CN102251290A - Method for processing silkworm cocoon before silk reeling - Google Patents

Method for processing silkworm cocoon before silk reeling Download PDF

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Publication number
CN102251290A
CN102251290A CN2011101959407A CN201110195940A CN102251290A CN 102251290 A CN102251290 A CN 102251290A CN 2011101959407 A CN2011101959407 A CN 2011101959407A CN 201110195940 A CN201110195940 A CN 201110195940A CN 102251290 A CN102251290 A CN 102251290A
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microwave
silk cocoon
cocoon
silk
ultrasonic
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CN2011101959407A
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李利军
蒋芳
曾克良
黄继伟
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Guangxi University of Science and Technology
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Guangxi University of Science and Technology
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Priority to CN2011101959407A priority Critical patent/CN102251290A/en
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Priority to CN2012101618337A priority patent/CN102677183A/en
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Abstract

The invention relates to a method for processing a silkworm cocoon before silk reeling. The method comprises the following steps of: firstly processing the silkworm cocoon through a vacuum osmotic water absorption process and then processing the silkworm cocoon by using an ultrasonic wave or cooperative processing of the ultrasonic wave and a microwave. The ultrasonic wave process needs the following conditions: the frequency is 20-80 KHz; the power is 25-1000W; the acting time is 1-20min; the water temperature is 25-100 DEG C; and the bath ratio is 1:10-1:120. The microwave process needs the following conditions: the power is 100-1000W; the frequency is 2450+/-10 MHz; the acting time is 1-15min, the water temperature is 25-100 DEG C; and the bath ratio is 1:10-1:120. The silk reeling quality is obviously improved because the silkworm cocoon is processed by adopting the method provided by the invention, and the following specific effects are as follows: the sericin dissolving loss rate is reduced by 1.0-3.5 percent; the reelability percentage of the silk reeling is increased by 3-9 percent; the raw cocoon consumption is reduced by 4-9 kilograms per quintal silks; the rushing-upon frequency per 10000 meters is reduced by 0.5-1 time; the cleaning cleanliness is increased by 0.3-1 point; and the grade is increased by over 0.5.

Description

Silk cocoon processing method before a kind of filature
Technical field
The present invention relates to the preceding silk cocoon processing method of a kind of filature.
Background technology
The processing of silk cocoon before filature is that filature is produced indispensable process procedure, handles the quality of quality, is directly connected to product, matter, consumption three big indexs that filature is produced.Present treatment process technology both domestic and external mainly contains following several types.
1, temperature difference osmosis process
Temperature difference infiltration is to utilize the temperature transient change and the variation of build-up of pressure realizes.The cocoon cage that silkworm cocoon is housed moves in cocoon cooking machine, when falling into low-temp. portion fast by steaming part for permeation, its temperature difference causes the existence of cocoon chamber external and internal pressure poor (high outside and low outside), under the effect of this pressure reduction, hydraulic pressure is gone into the cocoon chamber, realize the purpose of cocoon layer suction by the form of cocoon chamber suction.Infiltration is a necessary process of finishing cocoon cooking, and whether penetration degree is appropriate, even, most important to the raising of cocoon cooking quality.As permeate irregularly, certainly lead to and boil irregular problem and cause between silk greatly and normally filature or roll up joint frequently of deadlocked power difference.Temperature difference osmosis process includes hot soup infiltration cocoon cooking process, water vapour penetration cocoon cooking process, xeothermic infiltration cocoon cooking process etc.
2, vacuum infiltration treatment process
Vacuum infiltration adopts physical method usually under lower temperature conditions, and air in the cocoon chamber is extracted out, makes the cocoon chamber become vacuum state, and the silkworm cocoon of this state is placed water, because pressure reduction exists, makes the suction of cocoon chamber, thereby reaches the purpose of cocoon layer infiltration.Vacuum infiltration has that suction temperature in cocoon chamber is low, pupal acid leaches less, help reducing internal layer fall thread, do thin pelettes, the molten mistake of silk gum less, thread silk amount also reduces, is easy to do little reel silk from cocoons folding.
Vacuum infiltration cocoon chamber water absorption is big in addition, infiltration fully, cocoon easily sinks, hangs rough few, adapts to very much automatic reel silk from cocoons production.Because infiltration is carried out outside machine, the cocoon cooking machine structure is simplified greatly, and the cocoon cooking ability obviously improves.But exist cocoon layer to permeate uneven problem, cause thus and when cocoon cooking, be difficult to reach the uniform purpose of the degree of boiling, it is easypro to have influenced separating of cocoon, cause that fluffy rough cocoon is many, shaking is difficult, in, fall adverse consequences such as thread increases, ruined cleaning, cleanliness achievement of hanging increase, raw silk is low of internal layer.
3, V-type pressurized treatments technology
The main feature of this technology is adjustment part employing V-structure, help widening the temperature difference of adjustment part section, maximum temperature difference can reach about 50 ℃, the technology adjustable range increases, adaptability to raw material is stronger, strengthened the effect of adjusting, adjustment is boiled degree, boils uniformity coefficient, prevented that flat cocoon etc. all has good effect.In addition, the cocoon cooking section adopts hermetically-sealed construction, by pressurized with compressed air, has changed traditional cocoon cooking machine and has not sealed, and can't pressurize, and boils uneven problem.V-type pressurization cocoon cooking process technology helps between cocoon layer especially between the internal layer silk deadlocked some dislocation to be opened, and to reducing the internal layer thread that falls, carries high reelability and is highly profitable.But it is many that v type pressurization cocoon cooking process technology exists pupal fat to leach, even the problem that may be boiled brokenly pupal cell.
4, no cocoon cooking automatic silk reeling technology
The characteristics of this technology are that saving steam, reduction myriametre are hung rough number of times, improve the clean achievement of raw silk, reduce the molten mistake of cocoon layer silk gum, fallen low filature fold and raw silk production cost.Do not have that to reel out the silk feel of coming coarse but there is cocoon cooking automatic silk reeling technology, the strand content of silk gum increases, and weave the silk fabric that comes and dye through refining, silks and satins weight and design grave fault, strand is coarse, and brittle failure takes place in strand easily, the consumption of raw materials of increase silk fabric factory etc.
Through literature search,, some relevant reports are arranged in the open source literature at home about microwave cocoons-boiling Study on Technology and application.As: an application for a patent for invention " microwave cocoons-boiling method " of Mianyang Silk Printing and Dyeing Mill, Sichuan Prov., the preceding microwave cocoons-boiling method of a kind of silk cocoon filature is disclosed, concrete steps are: silk cocoon is inserted its cocoon chamber water absorption rate is reached more than 95%, insert then and be warmed to 60 ℃~100 ℃ taking-ups in the micro-wave oven, can carry out filature.Fenghua Silk Mill has finished a scientific and technological achievement " microwave cocoons-boiling ", and this technology can overcome the outer ripe interior disadvantage of giving birth to of conventional cocoons-boiling method, and ectomesoderm is evenly well-done in reaching, and has improved the efficient of cocoon cooking, and suppress pupal acid and leach, the total energy consumption reduction, economic benefit improves.Ningbo City, Zhejiang Province silk company has carried out circulating microwave cocoons-boiling machine research, and research is boiled the mechanism of silkworm and the basic technology of microwave cocoons-boiling with microwave, and has succeeded in developing a cartridge type microwave cocoons-boiling equipment in December, 1978.The yellow virtuous general of Guangxi district silkworm industry technology popularization master station produces for grasping various degumming techs and being used for guidance, different disposal modes such as High Temperature High Pressure Degumming method, microwave cocoons-boiling degumming method and alkali degumming method 19 kinds of tests of coming unstuck have been carried out, calculate the degumming rate of various different tests, and result of the test has been carried out evaluation and comparative analysis.
Microwave cocoons-boiling method though early report is arranged promptly, fails to apply so far, and its reason mainly is the problem that is difficult to overcome that microwave cocoons-boiling technology itself exists.In fact, only use the microwave treatment silk cocoon, compare with direct cocoon cooking, effect is unsatisfactory, and reappearance and less stable.This is because the microwave treatment silk cocoon, compare with direct cocoon cooking, though the silk gum layer (comprising inner, middle and outer layer) of silk cocoon is heated evenly and comparatively fast, but owing to lack the effect (as the impact of vibrations, aqueous medium etc.) of external force, after microwave action disappears, the silk gum layer will recover ortho states and structure again, and the change of tangible infiltration, expansion and configuration aspects does not take place, therefore, effect is unsatisfactory; If the overdone problem of silk gum layer then appears in the microwave action overlong time, cause the molten mistake of silk gum too much, be unfavorable for filature on the contrary.The introducing of ultrasonic wave effect has then just in time solved the defective that exists of microwave cocoons-boiling.Because hyperacoustic cavitation and mechanism can promote main deadlocked silk gum dissolving, weaken the deadlocked power between silk, on the basis of microwave treatment or in the microwave action, an external force of applying for the silk gum layer, impel the silk gum layer that the change of tangible infiltration, expansion and structure takes place, thereby obtain beyond thought treatment effect.At present, the technology of relevant ultrasonic Treatment silk cocoon does not still have the report of open source literature.Microwave and ultrasonic synergistic are handled the technology and the technology of silk cocoon and are not more seen open report.
Summary of the invention
The technical problem to be solved in the present invention is: the silk cocoon processing method before a kind of ultrasonic wave or ultrasonic wave and microwave cooperating effect are applied to filature is provided, and this method can obviously improve the filature quality, has overcome in the above-mentioned prior art to have weak point.
The technical scheme that solves the problems of the technologies described above is: the silk cocoon processing method before a kind of filature, after getting silk cocoon and handling by vacuum infiltration suction, again silk cocoon is adopted ultrasonic Treatment, the condition of described ultrasonic Treatment is: ultrasonic frequency 20~80KHz, ultrasonic power 100~1000W, bath raio 1:10~1:120, action time 25 ℃~100 ℃ of 1~20min, water temperatures.
Further technical scheme of the present invention is: the silk cocoon after handling by the vacuum infiltration suction, adopt ultrasonic wave and microwave cooperating to handle silk cocoon, the condition of described microwave treatment is: microwave power 100~1000W, microwave frequency 2450 MHz ± 10MHz, 1~20 minute action time, 25 ℃~100 ℃ of water temperatures, bath raio 1:10~1:120.
Silk cocoon by after the vacuum infiltration suction processing adopts ultrasonic wave and microwave cooperating to handle silk cocoon, and promptly silk cocoon through microwave treatment, adopts ultrasonic Treatment with silk cocoon earlier again; 1~15min action time of described ultrasonic Treatment.
Silk cocoon by after the vacuum infiltration suction processing adopts ultrasonic wave and microwave cooperating to handle silk cocoon, promptly adopts ultrasonic wave and microwave treatment silk cocoon simultaneously, 1~15 minute action time of described microwave treatment; 1~15min action time of described ultrasonic Treatment.
Silk cocoon by after the vacuum infiltration suction processing adopts ultrasonic wave and microwave cooperating to handle silk cocoon, promptly adopts microwave treatment again through the silk cocoon after the ultrasonic Treatment.
The condition that described vacuum infiltration suction is handled is: the infiltration water temperature: 20~50 ℃, and time of penetration: 1~5min, vacuum: 0.050~0.095Mpa.
Described ultrasonic frequency 40~80KHz, ultrasonic power 150~800W, bath raio 1:100~1:120,3~5 minutes action time of ultrasonic Treatment.
Described microwave power 800~900W, bath raio 1:100~1:120,3~5 minutes action time of microwave treatment.
The principle of the invention:
Ultrasonic wave is that frequency is higher than 20000 hertz sound wave, its good directionality, and penetration capacity is strong, is easy to obtain concentrated acoustic energy.When ultrasonic wave during at silk cocoon and water transmission because the interaction of ultrasonic wave and silk cocoon and water, make the silk cocoon generation physics with variation chemistry, thereby produce a series of mechanics, calorifics, electromagnetic and chemical ultrasonic effect.Because the ultrasonic frequency height, energy is big, can produce significant fuel factor during by silk cocoon and water absorption, can allow the silk gum swelling dissolve fully.Hyperacoustic mechanism can be impelled main deadlocked silk gum dissolving, weakens the deadlocked power between silk, improves deadlocked irregularly, and silk is dissociated in turn, improves the output and the quality of raw silk.
Microwave is that frequency is the electromagnetic wave of 300MHz-300GHz.The fundamental property of microwave is rendered as and penetrates, reflects, absorbs three characteristics usually.Hydrone in the microwave heated medium is a polar molecule; it is under fast-changing high-frequency electromagnetic field action; its polarity orientation will change along with the variation of external electric field; cause the effect of the mutual fricting movement of molecule, this moment, the field energy of microwave field was converted into the interior heat energy of medium, and the silk cocoon temperature is raise; guarantee the cocoon layer infiltration fully; protect skin, in suitable the boiling, internal layer, accomplish outer, in, internal layer evenly boils.Heating using microwave then belongs to inner mode of heating, electromagnetic energy directly acts on medium molecule and converts heat to, and transmission performance is heated the inside and outside medium of silk cocoon simultaneously, do not need the heat conduction, and the inner radiating condition that lacks, cause internal temperature to be higher than outside temperature gradient distribution, form and drive the steam pressure difference of internal moisture, quickened the migration velocity of moisture content to surface seepage.Microwave is instantaneous heat temperature raising to silk cocoon, and energy consumption is also lower.On the other hand, the power output of microwave is adjustable at any time, and water temperature can change thereupon, does not have the residual activity phenomenon, the needs that be highly advantageous to control automatically and serialization are produced.Compare with conventional art, distinguishing feature such as microwave technology has fast, efficient, resource recycling rate height, non-secondary pollution, cost are low has a wide range of applications in textile industry.Utilize microwave to replace traditional cocoon cooking mode, can energy savings, reduce and pollute, the protection environment has important economic value and realistic meaning.
For overcoming the deficiency of above-mentioned single microwave technology method, the technology of the present invention is utilized ultrasonic wave or ultrasonic wave and microwave energy is organically combined, make full use of the high energy effect of ultrasonic vibration cavitation and microwave, and take the lead in proposing silk cocoon processing method before the microwave-ultrasonic synergy is carried out filature, obtain beyond thought effect, had important use to be worth.
Silk cocoon before the present invention adopts ultrasonic wave or ultrasonic synergistic microwave to filature is handled, have following beneficial effect and characteristics: the silk gum dissolve-loss ratio descends 1.0~3.5%, the filature reelability percentage improves 3%~9%, the reel silk from cocoons folding reduces by 4~9 kilograms of/quintal silks, myriametres and hangs rough minimizing 0.5~1 time, cleaning cleanliness factor and improve 0.3~1.0 minute, grade and improve more than 0.5, and the present invention can obviously improve the filature quality.
Below, the technical characterictic to the silk cocoon processing method before a kind of filature of the present invention is further described in conjunction with the embodiments.
The specific embodiment
Technological process of the present invention comprises four kinds of patterns, is respectively:
1, ultrasonic Treatment technology: silk cocoon vacuum infiltration suction → ultrasonic Treatment → filature.
2, ultrasonic Treatment technology behind the first microwave: silk cocoon vacuum infiltration suction → microwave treatment → ultrasonic Treatment → filature.
3, the collaborative treatment process simultaneously of microwave-ultrasonic: the collaborative processing → filature simultaneously of silk cocoon vacuum infiltration suction → microwave-ultrasonic.
4, microwave treatment technology behind the first ultrasonic wave: silk cocoon vacuum infiltration suction → ultrasonic Treatment → microwave treatment → filature.
Embodiment 1: get silk cocoon and handle by the vacuum infiltration suction, infiltration water temperature: 35 ℃, time of penetration: 5min, vacuum: 0.055Mpa, again silk cocoon is adopted ultrasonic Treatment, ultrasonic frequency 80KHz, ultrasonic power 800W, action time, 15min, 60 ℃ of water temperatures, bath raio 1:50 got final product filature after the ultrasonic Treatment.
Embodiment 2: get silk cocoon and carry out vacuum infiltration suction processing, 45 ℃ of water temperatures of infiltration, time of penetration 3min, vacuum 0.093Mpa; Then silk cocoon is carried out microwave treatment, the condition of microwave treatment is microwave frequency 2450MHz, microwave power 800W, microwave treatment time 3min, 50 ℃ of water temperatures, bath raio 1:100; Again silk cocoon is adopted ultrasonic Treatment, the condition of ultrasonic Treatment is ultrasonic frequency 40 KH, ultrasonic Treatment power 150W, ultrasonic wave 3min action time, 50 ℃ of water temperatures, bath raio 1:100; Ultrasonic Treatment finishes just can carry out filature (filature soup temperature: 40 ℃).
The technological process and the conditional effect of present embodiment are best.Every index value of the filature under this technology contrasts as following table with direct cocoons-boiling method:
? Fault number (individual) Broken end number (inferior) Monofilament brute force (cN) Average silk long (m)
Directly cocoon cooking 55 1.2 12.68 822
Embodiment 2 technologies 19 0.5 12.64 871
Embodiment 2 microwave-ultrasonic associated treatment are ultrasonic Treatment technology behind the first microwave, handle with direct cocoon cooking, and fault number, broken end number obviously reduce, and the powerful variation of monofilament is small, the long 49m that increases of average silk.
Because of experiment for simple grain cocoon filature, performance and index with eight to decide reel silk from cocoons different, as convert eight to and decide reel silk from cocoons, then can convert following index to:
1, the fault number is influential to the cleaning cleanliness factor, and fault reduces, and then cleannes, cleanliness factor improve.Because some fault can not influence the cleaning cleanliness factor when deciding reel silk from cocoons for eight, so the cleaning cleanliness factor can improve the 0.5-1 branch.
2, the broken end number reduces, and then the thread number of times that falls during filature reduces, and fills out the thread number of times and reduces.
3, average silk is long increases, and then the reel silk from cocoons folding reduces.
Need calculate with cocoon 300kg with 1 the direct cocoon cooking reel silk from cocoons of cocoon 800m, reel silk from cocoons 100kg raw silk, the microwave-ultrasonic associated treatment, every cocoon can increase 30m length, and then reel silk from cocoons 100kg raw silk need be 290kg with cocoon.Because of the cocoon reel silk from cocoons to the end, the fineness of silk reduces, the long shared part by weight of silk of 30m reduces, therefore, the reel silk from cocoons folding can reduce 5-10kg.
4, the broken end number reduces, and average silk is long to be increased, and reelability percentage improves.The simple grain reel silk from cocoons can't accurately calculate, and can calculate that silkworm cocoon reelability improves 3%-7%
5,, can calculate that reducing myriametre hangs rough 0.5-1 time because of fault number, broken end number obviously reduce.
Embodiment 3: get silk cocoon and carry out vacuum infiltration suction processing (infiltration water temperature: 40 ℃, time of penetration: 3min, vacuum: 0.093MPa) → microwave-ultrasonic is collaborative to be handled simultaneously, promptly adopt ultrasonic wave and microwave treatment silk cocoon (microwave frequency 2450MHz, microwave power 450W, ultrasonic power 300 W, ultrasonic frequency 40 KHz simultaneously, microwave and 3 minutes action time of ultrasonic wave, 80 ℃ of water temperatures, bath raio 1:100) → filature (filature soup temperature: 40 ℃).Present embodiment is to adopt the ultrasonic microwave synergistic extraction instrument of CW-2000 type to test.
Embodiment 4: get the suction of silk cocoon vacuum infiltration and handle (infiltration water temperature: 35 ℃, time of penetration: 4min, vacuum: 0.060MPa) → ultrasonic Treatment (ultrasonic frequency 60KHz, ultrasonic power 400W, action time 5min, 30 ℃ of water temperatures, bath raio 1:80) → microwave treatment (microwave frequency 2450MHz, microwave power 100W, microwave treatment time 5min, 30 ℃ of water temperatures, bath raio 1:80) → filature.
When bath raio of the present invention is meant microwave or ultrasonic Treatment, the mass ratio of dried cocoon and aqueous medium.
Technical method of the present invention is applicable to dried cocoon, the preliminary treatment of bright cocoon before filature.
Adopt technical method of the present invention also can be directly after the filature head is handled silk cocoon (comprising dried cocoon, bright cocoon), promptly enter groping end basin, battage bath carries out filature.

Claims (8)

1. the silk cocoon processing method before the filature, it is characterized in that: after getting silk cocoon and handling by vacuum infiltration suction, again silk cocoon is adopted ultrasonic Treatment, the condition of described ultrasonic Treatment is: ultrasonic frequency 20~80KHz, ultrasonic power 100~1000W, bath raio 1:10~1:120, action time 25 ℃~100 ℃ of 1~20min, water temperatures.
2. the silk cocoon processing method before a kind of filature according to claim 1, it is characterized in that: the silk cocoon after handling by the vacuum infiltration suction, adopt ultrasonic wave and microwave cooperating to handle silk cocoon, the condition of described microwave treatment is: microwave power 100~1000W, microwave frequency 2450 MHz ± 10MHz, 1~20 minute action time, 25 ℃~100 ℃ of water temperatures, bath raio 1:10~1:120.
3. the silk cocoon processing method before a kind of filature according to claim 2, it is characterized in that: the silk cocoon after handling by the vacuum infiltration suction, adopt ultrasonic wave and microwave cooperating to handle silk cocoon, promptly silk cocoon through microwave treatment, adopts ultrasonic Treatment with silk cocoon earlier again; 1~15min action time of described ultrasonic Treatment.
4. the silk cocoon processing method before a kind of filature according to claim 2, it is characterized in that: the silk cocoon after handling by the vacuum infiltration suction, adopt ultrasonic wave and microwave cooperating to handle silk cocoon, promptly adopt ultrasonic wave and microwave treatment silk cocoon simultaneously, 1~15 minute action time of described microwave treatment; 1~15min action time of described ultrasonic Treatment.
5. the silk cocoon processing method before a kind of filature according to claim 2 is characterized in that: the silk cocoon after handling by the vacuum infiltration suction, and adopt ultrasonic wave and microwave cooperating to handle silk cocoon, promptly adopt microwave treatment again through the silk cocoon after the ultrasonic Treatment.
6. according to the silk cocoon processing method before claim 1,2,3, the 4 or 5 described a kind of filatures, it is characterized in that: the condition that described vacuum infiltration suction is handled is: infiltration water temperature: 20~50 ℃, time of penetration: 1~5min, vacuum: 0.050~0.095Mpa.
7. according to the silk cocoon processing method before claim 1,2,3, the 4 or 5 described a kind of filatures, it is characterized in that: described ultrasonic frequency 40~80KHz, ultrasonic power 150~800W, bath raio 1:100~1:120,3~5 minutes action time of ultrasonic Treatment.
8. according to the silk cocoon processing method before claim 2,3, the 4 or 5 described a kind of filatures, it is characterized in that: described microwave power 800~900W, bath raio 1:100~1:120,3~5 minutes action time of microwave treatment.
CN2011101959407A 2011-07-13 2011-07-13 Method for processing silkworm cocoon before silk reeling Withdrawn CN102251290A (en)

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CN103437015A (en) * 2013-08-27 2013-12-11 上林海润丝业有限公司 Production method of covered filaments
CN103882533A (en) * 2014-03-18 2014-06-25 上林县中兴丝业有限公司 Method for increasing reelability percentage of raw silk
CN104389030A (en) * 2014-11-15 2015-03-04 安徽宏祥丝绸织造有限公司 Raw silk treatment process
CN106958043A (en) * 2017-04-28 2017-07-18 广西科技大学 Fresh cocoon reeling method
CN114150384A (en) * 2021-11-04 2022-03-08 浙江理工大学 Ultrasonic-assisted groping end device and groping end method

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CN104451897A (en) * 2014-11-14 2015-03-25 安徽省广德新丰丝绸有限公司 White steam filature yarn pre-treatment technology before production
CN110725014A (en) * 2019-11-22 2020-01-24 苏州大学 Silkworm cocoon demineralization method and silkworm cocoon after demineralization

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CN1096063A (en) * 1993-06-05 1994-12-07 四川省绵阳丝绸印染厂 Microwave cocoons-boiling method
US20040152381A1 (en) * 2003-01-22 2004-08-05 The Procter & Gamble Company Fibrous products and methods of making and using them
CN100352975C (en) * 2005-12-14 2007-12-05 杨朝友 Method of processing sericin conteining natural silk fiber
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Publication number Priority date Publication date Assignee Title
CN103437015A (en) * 2013-08-27 2013-12-11 上林海润丝业有限公司 Production method of covered filaments
CN103882533A (en) * 2014-03-18 2014-06-25 上林县中兴丝业有限公司 Method for increasing reelability percentage of raw silk
CN104389030A (en) * 2014-11-15 2015-03-04 安徽宏祥丝绸织造有限公司 Raw silk treatment process
CN106958043A (en) * 2017-04-28 2017-07-18 广西科技大学 Fresh cocoon reeling method
CN114150384A (en) * 2021-11-04 2022-03-08 浙江理工大学 Ultrasonic-assisted groping end device and groping end method

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