CN116163044A - Automatic layering device and layering method for multi-layer warp yarns of three-dimensional fabric - Google Patents

Abstract

The invention provides a three-dimensional fabric multilayer warp automatic layering device and a layering method, wherein the device comprises the following steps: a base; a horizontal movement mechanism; the layering frame can move along the horizontal direction and is arranged on the horizontal moving mechanism; the first vertical moving mechanism and the second vertical moving mechanism are arranged on the layering frame; the first penetrating rod base and the second penetrating rod base are arranged on the first vertical moving mechanism and the second vertical moving mechanism and can move along the vertical direction; the first penetrating rod movement mechanism is arranged on the first penetrating rod base; the second penetrating rod movement mechanism is arranged on the second penetrating rod base; the first layering rod and the second layering rod are arranged on the first penetrating rod moving mechanism and the second penetrating rod moving mechanism in a movable mode along the horizontal direction. The device and the method control the forward and backward movement, the up and down movement, the insertion and extraction actions of the layering rod through the horizontal moving mechanism, the vertical moving mechanism and the rod penetrating moving mechanism, so that the layering rod can divide warp into two parts to form an opening, and the automatic layering of the three-dimensional fabric multilayer warp is realized.

Description

Automatic layering device and layering method for multi-layer warp yarns of three-dimensional fabric

Technical Field

The invention belongs to the technical field of automatic forming of three-dimensional fabrics, and particularly relates to an automatic layering device and layering method for multi-layer warps of a three-dimensional fabric.

Background

The three-dimensional fabric at least comprises two systems of yarns, and the yarns of each system are of a multi-layer structure and mutually intersected in space to form an integral structure. When the three-dimensional fabric is produced, warp yarn layers are distributed layer by layer in the thickness direction of the fabric, multiple layers of warp yarns are converged at a weaving port, and the yarns are closely distributed with each other and cannot naturally form an effective opening, so that the fabric is required to be layered manually.

Common fabric layering techniques are commonly used in the production of two-dimensional fabrics where the warp yarns can be reciprocally displaced by two heald frames to form a weave opening. For example, chinese patent publication No. CN 114457485a discloses an opening device, which can move the position of the opening mechanism up and down by sliding connection, optimize the use state of the opening mechanism in production, and improve the production efficiency, but the mechanism is suitable for two-dimensional plane fabric production. The Chinese patent publication No. CN 102493107A discloses a layered weaving method of warp yarns, wherein two groups of back beams are added in a loom, warp yarns participating in weaving are divided into two layers and respectively wound on the two groups of back beams, so that the arrangement density of the warp yarns can be reduced by half, and the friction loss of the back beams to the heald eye area warp yarns is reduced. Chinese patent publication No. CN215800177U discloses a cam shedding mechanism of a reciprocable cored loom, which performs a shedding operation by a cam diameter-variable reciprocating rotation, and the method is also applicable to the production of two-dimensional planar fabrics. The chinese patent publication No. CN 114855330a discloses a shedding mechanism and a loom, the shedding mechanism is composed of a plurality of heald frames, each heald frame makes a linear reciprocating motion in a vertical direction under electromagnetic action to achieve a shedding purpose, and the mechanism can control the plurality of heald frames to achieve a shedding action, but is not suitable for the production of multi-layer three-dimensional fabrics.

Accordingly, there is a need to provide a device suitable for automatic delamination of multi-layer warp yarns of three-dimensional fabrics.

Disclosure of Invention

The invention provides an automatic layering device and a layering method for multi-layer warp yarns of a three-dimensional fabric, which are used for solving the problem that the existing automatic layering device for the fabric can only be used for producing two-dimensional fabric but is not suitable for producing multi-layer three-dimensional fabric.

To solve the above problems, a first aspect of the present invention provides an automatic layering device for multi-layer warp yarns of a three-dimensional fabric, comprising:

a base;

the horizontal moving mechanism is arranged on the base;

the layering frame is arranged on the horizontal moving mechanism and can move along the horizontal direction under the action of the horizontal moving mechanism;

the first vertical moving mechanism is arranged on the layering frame;

the first penetrating rod base is arranged on the first vertical moving mechanism and can move along the vertical direction under the action of the first vertical moving mechanism;

The second vertical moving mechanism is arranged on the layering frame;

the second penetrating rod base is arranged on the second vertical moving mechanism and can move along the vertical direction under the action of the second vertical moving mechanism;

the first penetrating rod movement mechanism is arranged on the first penetrating rod base;

the first layering rod is arranged on the first penetrating rod movement mechanism, can move along the horizontal direction under the action of the first penetrating rod movement mechanism, and the moving direction is perpendicular to the moving direction of the layering frame under the action of the horizontal movement mechanism;

the second penetrating rod movement mechanism is arranged on the second penetrating rod base;

the second layering rod is arranged on the second penetrating rod movement mechanism, can move along the horizontal direction under the action of the second penetrating rod movement mechanism, and is perpendicular to the moving direction of the layering frame under the action of the horizontal movement mechanism.

Preferably, the automatic layering device for three-dimensional fabric multilayer warp yarns further comprises:

the third vertical moving mechanism is arranged on the layering frame;

the first connecting rod base is arranged on the third vertical moving mechanism and can move along the vertical direction under the action of the third vertical moving mechanism; the first connecting rod base is provided with a first supporting part, and when the first layering rod completes the insertion action, one end of the first layering rod, which is far away from the first connecting rod base, is positioned on the first supporting part;

The fourth vertical moving mechanism is arranged on the layering frame;

the second connecting rod base is arranged on the fourth vertical moving mechanism and can move along the vertical direction under the action of the fourth vertical moving mechanism; the second support part is arranged on the second connecting rod base, and when the second layering rod completes the insertion action, one end, far away from the second connecting rod base, of the second layering rod is positioned on the second support part.

Preferably, the horizontal movement mechanism includes: the device comprises a horizontal moving guide rail and a horizontal moving motor, wherein the horizontal moving guide rail is arranged on a base, the layered frame is arranged on the horizontal moving guide rail in a sliding mode, and the horizontal moving motor drives the layered frame to move on the horizontal moving guide rail through screw transmission or belt pulley transmission or gear-rack transmission.

Preferably, the first vertical moving mechanism includes: the first vertical moving guide rail is arranged on the layering frame, the first sliding block is arranged on the first vertical moving guide rail in a sliding mode, the first sliding block is driven to move on the first vertical moving guide rail through screw transmission or belt pulley transmission or rack-and-pinion transmission by the first vertical moving motor, and the first penetrating rod base is arranged on the first sliding block;

The second vertical movement mechanism includes: the second vertical moving guide rail is arranged on the layering frame, the second sliding block is arranged on the second vertical moving guide rail in a sliding mode, the second sliding block is driven to move on the second vertical moving guide rail through screw transmission or belt pulley transmission or rack-and-pinion transmission by the second vertical moving motor, and the second penetrating rod base is arranged on the second sliding block;

the third vertical movement mechanism includes: the third vertical moving guide rail is arranged on the layering frame, the third sliding block is arranged on the third vertical moving guide rail in a sliding mode, the third sliding block is driven to move on the third vertical moving guide rail through screw rod transmission or belt pulley transmission or gear rack transmission by the third vertical moving motor, and the first connecting rod base is arranged on the third sliding block;

the fourth vertical movement mechanism includes: the device comprises a layered frame, a first vertical moving guide rail, a first vertical moving motor and a first sliding block, wherein the first vertical moving guide rail is arranged on the layered frame, the first sliding block is arranged on the first vertical moving guide rail in a sliding mode, the first sliding block is driven to move on the first vertical moving guide rail through screw transmission or belt pulley transmission or gear rack transmission, and a second connecting rod base is arranged on the first sliding block.

Preferably, the layered rack comprises: the device comprises a door-shaped frame and a triangular support arranged at the bottom of the door-shaped frame; the door-shaped frame comprises a first side rod, a top rod, a second side rod and a bottom rod which are connected in sequence.

Preferably, the first vertical moving guide rail is arranged on a first side rod of the door-shaped frame and is positioned on a first surface of the door-shaped frame; the second vertical moving guide rail is arranged on the first side rod of the inverted-V-shaped frame and is positioned on the second surface of the inverted-V-shaped frame; the third vertical moving guide rail is arranged on the second side rod of the inverted-V-shaped frame and is positioned on the first surface of the inverted-V-shaped frame; the fourth vertical moving guide rail is arranged on the second side rod of the inverted-V-shaped frame and is positioned on the second surface of the inverted-V-shaped frame.

Preferably, the first penetrating bar movement mechanism includes: the first roller group comprises two first rollers, at least one of the first rollers is a first driving wheel, the first driving wheel is connected with the first rod penetrating motor, the first layering rod is positioned between the two first rollers of the first roller group, and the first roller group is driven to realize the action of inserting or extracting;

The second penetrating rod movement mechanism comprises: the second rod penetrating motor and at least two groups of second roller groups, each group of second roller groups comprises two second rollers, at least one of the second rollers is a second driving wheel, the second driving wheel is connected with the second rod penetrating motor, the second layering rod is located between the two second rollers of the second roller groups, and the second roller groups are driven to realize the action of inserting or extracting.

Preferably, the first penetrating rod base comprises a first fixed plate, a first movable plate and a first spring, wherein the first movable plate is arranged on the first fixed plate in a manner of moving along the vertical direction, one end of the first spring is connected with the first fixed plate, the other end of the first spring is connected with the first movable plate, and the first spring is in a stretching state; one first roller of the first roller group is arranged on the first fixed plate, and the other first roller is arranged on the first movable plate;

the second penetrating rod base comprises a second fixed plate, a second movable plate and a second spring, wherein the second movable plate can be arranged on the second fixed plate in a movable manner along the vertical direction, one end of the second spring is connected with the second fixed plate, the other end of the second spring is connected with the second movable plate, and the second spring is in a stretching state; one of the second rollers of the second roller group is arranged on the second fixed plate, and the other second roller is arranged on the second movable plate.

Preferably, the automatic layering device for three-dimensional fabric multilayer warp yarns further comprises:

the first sensor is arranged on the first penetrating rod base, the second sensor is arranged on the second penetrating rod base, the first sensor, the second sensor, the first penetrating rod motor and the second penetrating rod motor are respectively and electrically connected with the controller, and the controller is used for controlling the opening or closing of the first penetrating rod motor according to the position of the first layering rod detected by the first sensor and controlling the opening or closing of the second penetrating rod motor according to the position of the second layering rod detected by the second sensor.

The second aspect of the invention provides an automatic layering method for three-dimensional fabric multilayer warp yarns, which is completed by adopting the automatic layering device for three-dimensional fabric multilayer warp yarns, and comprises the following steps of:

s1, moving the first penetrating rod base and the second penetrating rod base to the first layering rod and the second layering rod to be positioned at an inlet of a yarn layer to be layered through the first vertical moving mechanism and the second vertical moving mechanism;

s2, inserting the first layering rod and the second layering rod into a yarn layer to be layered through the first rod penetrating movement mechanism and the second rod penetrating movement mechanism;

S3, horizontally moving the layering frame for a fixed length through the horizontal moving mechanism;

s4, driving the first layering rod to move upwards through the first vertical moving mechanism, driving the second layering rod to move downwards through the second vertical moving mechanism, and dividing the yarn into an upper part and a lower part to form a weft insertion opening;

s5, after weft insertion is completed, the first layering rod is driven to move downwards through the first vertical moving mechanism, and the second layering rod is driven to move upwards to the original height through the second vertical moving mechanism;

s6, horizontally moving the layering frame to an original horizontal position through the horizontal moving mechanism;

s7, drawing out the yarn layers from the first layering rod and the second layering rod through the first rod penetrating movement mechanism and the second rod penetrating movement mechanism;

s8, repeating the steps S1 to S7 until all openings of the warp yarn layers are completed.

Compared with the prior art, the invention has the following beneficial effects:

according to the automatic layering device for the three-dimensional fabric multilayer warp, the horizontal moving mechanism and the vertical moving mechanism are used for controlling the front and back and up and down movements of the two layering rods, and the rod penetrating moving mechanism is used for driving the insertion and extraction actions of the two layering rods, so that the layering rods can divide the warp into two parts to form openings required by weaving, and the automatic layering of the three-dimensional fabric multilayer warp is realized.

According to the automatic layering method for the multi-layer warp yarn of the three-dimensional fabric, the two layering rods are controlled to repeat at a plurality of points in the vertical direction of the multi-layer warp yarn one by one: 1. inserting a layering rod, advancing the layering frame, 3 moving the layering rod up and down to form an opening, 4 restoring the layering rod to the same horizontal height, 5 backing the layering frame, 6 withdrawing the layering rod, and 7 moving to the next layering position, so that the openings required for weaving can be formed for the multi-layer warp yarns layer by layer, and automatic continuous production of the three-dimensional fabric is realized.

Drawings

FIG. 1 is a schematic structural view of an automatic layering device for multi-layer warp yarns of a three-dimensional fabric according to example 1 of the present invention;

FIG. 2 is a state diagram showing the insertion of a layering rod of the automatic layering device for three-dimensional fabric multi-layer warp yarn in examples 1, 2 of the present invention;

FIG. 3 is a state diagram of the three-dimensional fabric multilayer warp automatic layering device of examples 1 and 2 according to the present invention after the layering rod is inserted and moved forward by a fixed length;

FIG. 4 is a state diagram of the three-dimensional fabric multilayer warp automatic layering device according to the embodiments 1 and 2 of the present invention after the layering rod moves forward by a fixed length, and the first layering rod and the second layering rod move up and down respectively;

FIG. 5 is a state diagram showing the three-dimensional fabric multi-layer warp automatic layering device according to the embodiments 1 and 2 of the present invention, in which two layering rods are pulled out at the same level after the layering rods are moved to a fixed length;

FIG. 6 is a state diagram showing the relative positions of the layering rod of the automatic layering device for three-dimensional fabric multi-layer warp yarn of example 2 of the present invention when the layering rod is inserted into the layer 1 warp yarn;

FIG. 7 is a state diagram showing the relative positions of the layering rods inserted and moved forward by a fixed length and the layer 1 warp yarn of the automatic layering device for three-dimensional fabric multilayer warp yarn in example 2 of the present invention;

FIG. 8 is a state diagram showing the relative positions of the layering rods of the automatic layering device for three-dimensional fabric multilayer warp yarns in the embodiment 2 of the invention and the layer 1 warp yarns after the layering rods move up and down respectively;

FIG. 9 is a state diagram showing the relative positions of the layering rods inserted and moved to the same horizontal level and withdrawn in a fixed length backward movement and the layer 1 warp yarn of the automatic layering device for three-dimensional fabric according to the embodiment 2 of the present invention;

FIG. 10 is a view showing the relative positions of the layering bars of the automatic layering device for three-dimensional fabric multilayer warp yarn of example 2 of the present invention after the layering bars are inserted in a downward movement manner;

FIG. 11 is a state diagram showing the relative positions of the layering bars inserted and moved forward by a fixed length and the layer 2 warp yarns of the automatic layering device for three-dimensional fabric multilayer warp yarns in example 2 of the present invention;

FIG. 12 is a state diagram showing the relative positions of the first and second delamination bars with respect to the layer 2 warp yarn after the first and second delamination bars move up and down, respectively, of the automatic delamination apparatus for three-dimensional fabric multi-layer warp yarn in example 2 of the present invention;

FIG. 13 is a state diagram showing the relative positions of the layering rods inserted and moved to the same horizontal level and withdrawn in a fixed length backward movement and the layer 2 warp yarn of the automatic layering device for three-dimensional fabric according to the embodiment 2 of the present invention.

Wherein: 1-a base; 2-a horizontal movement mechanism; 3-layering frames; 4-a first vertical movement mechanism; 5-a second vertical movement mechanism; 6-a first penetrating rod base; 7-a second penetrating rod base; 8-a first penetrating rod movement mechanism; 9-a second penetrating rod movement mechanism; 10-a first layered rod; 11-a second layering rod; 12-a third vertical movement mechanism; 13-fourth vertical movement mechanisms; 14-a first connecting rod base; 15-a second connecting rod base; 16-a first support; 21-a horizontal movement guide rail; 22-a horizontal movement motor; 31-a portal frame; 32-triangular supports; 41-a first vertical moving rail; 42-a first vertical movement motor; 43-a first slider; 81-a first rod penetrating motor; 82-a first roller set; 121-a third vertical movement rail; 131-fourth vertical movement rail.

Detailed Description

The technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

Example 1

As shown in fig. 1, the automatic layering device for multi-layer warp yarns of the three-dimensional fabric of the embodiment comprises: base 1, horizontal movement mechanism 2, layering frame 3, first vertical movement mechanism 4, second vertical movement mechanism 5, first wearing pole base 6, second wearing pole base 7, first wearing pole motion mechanism 8, second wearing pole motion mechanism 9, first layering pole 10, second layering pole 11.

The horizontal moving mechanism 2 is arranged on the base 1; the layering frame 3 is arranged on the horizontal moving mechanism 2, and the layering frame 3 can move along the horizontal direction under the action of the horizontal moving mechanism 2; the first vertical moving mechanism 4 is arranged on the layering frame 3; the first penetrating rod base 6 is arranged on the first vertical moving mechanism 4, and the first penetrating rod base 6 can move along the vertical direction under the action of the first vertical moving mechanism 4; the second vertical moving mechanism 5 is arranged on the layering frame 3; the second penetrating rod base 7 is arranged on the second vertical moving mechanism 5, and the second penetrating rod base 7 can move along the vertical direction under the action of the second vertical moving mechanism 5; the first penetrating rod movement mechanism 8 is arranged on the first penetrating rod base 6; the first layering rod 10 is arranged on the first penetrating rod moving mechanism 8, the first layering rod 10 can move along the horizontal direction under the action of the first penetrating rod moving mechanism 8, and the moving direction is perpendicular to the moving direction of the layering frame under the action of the horizontal moving mechanism 2; the second penetrating rod movement mechanism 9 is arranged on the second penetrating rod base 7; the second layering rod 11 is arranged on the second penetrating rod moving mechanism 9, the second layering rod 11 can move along the horizontal direction under the action of the second penetrating rod moving mechanism 9, and the moving direction is perpendicular to the moving direction of the layering frame 3 under the action of the horizontal moving mechanism 2.

The working process of the three-dimensional fabric multilayer warp automatic layering device in the embodiment during automatic layering is as follows: the first vertical moving mechanism and the second vertical moving mechanism are used for adjusting the vertical position and the horizontal position of a first warp layer layering, namely the middle position of a 1 st layer warp and a 2 nd layer warp, at the moment, the two layering rods are at the same horizontal height, then the first layering rod and the second layering rod are inserted between the 1 st layer warp and the 2 nd layer warp through the first vertical moving mechanism and the second vertical moving mechanism, the layering frame is horizontally moved forward through the horizontal moving mechanism, then the first layering rod is driven to move upwards through the first vertical moving mechanism, the second layering rod is driven to move downwards through the second vertical moving mechanism, the yarns are divided into an upper part and a lower part to form weft insertion openings, weft insertion is carried out, after weft insertion is completed, the first layering rod is driven to move downwards through the first vertical moving mechanism, the second layering rod is driven to move upwards to the original height, the layering frame is horizontally moved to the original horizontal position through the horizontal moving mechanism, the first layering rod is driven to move upwards through the first vertical moving mechanism, the second layering rod is driven to pull out the second layering rod, the warp layer 1 is repeated, and layering of the warp is carried out on the second layering layer 2.

According to the three-dimensional fabric multilayer warp automatic layering device, the horizontal moving mechanism and the vertical moving mechanism are used for controlling the front-back and up-down movement of the two layering rods, and the rod penetrating moving mechanism is used for driving the insertion and extraction actions of the two layering rods, so that the layering rods can divide warp into two parts to form openings required by weaving, and automatic layering of the three-dimensional fabric multilayer warp is achieved.

The base 1 is used for providing support for the whole device, and the specific structure is not limited, and can be a flat plate-shaped structure or a square frame-shaped structure, so long as the device can be stably supported. In this embodiment, the base 1 is a "mouth" shaped frame.

The horizontal movement mechanism 2 is used to move the layering rack 3 in the horizontal direction, and the horizontal movement mechanism 2 is not particularly limited as long as the above-described functions can be achieved. For example, the horizontal moving mechanism may adopt a slide rail and an auxiliary structure, or may adopt a slide groove and an auxiliary structure thereof. As a preferred embodiment, in this embodiment, the horizontal moving mechanism 2 includes a horizontal moving rail 21 and a horizontal moving motor 22, the horizontal moving rail 21 is disposed on the base 1, the layering frame 3 is slidably disposed on the horizontal moving rail 21, and the horizontal moving motor 22 drives the layering frame 3 to move on the horizontal moving rail 21 through a screw transmission or a pulley transmission or a rack-and-pinion transmission.

The number of the horizontal moving guide rails 21 may be one or more, preferably, two horizontal moving guide rails 21 are respectively located on the side frames of the two sides of the square frame of the base 1, and are parallel to each other. In this way, a more stable operation of the device is enabled. Correspondingly, the screw rod transmission or belt pulley transmission or gear-rack transmission is also divided into two groups, and the two groups are respectively connected with the horizontal moving guide rails on the two sides. The corresponding horizontal movement motors can be arranged in number of 2, and can respectively drive the transmission structures at the two sides to move, and the same horizontal movement motor can also be used, and the horizontal movement motors are connected with the transmission structures at the two sides through transmission shafts 23 in a transmission manner and run synchronously.

In some embodiments, the length of the horizontal movement rail is 1.5-3m, and the layering rack moves forward and backward on the horizontal movement rail at a speed of 0-2 m/s.

The movement of the layering frame 3 on the horizontal movement mechanism 2 is preferably linear, the movement direction can be the same as the length direction of the warp, or a certain included angle can be formed, and in order to make the automatic layering effect of the device better, preferably, the horizontal movement mechanism moves the layering frame along the X direction, namely, along the length direction of the warp during layering. Correspondingly, the side frames on two sides of the square frame of the base 1 are arranged along the length direction of the warp, and the horizontal moving guide rail is arranged along the length direction of the warp.

The layering frame 3 is used for setting a penetrating rod base and a penetrating rod moving mechanism and is used for providing support for the layering rod to move up and down. The specific structure of the layering frame 3 is not limited. Preferably, the layered shelf 3 comprises: a door-shaped frame 31 and a triangular support 32 arranged at the bottom of the door-shaped frame 31; the door-shaped frame 31 comprises a first side rod, a top rod, a second side rod and a bottom rod which are sequentially connected. The triangular support can improve the stability of the movement process of the door-shaped frame.

The first vertical moving mechanism 4 and the second vertical moving mechanism 5 are used for enabling the first penetrating rod base 6 and the second penetrating rod base 7 to move on the layering frame along the vertical direction. The first vertical movement mechanism 4 and the second vertical movement mechanism 5 are not particularly limited as long as the above-described functions can be achieved. For example, both vertical moving mechanisms can adopt slide rails and auxiliary structures, and also can adopt slide grooves and auxiliary structures thereof. As a preferred embodiment, in the present embodiment, the first vertical movement mechanism 4 includes: the first vertical moving guide rail 41, the first vertical moving motor 42 and the first sliding block 43, wherein the first vertical moving guide rail 41 is arranged on the layering frame 3, the first sliding block 43 is arranged on the first vertical moving guide rail 41 in a sliding mode, the first vertical moving motor 42 drives the first sliding block 43 to move on the first vertical moving guide rail 41 through screw transmission or belt pulley transmission or gear rack transmission, and the first penetrating rod base 6 is arranged on the first sliding block 43. Also, the second vertical moving mechanism includes: the second vertical moving guide rail, the second vertical moving motor and the second sliding block are arranged on the layering frame, the second sliding block is arranged on the second vertical moving guide rail in a sliding mode, the second vertical moving motor drives the second sliding block to move on the second vertical moving guide rail through screw rod transmission or belt pulley transmission or gear rack transmission, and the second penetrating rod base is arranged on the second sliding block. The moving direction of the first penetrating rod base 6 and the second penetrating rod base 7 on the layering frame 3 is the vertical Z direction, namely the thickness direction of the three-dimensional fabric.

Preferably, the first vertical moving guide rail 41 is arranged on the first side bar of the door-shaped frame and is positioned on the first surface of the door-shaped frame; the second vertical moving guide rail is arranged on the first side rod of the door-shaped frame and is positioned on the second surface of the door-shaped frame.

In some embodiments, the three-dimensional fabric multi-layer warp automatic layering device may further comprise: the third vertical moving mechanism 12, the fourth vertical moving mechanism 13, the first connecting rod base 14 and the second connecting rod base 15, and the third vertical moving mechanism 12 and the fourth vertical moving mechanism 13 are arranged on the layering frame 3; the first connecting rod base 14 is arranged on the third vertical moving mechanism 12, and the first connecting rod base 14 can move along the vertical direction under the action of the third vertical moving mechanism 12; the first support part 16 is arranged on the first connecting rod base 14, and when the first layering rod 10 completes the insertion action, one end of the first layering rod 10, which is far away from the first connecting rod base 14, is positioned on the first support part 16; the second connecting rod base 15 is arranged on the fourth vertical moving mechanism 13, and the second connecting rod base 15 can move along the vertical direction under the action of the fourth vertical moving mechanism 13; the second support part 17 is arranged on the second connecting rod base 15, and when the second layering rod 11 completes the insertion action, one end of the second layering rod 11, which is far away from the second connecting rod base 15, is positioned on the second support part 17.

In the working process, the third vertical moving mechanism and the first vertical moving mechanism are synchronously moved, the fourth vertical moving mechanism and the second vertical moving mechanism are synchronously moved, after the warp yarn inserting action is carried out on the first layering rod and the second layering rod, the end part of the first layering rod is moved to the first supporting part, and the end part of the second layering rod is moved to the second supporting part, so that both ends of the layering rod are supported, and the layering rod moves up and down to separate yarn layers, so that the movement is more stable.

The third vertical moving mechanism 12 and the fourth vertical moving mechanism 13 are used for moving the first connecting rod base 14 and the second connecting rod base 15 on the layering frame 3 along the vertical direction. The third vertical movement mechanism 12 and the fourth vertical movement mechanism 13 are not particularly limited as long as the above-described functions can be achieved. For example, both vertical moving mechanisms can adopt slide rails and auxiliary structures, and also can adopt slide grooves and auxiliary structures thereof. As a preferred embodiment, in the present embodiment, the third vertical movement mechanism includes: the third vertical moving guide rail 121, a third vertical moving motor and a third sliding block, the third vertical moving guide rail 121 is arranged on the layering frame 3, the third sliding block is arranged on the third vertical moving guide rail 121 in a sliding mode, the third vertical moving motor drives the third sliding block to move on the third vertical moving guide rail through screw transmission or belt pulley transmission or gear rack transmission, and the first connecting rod base 14 is arranged on the third sliding block. Also, the fourth vertical movement mechanism includes: the fourth vertical moving guide rail 131, a fourth vertical moving motor and a fourth sliding block, the fourth vertical moving guide rail 131 is arranged on the layering frame 3, the fourth sliding block is arranged on the fourth vertical moving guide rail 131 in a sliding mode, the fourth vertical moving motor drives the fourth sliding block to move on the fourth vertical moving guide rail through screw transmission or belt pulley transmission or gear rack transmission, and the second connecting rod base 15 is arranged on the fourth sliding block. The moving direction of the first connecting rod base 14 and the second connecting rod base 15 on the layering frame 3 is the vertical Z direction, namely the thickness direction of the three-dimensional fabric.

In some embodiments, the first vertical moving mechanism and the third vertical moving mechanism may each use one motor separately, and the two motors operate synchronously, or the two vertical moving mechanisms may use one motor, and the motors are connected with the first vertical moving mechanism and the transmission structure of the third vertical moving mechanism through the transmission rod, so that the first rod penetrating base and the first rod penetrating base move synchronously, and the second vertical moving mechanism and the fourth vertical moving mechanism are identical.

In some embodiments, each vertical movement rail has a length of 1-2m, and the two sets of penetrating rod bases and the connecting rod bases independently perform ascending and descending movements in the vertical direction at a speed of 0-1 m/s.

The specific structure of the first penetrating rod base 6 and the second penetrating rod base 7 is not limited, as long as the penetrating rod movement mechanism can be installed. The specific structures of the first and second link bases 14 and 15 are not limited. The first support portion 16 and the second support portion 17 may be circular through holes through which the layering rod passes.

The first penetrating rod moving mechanism 8 and the second penetrating rod moving mechanism 9 are used for enabling the first layering rod 10 and the second layering rod 11 to move along the horizontal direction and perpendicular to the moving direction of the layering frame under the action of the horizontal moving mechanism 2. Even if the delamination bar moves in the Y direction, the Y direction is the length direction of the weft yarn. Here, it should be understood that the direction in which the penetrating lever movement mechanism moves the first and second layering levers may be not only a direction along the weft yarn but also a direction at a small angle to the weft yarn direction, as long as the layering levers can be inserted into and extracted from the warp yarn layer.

In some embodiments, the first rod penetrating movement mechanism 8 includes: the first rod penetrating motor 81 and at least two groups of first roller groups 82, for example, two groups, three groups, four groups and the like, are provided, in this embodiment, two groups of first roller groups 82 are provided, each group of first roller groups 82 includes two first rollers, at least 1 of the first rollers is a first driving wheel, specifically, 4 rollers in the two groups of roller groups are total, wherein 1 roller can be a driving wheel, the rest rollers are driven wheels, or 2, 3 and 4 rollers can be driving wheels, the rest are driven wheels, each driving wheel synchronously operates, in this embodiment, one of the two groups of first roller groups is a driving wheel, the rest is a driven wheel, the driven wheels are driven to rotate in the process of driving the driving wheels to drive the layering rod to move, the first driving wheel is connected with the first rod penetrating motor, and the first layering rod 10 is located between the two first rollers of the first roller groups 82 and realizes the action of inserting or extracting under the driving of the first roller groups. The second rod penetrating movement mechanism 9 also includes: the second rod penetrating motor and at least two groups of second roller groups, each group of second roller groups comprises two second rollers, at least one of the second rollers is a second driving wheel, the second driving wheel is connected with the second rod penetrating motor, and the second layering rod is positioned between the two second rollers of the second roller groups and is driven by the second roller groups to realize the action of inserting or extracting. When the layering rod is inserted into or pulled out, the layering rod is inserted into the middle position of two rollers in the two groups of roller groups, the rod penetrating motor drives the driving wheel in the roller groups to rotate, and the layering rod moves in the Y direction under the action of the driving wheel and other rollers.

In some embodiments, the rod penetrating motion mechanism controls the layered rod motion speed to be 0-1m/s.

In some embodiments, the first penetrating bar base 6 includes a first fixed plate 61, a first movable plate 62, and a first spring 63, wherein the first movable plate 62 is movably disposed on the first fixed plate 61 in a vertical direction, one end of the first spring 63 is connected to the first fixed plate 61, the other end is connected to the first movable plate 62, and the first spring 63 is in a stretched state; one first roller of the first roller group 82 is disposed on the first fixed plate 61, and the other first roller is disposed on the first movable plate 62, specifically, one roller of the two roller groups is disposed on the first fixed plate, the other roller is disposed on the first movable plate, or one roller of the two roller groups is disposed on the first movable plate, and the other roller and the two rollers of the other roller group are disposed on the first fixed plate. So set up, the pulling force effect of accessible spring to the fly leaf makes two gyro wheels be close to mutually, increases the pressure and the effective contact of two gyro wheels to the layering pole.

In some embodiments, the second penetrating rod base comprises a second fixed plate, a second movable plate and a second spring, wherein the second movable plate is arranged on the second fixed plate in a manner of moving along the vertical direction, one end of the second spring is connected with the second fixed plate, the other end of the second spring is connected with the second movable plate, and the second spring is in a stretching state; one second roller of the second roller group is arranged on the second fixed plate, and the other second roller is arranged on the second movable plate.

In some embodiments, the three-dimensional fabric multilayer warp automatic layering device further comprises:

the first sensor is arranged on the first penetrating rod base 6, the second sensor is arranged on the second penetrating rod base 7, the first sensor, the second sensor, the first penetrating rod motor and the second penetrating rod motor are respectively electrically connected with the controller, the controller is used for controlling the opening or closing of the first penetrating rod motor according to the position of the first layering rod detected by the first sensor, and is also used for controlling the opening or closing of the second penetrating rod motor according to the position of the second layering rod detected by the second sensor. The sensor is outside two sets of gyro wheels, and when the layering pole left the sensor, the feedback was ended the signal, and the pole motor was worn in controller control stopped rotatory, ended the inserted bar and the action of taking out the pole of layering pole.

In particular, the first sensor, the second sensor may be a photoelectric switch or other inductive switch. The rod penetrating and drawing action is performed in detail, a rod penetrating motor rotates positively in the rod penetrating action, the layering rod advances, when the tail end of the layering rod completely passes through the sensor, the sensor feeds back an ending signal to the controller, the rod penetrating motor stops rotating, and the rod inserting action is ended; in the rod pulling action, the rod penetrating motor rotates reversely, the layering rod retreats, and when the front end of the layering rod completely passes through the sensor, the sensor feeds back an end signal to the control system, the rod penetrating motor stops rotating, and the rod pulling action is ended.

Example 2

This example is a three-dimensional fabric multi-layer warp automatic layering method using the three-dimensional fabric multi-layer warp automatic layering device of example 1. The three-dimensional fabric is woven by using carbon fibers, the number of layers is 6, the length of a horizontal guide rail is 3m, the length of a vertical guide rail is 1.5m, and the length of a layering rod is 1m. The movement of each part of the layering mechanism is a repeated movement, so the embodiment only describes the operation movement of the equipment when layering the previous 2 layers, and the operation parameters of the layering equipment are shown in table 1.

Table 1 layered device parameters

The method comprises the following specific steps:

1. setting the running parameters of the layering equipment, wherein the running distance in the horizontal direction is 2.5m, the running speed in the horizontal direction is 1m/s, the running distance in the vertical direction is 0.7m, the running speed in the vertical direction is 0.3m/s, and the running speed of the layering rod is 0.5m/s. Starting equipment, wherein an initial position is set on the equipment, and the initial position is a vertical position and a horizontal position of layering of a first warp yarn layer; the running equipment comprises a first vertical moving mechanism, a second vertical moving mechanism, a third vertical moving mechanism and a fourth vertical moving mechanism, wherein the first penetrating rod base, the second penetrating rod base, the first connecting rod base and the second connecting rod base are moved to the middle position of a1 st layer warp yarn (C1 in figure 6) and a2 nd layer warp yarn (C2 in figure 6), and meanwhile, the first layering rod and the second layering rod are positioned at the same horizontal height; the horizontal guide rail moves the two layering rods to a position close to the multi-eye heddle (see the positions A1 and A2 in figure 6);

2. After the first layering rod and the second layering rod are positioned at the layer 1 warp picking position, the first layering rod and the second layering rod are inserted into the yarn layer by the first penetrating rod moving mechanism and the second penetrating rod moving mechanism under the same horizontal height and respectively penetrate into the first connecting rod base and the second connecting rod base, the state of the first layering rod at the front side is shown as A1 in figure 2, and the state of the second layering rod at the rear side is shown as A2 in figure 2; the positions of the two layering bars and the 1 st warp layer are shown as A1 and A2 in fig. 6;

3. the horizontal moving guide rail is driven by a horizontal moving motor to control the layering frame to move forwards for 2.5m at a speed of 1 m/s; the first layering rod and the second layering rod move forwards for 2.5m in an inserted state, and the state of the first layering rod at the front side is shown as B1 in FIG. 3; the second hierarchical rod state of the rear side is shown as B2 in fig. 3; at this time, the tension lines and the layered rod position states are shown as B1 and B2 in FIG. 7;

4. the first layering rod is controlled to move upwards at a speed of 0.2m/s to a position B3 shown in fig. 4, and the second layering rod is controlled to move downwards at a speed of 0.2m/s to a position B4 shown in fig. 4 by a first vertical moving mechanism, a second vertical moving mechanism, a third vertical moving mechanism and a fourth vertical moving mechanism which are positioned on the front side and the rear side of the layering frame; at this time, the position relation between the layering rod and the warp yarn layer is shown in fig. 8, the first layering rod lifts up the C1 warp yarn layer, the second layering rod presses down the C2 & gtC 6 warp yarn layer, and the yarns are divided into an upper part and a lower part to form openings and are transmitted to a weaving opening for weft insertion;

5. After weft insertion is completed, the first vertical moving mechanism and the third vertical moving mechanism control the first layering rod to move downwards at the speed of 0.2m/s to the position B1 shown in the figure 3, and the second vertical moving mechanism and the fourth vertical moving mechanism control the second layering rod to move upwards at the speed of 0.2m/s to the position B2 shown in the figure 3; the position relation between the layering rods and the warp yarn layer is shown in fig. 7, and the two layering rods move to the same horizontal height;

6. the horizontal moving guide rail is driven by a horizontal moving motor to control the layering frame to move backwards for 2.5m at a speed of 1 m/s; the two layering rods move backwards for 2.5m in the inserted state, and the position relationship between the two layering rods and the warp yarn layer in the inserted state is shown in fig. 9;

7. the first penetrating rod movement mechanism and the second penetrating rod movement mechanism draw the first layered rod and the second layered rod out of the connecting rod base and the layers C1 and C2 at the same horizontal height, and the two layered rods after the drawing are shown in figure 5; at this point the layer 1 warp layering is complete.

Layering a 2 nd warp yarn layer:

8. the vertical guide rail downwards moves the two groups of penetrating rod bases and the connecting rod bases to the layer 2 layering height position, and the positional relationship between the two layering rods and the warp yarn layer is shown in figure 10;

9. After the first layering rod and the second layering rod are positioned at the layer 2 warp picking position, under the same horizontal height, the first layering rod penetrating motion mechanism and the second layering rod penetrating motion mechanism insert the first layering rod and the second layering rod into a yarn layer and penetrate into the first connecting rod base and the second connecting rod base respectively, the state of the first layering rod at the front side is shown as A1 in fig. 2, and the state of the second layering rod at the rear side is shown as A2 in fig. 2; the positions of the two layering bars and the 2 nd warp layer are shown as A1 and A2 in fig. 10;

10. the horizontal moving guide rail is driven by a horizontal moving motor to control the layering frame to move forwards for 2.5m at a speed of 1 m/s; the first layering rod and the second layering rod move forwards for 2.5m in an inserted state, and the state of the first layering rod at the front side is shown as B1 in FIG. 3; the second hierarchical rod state of the rear side is shown as B2 in fig. 3; at this time, the tension lines and the layered rod position states are shown as B1 and B2 in FIG. 11;

11. the first layering rod is controlled to move upwards at a speed of 0.2m/s to a position B3 shown in fig. 4 through vertical guide rails positioned on the front side and the rear side of the layering frame, and the second layering rod is controlled to move downwards at a speed of 0.2m/s to a position B4 shown in fig. 4; at this time, the position relationship between the layering rod and the warp yarn layer is shown in fig. 12, the first layering rod lifts up the C1 and C2 warp yarn layers, the second layering rod presses down the C3 & C6 warp yarn layers, and the yarns are divided into an upper part and a lower part to form openings and are transferred to a weaving opening for weft insertion;

12. After weft insertion is completed, the first vertical moving mechanism and the third vertical moving mechanism control the first layering rod to move downwards at the speed of 0.2m/s to the position B1 shown in the figure 3, and the second vertical moving mechanism and the fourth vertical moving mechanism control the second layering rod to move upwards at the speed of 0.2m/s to the position B2 shown in the figure 3; at this time, the positional relationship between the layering rods and the warp layer is shown as A1 and A2 in FIG. 11, and the two layering rods move to the same horizontal height;

13. the horizontal moving guide rail is driven by a horizontal moving motor to control the layering frame to move backwards for 2.5m at a speed of 1 m/s; the two layered bars are moved backward by 2.5m in the inserted state, and the positional relationship between the two layered bars and the warp yarn layer in the inserted state is shown in fig. 10.

14. The first penetrating rod movement mechanism and the second penetrating rod movement mechanism draw the first layered rod and the second layered rod out of the connecting rod base and the layers C1 and C2 at the same horizontal height, and the two layered rods after the drawing are shown in figure 5; at this point the layer 2 warp layering is completed.

In the 3 rd to 5 th layering, the layering action of the 2 nd layering action is repeated by the two layering rods, and layering of all openings can be completed.

According to the automatic layering method for the multi-layer warp yarns of the three-dimensional fabric, by controlling the two layering rods, the method is repeated at a plurality of points in the vertical direction of the multi-layer warp yarns one by one: 1. inserting a layering rod, advancing the layering frame, 3 moving the layering rod up and down to form an opening, 4 restoring the layering rod to the same horizontal height, 5 backing the layering frame, 6 withdrawing the layering rod, and 7 moving to the next layering position, so that the openings required for weaving can be formed for the multi-layer warp yarns layer by layer, and automatic continuous production of the three-dimensional fabric is realized.

It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. While still being apparent from variations or modifications that may be made by those skilled in the art are within the scope of the invention.

Claims (10)

1. A three-dimensional fabric multi-layer warp automatic layering device, comprising:

a base;

the horizontal moving mechanism is arranged on the base;

the layering frame is arranged on the horizontal moving mechanism and can move along the horizontal direction under the action of the horizontal moving mechanism;

the first vertical moving mechanism is arranged on the layering frame;

the first penetrating rod base is arranged on the first vertical moving mechanism and can move along the vertical direction under the action of the first vertical moving mechanism;

the second vertical moving mechanism is arranged on the layering frame;

the second penetrating rod base is arranged on the second vertical moving mechanism and can move along the vertical direction under the action of the second vertical moving mechanism;

The first penetrating rod movement mechanism is arranged on the first penetrating rod base;

the first layering rod is arranged on the first penetrating rod movement mechanism, can move along the horizontal direction under the action of the first penetrating rod movement mechanism, and the moving direction is perpendicular to the moving direction of the layering frame under the action of the horizontal movement mechanism;

the second penetrating rod movement mechanism is arranged on the second penetrating rod base;

the second layering rod is arranged on the second penetrating rod movement mechanism, can move along the horizontal direction under the action of the second penetrating rod movement mechanism, and is perpendicular to the moving direction of the layering frame under the action of the horizontal movement mechanism.

2. The automatic three-dimensional fabric multilayer warp layering device according to claim 1, further comprising:

the third vertical moving mechanism is arranged on the layering frame;

the first connecting rod base is arranged on the third vertical moving mechanism and can move along the vertical direction under the action of the third vertical moving mechanism; the first connecting rod base is provided with a first supporting part, and when the first layering rod completes the insertion action, one end of the first layering rod, which is far away from the first connecting rod base, is positioned on the first supporting part;

The fourth vertical moving mechanism is arranged on the layering frame;

the second connecting rod base is arranged on the fourth vertical moving mechanism and can move along the vertical direction under the action of the fourth vertical moving mechanism; the second support part is arranged on the second connecting rod base, and when the second layering rod completes the insertion action, one end, far away from the second connecting rod base, of the second layering rod is positioned on the second support part.

3. The automatic layering device for multi-layer warp yarns of three-dimensional fabric according to claim 1, wherein,

the horizontal movement mechanism includes: the device comprises a horizontal moving guide rail and a horizontal moving motor, wherein the horizontal moving guide rail is arranged on a base, the layered frame is arranged on the horizontal moving guide rail in a sliding mode, and the horizontal moving motor drives the layered frame to move on the horizontal moving guide rail through screw transmission or belt pulley transmission or gear-rack transmission.

4. The automatic layering device for multi-layer warp yarns of three-dimensional fabric according to claim 2, wherein,

the first vertical movement mechanism includes: the first vertical moving guide rail is arranged on the layering frame, the first sliding block is arranged on the first vertical moving guide rail in a sliding mode, the first sliding block is driven to move on the first vertical moving guide rail through screw transmission or belt pulley transmission or rack-and-pinion transmission by the first vertical moving motor, and the first penetrating rod base is arranged on the first sliding block;

The second vertical movement mechanism includes: the second vertical moving guide rail is arranged on the layering frame, the second sliding block is arranged on the second vertical moving guide rail in a sliding mode, the second sliding block is driven to move on the second vertical moving guide rail through screw transmission or belt pulley transmission or rack-and-pinion transmission by the second vertical moving motor, and the second penetrating rod base is arranged on the second sliding block;

the third vertical movement mechanism includes: the third vertical moving guide rail is arranged on the layering frame, the third sliding block is arranged on the third vertical moving guide rail in a sliding mode, the third sliding block is driven to move on the third vertical moving guide rail through screw rod transmission or belt pulley transmission or gear rack transmission by the third vertical moving motor, and the first connecting rod base is arranged on the third sliding block;

the fourth vertical movement mechanism includes: the device comprises a layered frame, a first vertical moving guide rail, a first vertical moving motor and a first sliding block, wherein the first vertical moving guide rail is arranged on the layered frame, the first sliding block is arranged on the first vertical moving guide rail in a sliding mode, the first sliding block is driven to move on the first vertical moving guide rail through screw transmission or belt pulley transmission or gear rack transmission, and a second connecting rod base is arranged on the first sliding block.

5. The automatic layering device for multi-layer warp yarns of three-dimensional fabric according to claim 4, wherein,

the layered rack comprises: the device comprises a door-shaped frame and a triangular support arranged at the bottom of the door-shaped frame; the door-shaped frame comprises a first side rod, a top rod, a second side rod and a bottom rod which are connected in sequence.

6. The automatic layering device for multi-layer warp yarns of three-dimensional fabric according to claim 5, wherein,

the first vertical moving guide rail is arranged on a first side rod of the portal frame and is positioned on a first surface of the portal frame; the second vertical moving guide rail is arranged on the first side rod of the inverted-V-shaped frame and is positioned on the second surface of the inverted-V-shaped frame; the third vertical moving guide rail is arranged on the second side rod of the inverted-V-shaped frame and is positioned on the first surface of the inverted-V-shaped frame; the fourth vertical moving guide rail is arranged on the second side rod of the inverted-V-shaped frame and is positioned on the second surface of the inverted-V-shaped frame.

7. The automatic layering device for multi-layer warp yarns of three-dimensional fabric according to claim 1, wherein,

the first penetrating rod movement mechanism comprises: the first roller group comprises two first rollers, at least one of the first rollers is a first driving wheel, the first driving wheel is connected with the first rod penetrating motor, the first layering rod is positioned between the two first rollers of the first roller group, and the first roller group is driven to realize the action of inserting or extracting;

The second penetrating rod movement mechanism comprises: the second rod penetrating motor and at least two groups of second roller groups, each group of second roller groups comprises two second rollers, at least one of the second rollers is a second driving wheel, the second driving wheel is connected with the second rod penetrating motor, the second layering rod is located between the two second rollers of the second roller groups, and the second roller groups are driven to realize the action of inserting or extracting.

8. The automatic layering device for multi-layer warp yarns of three-dimensional fabric according to claim 7, wherein:

the first penetrating rod base comprises a first fixed plate, a first movable plate and a first spring, wherein the first movable plate can be arranged on the first fixed plate in a movable manner along the vertical direction, one end of the first spring is connected with the first fixed plate, the other end of the first spring is connected with the first movable plate, and the first spring is in a stretching state; one first roller of the first roller group is arranged on the first fixed plate, and the other first roller is arranged on the first movable plate;

the second penetrating rod base comprises a second fixed plate, a second movable plate and a second spring, wherein the second movable plate can be arranged on the second fixed plate in a movable manner along the vertical direction, one end of the second spring is connected with the second fixed plate, the other end of the second spring is connected with the second movable plate, and the second spring is in a stretching state; one of the second rollers of the second roller group is arranged on the second fixed plate, and the other second roller is arranged on the second movable plate.

9. The automatic three-dimensional fabric multilayer warp layering device of claim 7, further comprising:

the first sensor is arranged on the first penetrating rod base, the second sensor is arranged on the second penetrating rod base, the first sensor, the second sensor, the first penetrating rod motor and the second penetrating rod motor are respectively and electrically connected with the controller, and the controller is used for controlling the opening or closing of the first penetrating rod motor according to the position of the first layering rod detected by the first sensor and controlling the opening or closing of the second penetrating rod motor according to the position of the second layering rod detected by the second sensor.

10. A method for automatically layering a plurality of warp yarns of a three-dimensional fabric, which is accomplished by using the automatic layering device for the warp yarns of the three-dimensional fabric according to any one of claims 1 to 9, and comprises the following steps:

s1, moving the first penetrating rod base and the second penetrating rod base to the first layering rod and the second layering rod to be positioned at an inlet of a yarn layer to be layered through the first vertical moving mechanism and the second vertical moving mechanism;

S2, inserting the first layering rod and the second layering rod into a yarn layer to be layered through the first rod penetrating movement mechanism and the second rod penetrating movement mechanism;

s3, horizontally moving the layering frame for a fixed length through the horizontal moving mechanism;

s4, driving the first layering rod to move upwards through the first vertical moving mechanism, driving the second layering rod to move downwards through the second vertical moving mechanism, and dividing the yarn into an upper part and a lower part to form a weft insertion opening;

s5, after weft insertion is completed, the first layering rod is driven to move downwards through the first vertical moving mechanism, and the second layering rod is driven to move upwards to the original height through the second vertical moving mechanism;

s6, horizontally moving the layering frame to an original horizontal position through the horizontal moving mechanism;

s7, drawing out the yarn layers from the first layering rod and the second layering rod through the first rod penetrating movement mechanism and the second rod penetrating movement mechanism;

s8, repeating the steps S1 to S7 until all openings of the warp yarn layers are completed.

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