CN101205673A - Controlling method for intelligent waterless painting and dyeing equipment - Google Patents
Controlling method for intelligent waterless painting and dyeing equipment Download PDFInfo
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- CN101205673A CN101205673A CNA2006101349180A CN200610134918A CN101205673A CN 101205673 A CN101205673 A CN 101205673A CN A2006101349180 A CNA2006101349180 A CN A2006101349180A CN 200610134918 A CN200610134918 A CN 200610134918A CN 101205673 A CN101205673 A CN 101205673A
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Abstract
The invention relates to a control method of intelligent waterless painting and dyeing equipment and comprises the following procedures that: a cloth operating direction is used as a Y-axis and a direction vertical to the cloth operating is used as an X-axis to establish a painting and dyeing plane; electronic cams and a virtual spindle are established in a servo controller; a painting and dyeing formula is edited in an image user interface of a monitoring computer; the painting and dyeing formula is downloaded to the servo controller; the servo controller is started to complete the painting and dyeing operation; the number of the electronic cams is two: an X-axis electronic cam and a Y-axis electronic cam which are driven by the same virtual spindle. The invention achieves the netless, waterless and intelligent textile equipment and a brand-new style of design, reduces the production cost, has the repeatability of painting and dyeing and represents the developing trend of a textile painting and dyeing industry.
Description
Technical field
The present invention relates to a kind of control method of painting and dyeing equipment, specifically a kind of control method that realizes the intelligent waterless painting and dyeing equipment of printing in textiles technology green production.
Background technology
Printing in textiles equipment is based on machinery both at home and abroad at present, and automaticity is not high, and production efficiency is low.With market mainstream equipment flat screen printing machine and rotary screen printing machines is example, has three big deficiencies, the one, consume a large amount of fresh water and a large amount of sewage effluent in the production process, serious consumption of natural resource, contaminated environment; The 2nd, the realization of stamp flower type must just can be finished by the stamp net.Because each color all needs a stamp net, exist technological process and performance period long, the color limitation is big, system net cost height, wash drawbacks such as the net blowdown flow rate is big; The 3rd, the intelligent degree of equipment automatization is not high, and productive labor intensity is big, and production efficiency is low.
In recent years, intelligent painting and dyeing equipment has become the hot subject of domestic and international research, wherein most representative is ink-jet decorating machine, this equipment is the color spray printing to be passed through on the fabric of pre-treatment with ink-jet printer by the colored type of design that computer software will be imported, and then finishes printing through steaming and color fixing, loose colour washing operation.Because this technical costs costliness, speed of production is slow, and key technologies such as nozzle and pigment are also unresolved, and have an environmental protection difficult problem, can't satisfy industrial production requirement.
Summary of the invention
Already there are problems such as high energy consumption, high pollution, poor efficiency for solving the above-mentioned dyer of painting, the objective of the invention is to put forward a kind of printing in textiles technology that can realize does not have networking, no aquation, digitlization and intellectuality, finally realizes the control method of intelligent waterless painting and dyeing equipment of the green production of weaving face fabric production process and final products.
For achieving the above object, the technical solution used in the present invention is:
The present invention includes following steps:
Be Y-axis, be that X-axis is set up to paint and dyed the plane with the cloth traffic direction with direction perpendicular to cloth operation;
In servo controller, set up electric cam and virtual main shaft;
Paint at supervisory control comuter graphical user interface inediting and to dye prescription;
Download is painted and is dyed in the servo controller of filling a prescription;
The startup servo controller is finished to paint and is dyed operation.
Wherein said electric cam is two, is respectively X-axis electric cam and Y-axis electric cam, and the two is by same virtual main shaft drives; Described editor paints and dying prescription and may further comprise the steps: editor paints and dyes curve; Optimize to paint and dye curve; Painting behind the analysis optimization dyed curve; Whether judgement optimization effect satisfies is painted the dyeing technique requirement; Above-mentioned judged result is as satisfying technological requirement, and then the simulation demonstration is painted and dyed effect; Whether judgement is painted above-mentioned simulation and is dyed effect and be satisfied with; Above-mentioned judged result such as satisfaction are then preserved to paint and are dyed curve; Servo controller parameter and nozzle electromagnetic valve parameter are set; Paint the dyeing technique requirement as above-mentioned optimization effect is satisfied, then get back to optimize to paint and dye the curve step; To dye effect dissatisfied as above-mentioned simulation is painted, and then gets back to editor and paint and dye the curve step.
Described editor paints and dyes curve and be specially: by curvilinear function create-rule curve, or by timer mouse beacon drafting two-dimensional curve in the zone of customization, perhaps intercepting is formed new curve for any one section from regular curve and Freehandhand-drawing curve, and wherein the cycle of regular curve and amplitude can freely be provided with by parameter.
Described optimization is painted and is dyed curve and may further comprise the steps: read to paint and dye displacement curve; Judge to paint whether dye displacement curve complete; , then repair to paint and dye displacement curve for not as above-mentioned judged result; Calculate The initial segment and paint the curvilinear motion rate of dying; Calculating is painted with The initial segment and is dyed sine curve cycle and the amplitude that the curvilinear motion rate equates; Substitute original painting with quarter-wave sine curve and dye the curve The initial segment; Calculate ending segment and paint the curvilinear motion rate of dying; Calculating is painted with ending segment and is dyed sine curve cycle and the amplitude that the curvilinear motion rate equates; Substitute original painting with quarter-wave sine curve and dye the curve ending segment; Dye curve and carry out continuous average value filtering at 3 painting.
Painting behind the described analysis optimization dyed curve and be may further comprise the steps: read to paint and dye in the curve X-axis and Y-axis and paint and dye displacement curve; Judge whether above-mentioned displacement curve meets design requirement; As meet the demands, then respectively X-axis and Y-axis are painted and dye the displacement curve differentiate, obtain X-axis and Y-axis and paint and dye rate curve; Judge that above-mentioned X-axis and Y-axis are painted and dye rate curve and whether satisfy the servo controller requirement; As satisfy the servo controller requirement, and then respectively X-axis and Y-axis are painted and dye the rate curve differentiate, obtain X-axis and Y-axis and paint and dye accelerating curve; Judge that above-mentioned X-axis and Y-axis are painted and dye accelerating curve and whether satisfy the servo controller requirement; As satisfy the servo controller requirement, then editor's paints that to dye curve qualified; If have one in above-mentioned each judged result at least for not, then editor's paints that to dye curve defective.
This courage has following beneficial effect and advantage:
1. the no networking of Weaving device, no aquation and intellectuality have been realized.Control method of the present invention adopts intelligent robot control to replace Artificial Control, has replaced the stamp net in the legacy equipment, need not to consume a large amount of fresh water and washes away the stamp net, promptly save freshwater resources, reduce sewage discharge again, solved environmental issue, satisfied the demand of industrial continuous production simultaneously again;
2. realize the brand-new style of design, reduced production cost.The present invention is applied to the intelligence equipment, carry out intelligent stamp by programme-control, realized the brand-new style of decalcomania, and broken through in the conventional art printing in textiles and must depend on each color and need a stamp net just can finish this problem, and need not consume fresh water, greatly reduce production cost;
3. have and paint the repeatability of dying.The inventive method has solved the big problem of manually-operated labour intensity by Based Intelligent Control, has improved operating efficiency, change paint in the traditional handicraft dye pattern single, paint and dye shortcomings such as the design cycle is long, can realize producing in batches.
4. represented weaving to paint the development trend of dying industry.The advance of intelligent anhydrous printing equipment has shown that painting the sustainable development of dying industry in the world wide has great significance for improving the added value of product and the market competitiveness.
Description of drawings
Fig. 1 forms schematic diagram for the equipment that uses control method of the present invention;
Fig. 2 is a control method flow chart of the present invention ();
Fig. 3 is a control method flow chart of the present invention (two);
Fig. 4 is a control method flow chart of the present invention (three);
Fig. 5 is a control method flow chart of the present invention (four);
Fig. 6 paints for the computer simulation of using control method of the present invention and dyes design sketch.
The specific embodiment
As shown in Figure 1, the inventive method is applied in the intelligent waterless painting and dyeing equipment, this intelligent waterless painting and dyeing equipment comprises robot, pigment transport and is connected in painting of pigment transport terminal and dyes device, painting the nozzle that dyes in the device is installed in the robot and its interlock, the control signal of the electric execution element in the pigment transport, robot control signal and position feed back signal link to each other with control device, in this control device control program are installed.Electric execution element in the present embodiment is an electromagnetic valve, has 12, and wherein controlling the open/close electromagnetic valve of nozzle is 8, all is installed on nozzlend; Other 4 electromagnetic valves are installed on pigment and carry in the cabinet, and the control source of the gas is so that regulate membrane pump to realize the conveying of pigment.
Described control device is PLC and supervisory control comuter thereof, wherein PLC has CPU module CPU (Siemens 315-2DP), digital quantity input module DI (SM321,32 inputs) and digital quantity output module DO (SM322, the output of 16 point relaies), wherein CPU module CPU is by EBI (Profibus-DP, CPU carries) link to each other with the servo controller of robot, servo controller passes through the CAN bus interface to supervisory control comuter; The digital quantity output module of PLC is connected to the pigment transport and paints electric execution element (being specially each electromagnetic valve) and the relay that dyes in the device, this relay tip is connected to the input that enables of servo controller, what the digital quantity input module of PLC was connected to servo controller enables the connecting and disconnecting operation signal, the hand of X/Y axle/automatic mode is selected, painting under the manual mode dyed the crawl operation in the plane, startup under the automatic mode/stop, robot ambulation zone limit switch signal is connected to servo controller, and PLC obtains this limit signal for manual control by EBI from servo controller.
Described machine people is one or more groups flat square robot (present embodiment adopts 2 groups), every group of robot has X-axis servomotor and Y-axis servomotor, pass through X-axis respectively, (two servo controllers adopt Lenze (Lenze) EVS9323EK respectively to the Y-axis servo controller in the present embodiment, Lenze (Lenze) EVS9324EK) control, the position feedback transducer of each servomotor (present embodiment is a rotary transformer) is with the position feedback input of robot location's signal feedback to servo controller, the numerical frequency output of X-axis servo controller links to each other with the numerical frequency input of Y-axis servo controller, be used to realize the transmission of robot speed between X-axis and Y-axis, present embodiment is in X-axis, utilize its inner functional module to set up two electric cams respectively in the Y-axis servo controller by editor, in the X-axis servo controller, set up virtual main shaft, the speed of this virtual main shaft is sent to the numerical frequency input of Y-axis servo controller by the numerical frequency output of X-axis servo controller, thereby realization X-axis and Y-axis are followed same virtual motion of main shaft, realize that robot dyes the position synchronous of moving in the plane painting, the data that constitute each electronic cam curve are downloaded to X-axis by supervisory control comuter, in the Y-axis servo controller between corresponding memory block.
Described supervisory control comuter has graphical user interface, to make things convenient for human-computer dialogue.
Be inserted with Siemens CP5611 Profibus/MPI address card in the supervisory control comuter, this cartoon is crossed the data communication of realization of Siemens MPI agreement and PLC system; Lenze CAN bus control unit (USB interface) is mainly finished editor, the parameter configuration of servo-drive system and is painted the download work of curve to servo controller of dying; In addition, supervisory control comuter also is responsible for painting the edit-modify that dyes curve, the monitoring and the adjustment of equipment operational factor, such as: the setting of virtual spindle speed, modification etc.
Whole system is made of two cover right-angle plane coordinate robots, and every cover is independent, also can two overlaps the use that cooperatively interacts.
Described pigment transport is made up of 4 groups of membrane pumps, the pigment of 4 kinds of colors can be provided, be separately installed with 4 groups of nozzles in each group plane rectangular coordinates robot, by the unlatching of 4 high-speed electromagnetic valves control nozzles or close, can set the opening time and the shut-in time of each nozzle by supervisory control comuter, also can set arrive certain position after, open nozzle, open the various combination of time and shut-in time by setting electromagnetic valve, can realize painting the diversity of dying pattern.
PLC finishes exchanges data with supervisory control comuter by the MPI bus, finishes exchanges data with servo controller by the Profibus bus; Finish the unlatching or the closing control of pigment conveying, each nozzle electromagnetic valve by PLC internal control program, and the powering on of whole device, move, stop, the duty indication, monitor the servo controller state by reading the current operational factor of servo controller, and parameter is passed to supervisory control comuter graphically show.
Because supervisory control comuter can also be preserved whole parameter of painting in the process of dying with the form of prescription, so can realize painting the repeatability of dying pattern.
Supervisory control comuter carries out telecommunication by Ethernet card and the miscellaneous equipment that is mounted thereon.
As shown in Figure 2, the control method of above-mentioned intelligent waterless painting and dyeing equipment may further comprise the steps:
A. be Y-axis (the Y-axis stroke is 200mm in the present embodiment), be that X-axis (the X-axis stroke is 1800mm in the present embodiment) is set up to paint and dyed the plane with the cloth traffic direction with direction perpendicular to cloth operation.
B. set up two electric cams in servo controller, be respectively X-axis and Y-axis electric cam, the two is by same virtual main shaft drives.
C. paint at supervisory control comuter graphical user interface inediting and dye prescription.As shown in Figure 3, described painting being dyed prescription and comprises that editor paints and dyes curve, optimize to paint and dye curve, painting behind the analysis optimization dyed curve, as optimize effect and satisfy technological requirement and then simulate and show to paint and dye effect, as to above-mentioned paint dye effect satisfied then preserve to paint dye curve, the servo controller parameter is set (mainly comprises the X-axis convergent-divergent, the Y-axis convergent-divergent, X-axis speed is followed coefficient, virtual main shaft setting speed, (1 or 2 of robot quantity, if be set at 2, can also set 2 action delay times between the robot) and nozzle electromagnetic valve hand/automatic operation mode (can distinguish also and can independently be provided with) and nozzle electromagnetic valve parameter (comprise nozzle electromagnetic valve hand/automatic operation mode, under automatic mode, set the switching frequency of electromagnetic valve, i.e. the opening time of electromagnetic valve and shut-in time (unit can be second));
Do not paint the dyeing technique requirement if above-mentioned optimization effect does not satisfy, then get back to optimize to paint and dye the curve step; If paint to above-mentioned that to dye effect dissatisfied, then get back to editor and paint and dye the curve step.
Described editor paints and dyes curve and be specially: by curvilinear function create-rule curve, or by timer mouse beacon drafting two-dimensional curve in the zone of customization, perhaps intercepting is formed new curve for any one section from regular curve and Freehandhand-drawing curve, and wherein the cycle of regular curve and amplitude can freely be provided with by parameter.Regular curve comprises straight line, sine curve, sawtooth curve, parabolic curve, half-round curve, two half-round curve and square curve etc.
Described optimization is painted and is dyed curve and may further comprise the steps, as shown in Figure 4: read to paint and dye displacement curve; Judge to paint whether dye displacement curve complete (in the present embodiment, concrete criterion is: the starting point of displacement curve is necessary for 0, and some coordinate figure excursions must be between 0～1800 arbitrarily on the X-axis displacement curve, must not exceed the X-axis stroke range, some coordinate figure excursions must be between 0～200 arbitrarily on the Y-axis displacement curve, must not exceed the Y-axis stroke range),, then repair to paint and dye displacement curve for not as above-mentioned judged result; Calculate The initial segment and paint the curvilinear motion rate of dying; Calculating is painted with The initial segment and is dyed sine curve cycle and the amplitude that the curvilinear motion rate equates; Substitute original painting with quarter-wave sine curve and dye the curve The initial segment; Calculate ending segment and paint the curvilinear motion rate of dying; Calculating is painted with ending segment and is dyed sine curve cycle and the amplitude that the curvilinear motion rate equates; Substitute original painting with quarter-wave sine curve and dye the curve ending segment.Optimize algorithm with average value filtering then, calculate continuous mean value at 3, X-axis and Y-axis displacement curve are carried out smooth optimization.
Painting behind the described analysis optimization dyed curve and comprised the curve after optimizing is carried out the displacement curve analysis, the rate curve analysis, the accelerating curve analysis, concrete steps as shown in Figure 5: read to paint and dye in the curve X-axis and Y-axis and paint and dye displacement curve; Judge whether above-mentioned displacement curve meets design requirement; As meet the demands, then respectively X-axis and Y-axis are painted and dye the displacement curve differentiate, obtain X-axis and Y-axis and paint and dye rate curve; Judge that above-mentioned X-axis and Y-axis are painted and dye rate curve and whether satisfy the servo controller requirement; As satisfy the servo controller requirement, and then respectively X-axis and Y-axis are painted and dye the rate curve differentiate, obtain X-axis and Y-axis and paint and dye accelerating curve; Judge that above-mentioned X-axis and Y-axis are painted and dye accelerating curve and whether satisfy the servo controller requirement; As satisfy the servo controller requirement, then editor paint that to dye curve qualified, be back to design and paint to dye and judge in the curve step whether optimize effect satisfies and paint dyeing technique requirement step; If have one in above-mentioned each judged result at least for denying, then editor's paints that to dye curve defective, being back to design equally paints to dye in the curve step and judges whether optimize effect satisfies and paint dyeing technique requirement step, as this step judged result is not, then be back to the optimization of profile step, continuation is optimized this curve, and this cyclic process is all satisfied requirement back end separately up to displacement curve, rate curve and accelerating curve.
Described simulation shows paints that to dye effect be the curve that loads after optimizing from supervisory control comuter, show by curve that the control simulation shows to paint and dye effect, and its design sketch as shown in Figure 6.
D. download to paint and dye in the servo controller of filling a prescription.
Paint in the two dimension of editing on the supervisory control comuter and to dye curve, resolve into X-axis and Y-axis curve, and be separated into the individual point of 64～1024 (this scope is determined with the capacity of memory in the servo controller) through after optimizing;
The point that is separated into is downloaded to respectively in the memory of X-axis and Y-axis servo controller, dye curve as painting of X-axis and Y-axis.
E. starting servo controller finishes to paint and dyes operation.
The present invention has painting of some fixed types and dyes curve in supervisory control comuter, as sine curve, sawtooth waveforms etc., the user both can use same curve in the whole service zone, also the segmentation in the whole service zone of each curve can be carried out head and the tail is connected, simultaneously can also adopt the mode of Freehandhand-drawing to carry out curve editing, optimize, waited to select the curve after optimizing, supervisory control comuter will carry out sampling analysis to curve, the coordinate of describing each point of curve motion track is downloaded in the memory in the servo controller, X-axis and Y-axis servo controller read to paint from memory and dye the operation of curve data drive machines philtrum X-axis and Y-axis servomotor, dye the plane and paint and dye operation painting.
The present invention only needs the graphical user interface operation by supervisory control comuter in use, can control a whole set of intelligent waterless painting and dyeing equipment and finish to paint and dye.
Claims (10)
1. the control method of an intelligent waterless painting and dyeing equipment is characterized in that comprising the steps:
Be Y-axis, be that X-axis is set up to paint and dyed the plane with the cloth traffic direction with direction perpendicular to cloth operation;
In servo controller, set up electric cam and virtual main shaft;
Paint at supervisory control comuter graphical user interface inediting and to dye prescription;
Download is painted and is dyed in the servo controller of filling a prescription;
The startup servo controller is finished to paint and is dyed operation.
2. by the control method of the described intelligent waterless painting and dyeing equipment of claim 1, it is characterized in that: described electric cam is two, is respectively X-axis electric cam and Y-axis electric cam, and the two is by same virtual main shaft drives.
3. by the control method of the described intelligent waterless painting and dyeing equipment of claim 1, it is characterized in that described editor paints dying prescription and may further comprise the steps:
Editor paints and dyes curve;
Optimize to paint and dye curve;
Painting behind the analysis optimization dyed curve;
Whether judgement optimization effect satisfies is painted the dyeing technique requirement;
Above-mentioned judged result is as satisfying technological requirement, and then the simulation demonstration is painted and dyed effect;
Whether judgement is painted above-mentioned simulation and is dyed effect and be satisfied with;
Above-mentioned judged result such as satisfaction are then preserved to paint and are dyed curve;
Servo controller parameter and nozzle electromagnetic valve parameter are set.
4. by the control method of the described intelligent waterless painting and dyeing equipment of claim 3, it is characterized in that: do not satisfy as above-mentioned optimization effect and paint the dyeing technique requirement, then get back to optimize to paint and dye the curve step.
5. by the control method of the described intelligent waterless painting and dyeing equipment of claim 3, it is characterized in that: to dye effect dissatisfied as above-mentioned simulation is painted, and then gets back to editor and paint and dye the curve step.
6. press the control method of the described intelligent waterless painting and dyeing equipment of claim 3, it is characterized in that: described editor paints and dyes curve and be specially: by curvilinear function create-rule curve, or by timer mouse beacon drafting two-dimensional curve in the zone of customization, perhaps intercepting is formed new curve for any one section from regular curve and Freehandhand-drawing curve.
7. by the control method of the described intelligent waterless painting and dyeing equipment of claim 6, it is characterized in that: the cycle of regular curve and amplitude can freely be provided with by parameter.
8. by the control method of the described intelligent waterless painting and dyeing equipment of claim 3, it is characterized in that: described optimization is painted and is dyed curve and may further comprise the steps:
Read to paint and dye displacement curve;
Judge to paint whether dye displacement curve complete;
, then repair to paint and dye displacement curve for not as above-mentioned judged result;
Calculate The initial segment and paint the curvilinear motion rate of dying;
Calculating is painted with The initial segment and is dyed sine curve cycle and the amplitude that the curvilinear motion rate equates;
Substitute original painting with quarter-wave sine curve and dye the curve The initial segment;
Calculate ending segment and paint the curvilinear motion rate of dying;
Calculating is painted with ending segment and is dyed sine curve cycle and the amplitude that the curvilinear motion rate equates;
Substitute original painting with quarter-wave sine curve and dye the curve ending segment;
Dye curve and carry out continuous average value filtering at 3 painting.
9. by the control method of the described intelligent waterless painting and dyeing equipment of claim 3, it is characterized in that: painting behind the described analysis optimization dyed curve and be may further comprise the steps:
Read to paint and dye in the curve X-axis and Y-axis and paint and dye displacement curve;
Judge whether above-mentioned displacement curve meets design requirement;
As meet the demands, then respectively X-axis and Y-axis are painted and dye the displacement curve differentiate, obtain X-axis and Y-axis and paint and dye rate curve;
Judge that above-mentioned X-axis and Y-axis are painted and dye rate curve and whether satisfy the servo controller requirement;
As satisfy the servo controller requirement, and then respectively X-axis and Y-axis are painted and dye the rate curve differentiate, obtain X-axis and Y-axis and paint and dye accelerating curve;
Judge that above-mentioned X-axis and Y-axis are painted and dye accelerating curve and whether satisfy the servo controller requirement;
As satisfy the servo controller requirement, then editor's paints that to dye curve qualified.
10. by the control method of the described intelligent waterless painting and dyeing equipment of claim 9, it is characterized in that: if having one in above-mentioned each judged result at least for not, then editor's paints that to dye curve defective.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101349180A CN100504683C (en) | 2006-12-20 | 2006-12-20 | Controlling method for intelligent waterless painting and dyeing equipment |
| PCT/CN2007/002698 WO2008071055A1 (en) | 2006-12-15 | 2007-09-12 | An intelligent waterless printing control apparatus and the control method thereof |
| US12/439,336 US8287063B2 (en) | 2006-12-15 | 2007-09-12 | Intelligent waterless printing and dyeing control equipment and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006101349180A CN100504683C (en) | 2006-12-20 | 2006-12-20 | Controlling method for intelligent waterless painting and dyeing equipment |
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| CN101205673A true CN101205673A (en) | 2008-06-25 |
| CN100504683C CN100504683C (en) | 2009-06-24 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101840227A (en) * | 2010-05-28 | 2010-09-22 | 苏州智尊智能科技有限公司 | Centralized data collecting and monitoring system for cotton comber |
| CN102298338A (en) * | 2011-06-07 | 2011-12-28 | 王剑 | Electric automation industry control system |
| CN102650862A (en) * | 2012-05-15 | 2012-08-29 | 深圳市汇川控制技术有限公司 | Electronic cam control system of programmable logic controller and electronic cam control method |
| CN102700278A (en) * | 2012-07-08 | 2012-10-03 | 盐城工学院 | Method, device and equipment for spraying decoration on fabrics |
| CN106040477A (en) * | 2016-07-29 | 2016-10-26 | 泉州市汉威机械制造有限公司 | High-speed intermittent glue spraying control method based on Siemens movement control system |
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2006
- 2006-12-20 CN CNB2006101349180A patent/CN100504683C/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101840227A (en) * | 2010-05-28 | 2010-09-22 | 苏州智尊智能科技有限公司 | Centralized data collecting and monitoring system for cotton comber |
| CN101840227B (en) * | 2010-05-28 | 2012-07-04 | 苏州智尊智能科技有限公司 | Centralized data collecting and monitoring system for cotton comber |
| CN102298338A (en) * | 2011-06-07 | 2011-12-28 | 王剑 | Electric automation industry control system |
| CN102650862A (en) * | 2012-05-15 | 2012-08-29 | 深圳市汇川控制技术有限公司 | Electronic cam control system of programmable logic controller and electronic cam control method |
| CN102650862B (en) * | 2012-05-15 | 2016-06-08 | 深圳市汇川控制技术有限公司 | The electronic cam control system of programmable logic controller and method |
| CN102700278A (en) * | 2012-07-08 | 2012-10-03 | 盐城工学院 | Method, device and equipment for spraying decoration on fabrics |
| CN106040477A (en) * | 2016-07-29 | 2016-10-26 | 泉州市汉威机械制造有限公司 | High-speed intermittent glue spraying control method based on Siemens movement control system |
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| CN100504683C (en) | 2009-06-24 |
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