second robotic arm via a second rotating shaft, the second rotating shaft extending in a horizontal direction;

[0020] The fourth robotic arm is rotatably connected to the third robotic arm through the output shaft of the winding motor, the output shaft of the winding motor extends in a vertical direction, and the end of the fourth robotic arm away from the third robotic arm is the free end.

[0021] In one embodiment, the base plate is provided with a guide rail extending in a vertical direction, and the multi-joint robotic arm is provided with a slider, and the slider is in sliding engagement with the guide rail.

[0022] To achieve the above-mentioned purpose, the present invention further proposes a weft drawing system, comprising:

[0023] A loom body, wherein the loom body is provided with a weft insertion nozzle for introducing weft yarn;

[0024] As for the above-mentioned weft drawing mechanism, the weft drawing mechanism is installed on the loom body. When the free end of the multi-joint mechanical arm drives the winding mechanism to approach the weft insertion nozzle, the winding rod rotates to wind and draw away the waste yarn.

[0025] In one embodiment, the loom body is provided with a crossbeam, and the weft drawing mechanism is detachably mounted at any position of the crossbeam.

[0026] To achieve the above objectives, the present invention further provides a loom comprising the weft drawing system as described above.

[0027] The technical solution of the present invention is to install a multi-joint robotic arm on a base plate in a liftable manner, and to install a winding mechanism on the free end of the multi-joint robotic arm, and the winding mechanism has a winding rod. When the weft-drawing mechanism is applied to a loom, it can be installed on the loom body of the loom through the base plate. When the loom stops due to a short weft or a broken weft fault, the weft-drawing mechanism is activated, and the multi-joint robotic arm can be raised and lowered in the vertical direction, while also driving the winding mechanism to move. When the multi-joint robotic arm drives the winding mechanism close to the weft insertion nozzle, the multi-joint robotic arm can drive the winding mechanism to rotate, causing the winding rod to rotate, and the waste yarn introduced by the weft insertion nozzle can be wound and drawn out by the winding rod. Therefore, compared with the negative pressure weft suction method, the reliability of the waste yarn extraction method using winding is higher, thereby improving the success rate of weft drawing. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0029] Figure 1 This is a structural schematic diagram of an embodiment of the weft drawing mechanism provided by the present invention when the winding rod is in an open state in use;

[0030] Figure 2 A cross-sectional view of an embodiment of the weft drawing mechanism provided by the present invention when the winding rod is in an open position in a use state;

[0031] Figure 3 This is a front view of an embodiment of the weft drawing mechanism provided by the present invention when the winding rod is in an open position in the use state;

[0032] Figure 4 This is a partial structural diagram of the winding mechanism of an embodiment of the weft drawing mechanism provided by the present invention when the winding rod is in an open position in the use state;

[0033] Figure 5 A partial structural cross-sectional view of the winding mechanism of an embodiment of the weft drawing mechanism provided by the present invention when the winding rod is in an open position in a use state;

[0034] Figure 6 This is a partial structural diagram of the winding mechanism of an embodiment of the weft drawing mechanism provided by the present invention when the winding rod is retracted in the use state;

[0035] Figure 7 A partial structural cross-sectional view of the winding mechanism of an embodiment of the weft drawing mechanism provided by the present invention when the winding rod is retracted in the use state;

[0036] Figure 8 This is a structural schematic diagram of an embodiment of the weft drawing mechanism provided by the present invention in a standby state;

[0037] Figure 9 This is a front view of an embodiment of the weft drawing mechanism provided by the present invention in a standby state;

[0038] Figure 10 This is a structural diagram of an embodiment of the weft drawing system provided by the present invention when the weft drawing mechanism is drawing the weft;

[0039] Figure 11 for Figure 10 A partial enlarged view of point A in the middle;

[0040] Figure 12 This is a structural schematic diagram of an embodiment of the weft drawing system provided by the present invention when the weft drawing mechanism is in standby mode;

[0041] Figure 13 for Figure 12 A partial enlarged view of point B in the middle.

[0042] Description of Figure Numbers:

[0043] 1000. Weft-drawing system; 100. Weft-drawing mechanism; 10. Base plate; 11. Guide rail; 20. Multi-joint robotic arm; 21. First robotic arm; 211. First steering motor; 22. Second robotic arm; 221. Second steering motor; 23. Third robotic arm; 231. Winding motor; 24. Fourth robotic arm; 25. Fixed plate; 251. Slider; 30. Winding mechanism; 31. Winding rod; 311. Matching gear; 32. Opening and closing motor; 33. Winding wheel; 331. Transmission gear; 34. Mounting sleeve; 341. Guide groove; 200. Loom body; 210. Weft insertion nozzle; 220. Crossbeam; 230. Wall panel; 240. Weft-beating mechanism; 250. Heald frame; 2000. Waste yarn.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of the present invention.

[0046] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.

[0047] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of such features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel schemes. Taking "A and / or B" as an example, it includes scheme A, or scheme B, or a scheme in which A and B are satisfied at the same time. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] During the weaving process, the loom often stops due to uncertain factors such as weft yarn quality, water / air jet pressure fluctuations, weft yarn tension changes, external interference, etc., which may cause the weft yarn on the loom to be too short or broken.

[0049] In the related art, a weft drawing device is used to draw out waste yarns that are too short or broken. The weft drawing device sucks out the waste yarn by installing a negative pressure air nozzle on the weft yarn nozzle. However, the diameter of the weft yarn is generally less than 0.1 mm, and there is friction resistance with multiple warp yarns. It is difficult for a simple airflow to achieve efficient and accurate weft drawing. When the friction resistance between the warp and weft yarns is large, or the weft yarn is too elastic, the weft yarn will be pulled apart and form broken weft, resulting in a low weft drawing success rate and poor reliability.

[0050] The utility model provides a weft drawing mechanism, a weft drawing system and a loom, aiming to provide a weft drawing mechanism with high weft drawing reliability, so as to improve the success rate of weft drawing.

[0051] See also Figures 1 to 3 、 Figures 8 and 9In one embodiment of the present invention, the weft drawing mechanism 100 includes a base plate 10, a multi-joint robotic arm 20 and a winding mechanism 30; the multi-joint robotic arm 20 is movably arranged on the base plate 10; the winding mechanism 30 is arranged at the free end of the multi-joint robotic arm 20, and the multi-joint robotic arm 20 drives the winding mechanism 30 to move, and the winding mechanism 30 has a winding rod 31; wherein, when the multi-joint robotic arm 20 drives the winding mechanism 30 to approach the weft insertion nozzle 210, the winding rod 31 rotates to wind and draw out the waste yarn 2000.

[0052] The technical solution of the present invention comprises a multi-joint robotic arm 20 that is arbitrarily mounted on a base plate 10, and a winding mechanism 30 that is mounted at the free end of the multi-joint robotic arm 20. The winding mechanism 30 includes a winding rod 31. When the weft drawing mechanism 100 is applied to a loom, it can be mounted on the loom body 200 of the loom via the base plate 10. When the loom shuts down due to a short pick or a broken pick, the weft drawing mechanism 100 is activated, and the multi-joint robotic arm 20 can be raised and lowered vertically while also driving the winding mechanism 30. When the multi-joint robotic arm 20 drives the winding mechanism 30 toward the weft insertion nozzle 210, the multi-joint robotic arm 20 drives the winding mechanism 30 to rotate, causing the winding rod 31 to rotate. The winding rod 31 can then be used to wind and remove the waste yarn 2000 drawn from the weft insertion nozzle 210. Therefore, compared to a negative pressure weft suction method, the present solution employs a winding method that is more reliable in removing waste yarn 2000, thereby improving the success rate of weft drawing.

[0053] Furthermore, the weft drawing mechanism 100 proposed in this solution can automatically handle the waste yarn 2000 caused by short or broken wefts on the loom, eliminating the need for manual extraction of the waste yarn 2000. This can reduce worker labor intensity and improve the production efficiency of the loom. Furthermore, the weft drawing mechanism 100 does not require auxiliary structures such as air guides and yarn hooks, resulting in a relatively simple structure.

[0054] In this embodiment, when the multi-joint robotic arm 20 drives the winding mechanism 30 to move close to the weft insertion nozzle 210, the multi-joint robotic arm 20 can also drive the entire winding mechanism 30 to rotate, so that the winding rod 31 of the winding mechanism 30 rotates, and the waste yarn 2000 can be wound and extracted under the rotation of the winding rod 31.

[0055] The weft drawing mechanism 100 can rotate around an axis through the multi-joint robotic arm 20 and the joint motor built into the robotic arm, and coordinate with the lifting to position the winding mechanism 30 near the weft yarn to be processed, that is, near the weft insertion nozzle 210.

[0056] In actual application, the number of the winding rods 31 is not specifically limited here, and can be 3 to 6 winding rods 31. Of course, the number of the winding rods 31 can also be 1, 2, etc.

[0057] Furthermore, the number of segments of the multi-joint robotic arm 20 is not specifically limited herein, and may specifically include 4 to 7 segments of the robotic arm.

[0058] In actual application, the multi-joint robotic arm 20 can be driven by a motor-screw, motor-gear, motor-belt or chain, etc., so as to rise and fall in the vertical direction relative to the base plate 10, thereby driving the winding mechanism 30 to rise and fall in the vertical direction. The lifting and lowering of the weft drawing mechanism 100 can facilitate the positioning of the winding mechanism 30 to the waste yarn 2000, while avoiding interference from the loom and its auxiliary structures.

[0059] See also Figure 2 In one embodiment of the present invention, the multi-joint robotic arm 20 is provided with a winding motor 231 , and the winding motor 231 drives the winding mechanism 30 to rotate.

[0060] In this arrangement, by connecting the winding motor 231 to the multi-joint robotic arm 20, when the multi-joint robotic arm 20 drives the winding mechanism 30 close to the weft insertion nozzle 210, the entire winding mechanism 30 can be smoothly driven to rotate by the winding motor 231, so as to extract the waste yarn 2000 through the rotating winding rod 31.

[0061] See also Figures 4 to 7 In one embodiment of the present invention, the winding mechanism 30 has at least two winding rods 31; the winding mechanism 30 also includes an opening and closing motor 32 and a winding wheel 33; the opening and closing motor 32 is connected to the free end of the multi-joint robotic arm 20; the winding wheel 33 is transmission-connected to the opening and closing motor 32, and the opening and closing motor 32 drives the winding wheel 33 to rotate; at least two winding rods 31 are distributed at intervals along the circumference of the winding wheel 33, and when the winding wheel 33 rotates, it drives at least two winding rods 31 to retract toward the center of the winding wheel 33, or to open to the surrounding areas.

[0062] With this arrangement, before the waste yarn 2000 is extracted, the winding wheel 33 is first driven to rotate by the opening and closing motor 32, so that the rotation of the winding wheel 33 drives at least two winding rods 31 to open to the four sides of the winding wheel 33. At this time, the multi-joint robot arm 20 drives the winding mechanism 30 to approach the weft insertion nozzle 210, so that at least two winding rods 31 can be arranged on both sides of the waste yarn 2000. Then, the winding motor 231 drives the entire winding mechanism 30 to rotate, and the waste yarn 2000 can be wound around at least two winding rods 31. The outer periphery of the winding rod 31; then the multi-joint robotic arm 20 rises and deflects outward to transfer the waste yarn 2000 wound on the winding rod 31 to the top of the waste collector; at this time, the opening and closing motor 32 drives the winding wheel 33 to reverse, so as to drive at least two winding rods 31 to retract toward the center of the winding wheel 33. At this time, the wound waste yarn 2000 loses its support and can naturally fall off from the winding rod 31 under the action of gravity to fall into the waste collector, thereby realizing automatic collection of the waste yarn 2000.

[0063] In actual application, the winding wheel 33 and the winding rod 31 can adopt the cooperation of gears and gears, or the cooperation of gears and racks. Of course, other structures that can drive the winding rod 31 to move in the radial direction of the winding wheel 33 fall within the protection scope of this solution and are not specifically limited here.

[0064] In actual application, the number of the winding rods 31 is not specifically limited herein, and can be 3 to 6 winding rods 31 . Optionally, the number of the winding rods 31 can preferably be 3.

[0065] See also Figure 8 In one embodiment of the present invention, the winding wheel 33 is provided with a mounting sleeve 34, and the mounting sleeve 34 is provided with at least two guide grooves 341 extending along the radial direction of the winding wheel 33; each winding rod 31 partially extends into a guide groove 341 and moves along the guide groove 341.

[0066] In this arrangement, by providing a mounting sleeve 34 on the outer outer surface of the winding wheel 33 and partially installing the winding rod 31 in the guide groove 341, when the winding wheel 33 rotates, the winding rod 31 can be limited by the opposite side walls of the guide groove 341 to prevent the winding rod 31 from rotating with the winding wheel 33. At the same time, the winding rod 31 can be moved along the guide groove 341, so that the winding rod 31 is more stable when shrinking toward the center of the winding wheel 33 or opening to the surroundings.

[0067] In this embodiment, the winding rod 31 may include a mounting portion and a rod portion that are connected to each other, wherein the mounting portion is installed in the guide groove 341 , and the rod portion is used for winding the waste yarn 2000 .

[0068] In one embodiment, in order to improve the stability of the winding rod 31 during movement, a slide rail extending radially along the winding wheel 33 may be provided on the groove wall of the guide groove 341 so that the winding rod 31 slides along the slide rail.

[0069] See also Figures 4 to 7 In one embodiment of the present invention, the winding wheel 33 is provided with a transmission tooth 331 spirally extending from the center to the edge, and the winding rod 31 is provided with a matching tooth 311 , which meshes with the transmission tooth 331 .

[0070] With such arrangement, during the rotation of the winding wheel 33 , the driving teeth 331 and the matching teeth 311 can cooperate to more stably drive the winding rod 31 to retract toward the center line of the winding wheel 33 or to expand toward the periphery.

[0071] See also Figures 1 to 3In one embodiment of the present utility model, the multi-joint robotic arm 20 includes a first robotic arm 21, a second robotic arm 22, a third robotic arm 23 and a fourth robotic arm 24; the first robotic arm 21 is liftably arranged on the base plate 10; the second robotic arm 22 is rotatably connected to the first robotic arm 21 through a first rotating shaft, and the first rotating shaft extends in the vertical direction; the third robotic arm 23 is rotatably connected to the second robotic arm 22 through a second rotating shaft, and the second rotating shaft extends in the horizontal direction; the fourth robotic arm 24 is rotatably connected to the third robotic arm 23 through the output shaft of the winding motor 231, and the output shaft of the winding motor 231 extends in the vertical direction, and the end of the fourth robotic arm 24 away from the third robotic arm 23 is a free end.

[0072] With this arrangement, in use, when the loom stops due to a short pick or broken pick fault, the weft drawing mechanism 100 is activated, and the multi-joint robotic arm 20 can be raised and lowered in the vertical direction; at the same time, the second robotic arm 22 can rotate relative to the first robotic arm 21 under the rotation of the first rotating shaft, so as to drive the winding mechanism 30 close to the weft insertion nozzle 210; then the fourth robotic arm 24 can rotate relative to the third robotic arm 23 under the rotation of the output shaft of the winding motor 231, so as to drive the entire winding mechanism 30 to rotate, so as to wind and draw out the waste yarn 2000 through the winding rod 31. In the standby state, the third robotic arm 23 can rotate relative to the second robotic arm 22 under the rotation of the second rotating shaft, so that the third robotic arm 23, the fourth robotic arm 24 and the winding mechanism 30 flip upward according to the set deflection angle to fold the winding mechanism 30 into place, please refer to Figure 8 、 Figure 9 、 Figure 12 and Figure 13 At this time, the weft drawing mechanism 100 is folded close to the beam 220 to enter the standby state, and the loom resumes normal operation.

[0073] In this embodiment, a first steering motor 211 is provided between the first robotic arm 21 and the second robotic arm 22, and the first steering motor 211 has a first rotating shaft; a second steering motor 221 is provided between the second robotic arm 22 and the third robotic arm 23, and the second steering motor 221 has a second rotating shaft; and a winding motor 231 is arranged between the third robotic arm 23 and the fourth robotic arm 24.

[0074] See also Figures 1 to 3 In one embodiment of the present invention, the base plate 10 is provided with a guide rail 11 extending in a vertical direction, and the multi-joint robotic arm 20 is provided with a slider 251 , which is slidably engaged with the guide rail 11 .

[0075] With such arrangement, the cooperation between the slider 251 and the guide rail 11 can improve the stability of the multi-joint robot arm 20 during the lifting process, thereby improving the accuracy of the winding mechanism 30 in winding and extracting the waste yarn 2000.

[0076] See also Figures 1 to 3 In one embodiment of the present invention, the multi-joint robot arm 20 is liftably mounted on the base plate 10 via a fixing plate 25 .

[0077] In this configuration, by using the fixing plate 25 to mount the multi-joint robot arm 20 on the base plate 10 in a liftable manner, the installation reliability of the multi-joint robot arm 20 can be improved.

[0078] See also Figures 10 to 13 The present invention also proposes a weft drawing system 1000, which includes a loom body 200 and a weft drawing mechanism 100. The specific structure of the weft drawing mechanism 100 refers to the above embodiment. Since the weft drawing system 1000 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0079] Among them, the loom body 200 is provided with a weft insertion nozzle 210, which is used to draw out the weft yarn; the weft drawing mechanism 100 is installed on the loom body 200, and when the free end of the multi-joint robotic arm 20 drives the winding mechanism 30 to approach the weft insertion nozzle 210, the winding rod 31 rotates to wind and draw out the waste yarn 2000.

[0080] It can be understood that the weft drawing mechanism 100 is installed on the loom body 200 of the loom through the base plate 10. When the loom stops due to a short weft or broken weft fault, the weft drawing mechanism 100 is started, and the multi-joint robotic arm 20 can be raised and lowered in the vertical direction. At the same time, it can also drive the winding mechanism 30 to move. When the multi-joint robotic arm 20 drives the winding mechanism 30 to approach the weft insertion nozzle 210, the winding mechanism 30 can be driven to rotate by the multi-joint robotic arm 20 to rotate the winding rod 31, and the waste yarn 2000 drawn out from the weft insertion nozzle 210 can be wound and drawn out by the winding rod 31.

[0081] See also Figure 10 、 Figure 13 In one embodiment of the present invention, the loom body 200 is provided with a crossbeam 220 , and the weft drawing mechanism 100 can be detachably mounted at any position of the crossbeam 220 .

[0082] Such an arrangement can make the weft drawing mechanism 100 and the loom body 200 (original loom structure) independent of each other, and can be installed in any position of the beam 220 in a detachable manner. It is simple to install and is compatible with different types of looms, including some earlier models, without changing the original loom structure, and has strong adaptability.

[0083] In actual application, the weft drawing mechanism 100 can be installed at any position of the beam 220 by means of magnetism, fasteners, etc.

[0084] In this embodiment, the loom body 200 further includes a wall panel 230, a beating mechanism 240 and a heald frame 250. The specific operation of the loom body 200 is known in the art and will not be described in detail herein.

[0085] In one embodiment, the working steps of the weft drawing system 1000 may be as follows:

[0086] After determining the weft withdrawal position according to the loom type, the weft withdrawal mechanism 100 is fixed to the appropriate position of the beam 220 by means of magnets or fasteners. After the weft withdrawal mechanism 100 is fixed, the multi-joint robot arm 20 is guided by manual guidance and teaching programming to drive the winding machine to the weft withdrawal position.

[0087] When the loom stops due to a fault such as broken weft or short weft, the weft drawing mechanism 100 is started. According to the above-mentioned teaching programming guidance, the winding mechanism 30 is positioned above the waste yarn 2000 that needs to be drawn out through the cooperation of the guide rail 11 and the first steering motor 211.

[0088] The opening and closing motor 32 drives the winding wheel 33 in the winding mechanism 30 to rotate, so as to drive the three winding rods 31 to open to the four sides of the winding wheel 33. After the winding rods 31 are opened to a predetermined size, the multi-joint robotic arm 20 moves downward until the three winding rods 31 are located on both sides of the waste yarn 2000. At this time, the winding mechanism 30 reaches the vicinity of the weft insertion nozzle 210.

[0089] The winding motor 231 drives the winding mechanism 30 to rotate as a whole, winding the waste yarn 2000 around the periphery of the winding rod 31. The multi-jointed robotic arm 20 then rises and deflects outward to transfer the waste yarn 2000 wound on the winding rod 31 to the top of the waste collector. At this time, the opening and closing motor 32 drives the winding wheel 33 to reverse, causing the three winding rods 31 to retract toward the center of the winding wheel 33. At this time, the wound waste yarn 2000 loses its support and naturally falls off the winding rod 31 under the action of gravity and falls into the waste collector.

[0090] After the weft drawing is completed, the third mechanical arm 23 can rotate relative to the second mechanical arm 22 under the action of the second steering mechanism, so that the third mechanical arm 23, the fourth mechanical arm 24 and the winding mechanism 30 are turned upward according to the set deflection angle to fold the winding mechanism 30. Figure 8 、 Figure 9 、 Figure 12 and Figure 13 At this time, the weft drawing mechanism 100 is folded close to the beam 220 to enter the standby state, and the loom resumes normal operation.

[0091] The present invention also proposes a loom, which includes a weft drawing system 1000. The specific structure of the weft drawing system 1000 refers to the above-mentioned embodiment. Since this loom adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0092] The above description is merely an exemplary embodiment of the present invention and does not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect application in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A weft drawing mechanism, characterized in that: include: substrate; a multi-joint robotic arm, the multi-joint robotic arm being movably mounted on the base plate; A winding mechanism, the winding mechanism being provided at the free end of the multi-joint robotic arm, the multi-joint robotic arm driving the winding mechanism to move, the winding mechanism having a winding rod; When the multi-joint robotic arm drives the winding mechanism to approach the weft insertion nozzle, the winding rod rotates to wind and extract the waste yarn.

2. The weft drawing mechanism according to claim 1, wherein: The multi-joint robotic arm is provided with a winding motor, and the winding motor drives the winding mechanism to rotate.

3. The weft drawing mechanism according to claim 2, wherein: The winding mechanism has at least two winding rods, and the winding mechanism further comprises: an opening and closing motor connected to the free end of the multi-joint robotic arm; The winding wheel is connected to the opening and closing motor, and the opening and closing motor drives the winding wheel to rotate; at least two winding rods are distributed at intervals along the circumference of the winding wheel, and when the winding wheel rotates, the at least two winding rods are driven to shrink toward the center of the winding wheel or to expand to the surrounding areas.

4. The weft drawing mechanism according to claim 3, wherein: The winding wheel sleeve is provided with a mounting sleeve, and the mounting sleeve is provided with at least two guide grooves extending along the radial direction of the winding wheel; each winding rod portion extends into one of the guide grooves and moves along the guide groove.

5. The weft drawing mechanism according to claim 4, wherein: The winding wheel is provided with transmission teeth spirally extending from the center to the edge, and the winding rod is provided with matching teeth, which are engaged with the transmission teeth.

6. The weft drawing mechanism according to any one of claims 2 to 5, characterized in that: The multi-joint robotic arm comprises: a first robotic arm, the first robotic arm being movably mounted on the substrate; a second robotic arm, the second robotic arm being rotatably connected to the first robotic arm via a first rotating shaft, the first rotating shaft extending in a vertical direction; a third robotic arm, the third robotic arm being rotatably connected to the second robotic arm via a second rotating shaft, the second rotating shaft extending in a horizontal direction; The fourth robotic arm is rotatably connected to the third robotic arm through the output shaft of the winding motor, the output shaft of the winding motor extends in a vertical direction, and the end of the fourth robotic arm away from the third robotic arm is the free end.

7. The weft drawing mechanism according to any one of claims 1 to 5, characterized in that: The base plate is provided with a guide rail extending in a vertical direction, and the multi-joint robotic arm is provided with a slider, and the slider is slidably matched with the guide rail.

8. A weft drawing system, characterized in that: include: A loom body, wherein the loom body is provided with a weft insertion nozzle for introducing weft yarn; The weft drawing mechanism according to any one of claims 1 to 7, wherein the weft drawing mechanism is mounted on the loom body, and when the free end of the multi-joint robotic arm drives the winding mechanism close to the weft insertion nozzle, the winding rod rotates to wind and draw off the waste yarn.

9. The weft drawing system according to claim 8, wherein: The loom body is provided with a crossbeam, and the weft drawing mechanism is detachably mounted on any position of the crossbeam.

10. A loom, characterized in that: Comprising the weft drawing system as described in claim 8 or 9.

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